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Tuning of PID controller

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Augustine Adanyi
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5 views

Tuning of PID controller

Uploaded by

Augustine Adanyi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Tuning of PID controller

i) Trial and error method


In this, the value of the proportional term is selected first to achievethe transient
response desired while setting T i and T d to zero.
Then T i is adjusted in order to satisfy any steady state error requirements. This
may degrade the transient response due to inclusion of a closed loop zero.
The transient response may be restored by selecting a suitable T d.
Several iterations may be carried out to obtain the desired response of the system.

ii) Ziegler and Nichols First Method


This applies only to an open loop step response of a plant without overshoot. In
this, the unit step response is first obtained and one obtains the maximum slope P
(usually at the point of inflexion) and the time L (where the tangent of maximum
slope intersects the time axis)
The settings for the parameters are obtained from P and L as shown in Table
below.

Control Kp Ti Td
P 1 ∞ 0
PL
PI 0.9 10 L 0
PL 3
PID 1.2 2L 0.5 L
PL

iii) Ziegler and Nichols Second Method


This is based on the closed-loop marginal-stability condition. The plant is
assumed to be in the closed-loop mode with only proportional gain control.
K p is increased to the point where the system exhibits oscillatory output of
constant magnitude for any disturbing input, which defines the critical gain
¿
K p=K p.
¿
The parameters required in the PID controller are calculated from the critical K p
¿
and the period of the oscillations P as shown in the Table below.

Control Kp Ti Td
¿
P 0.5 K p ∞ 0
¿ ¿
PI 0.45 K p 0.833 P 0
¿ ¿ ¿
PID 0.6 K p 0.5 P 0.125 P
In order to apply the second method, the open-loop plant must be of at least third
order, otherwise no limiting stability condition will be encountered.

These methods may be applied to systems whose transfer function is known, since
the step response and frequency response may usually be predicted from root
locus or Bode diagram analysis.

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