The Method for Synthesis the PI and PID Algorithms

to the Model of Object with Inertia Second Order

Bartolomeu Izvoreanu, Irina Cojuhari, Ion Fiodorov, Dumitru Moraru, Mihail Potlog
Technical University of Moldova
Chisinau, Republic of Moldova
[email protected], [email protected], [email protected],
[email protected], [email protected]

Abstract— In this paper was developed an efficient procedure where ݇ is the transfer coefficient of the model, ܶଵ , ܶଶ –
for tuning the PI and PID algorithms to the model of object with time contsnats, and ܽ଴ ൌ ܶଵ ܶଶ , ܽଵ ൌ ܶଵ ൅ ܶଶ , ܽଶ ൌ ͳ.
inertia second order with known parameters, that has two poles
allocated in the left half of the complex plane. It was designed the Actually, there are developed a lot of synthesis methods
algorithm based on the maximum stability degree method with for tuning the typical controllers, which can be applied to the
iterations for tuning the PI and PID controllers and for model of objects with high inertia order. The practical aspects
comparison of the obtained results was proposed to use the pole- of realization these algorithms lead to the sophisticated
zero allocation method. To verify the obtained results, it was structures, which reduce the reliability of the automatic control
done the computer simulation of the automatic control system
system [4,5].
with PI and PID controllers in MATLAB and there were
analyzed the performance of the automatic control system. The In the practice of automation the various industrial
advantages of the maximum stability degree method were processes, there has a wide application the controllers with
highlighted through reduced graphical and analytical fixed structure as PID type [1-5].
calculations and minimal time, which lead to simplification of
tuning procedure the PI and PID controllers to these model of There are a lot of tuning methods the PID controller to the
objects. model of object with inertia second order [1-5]. From the
existing methods of tuning the PID controller some of them
Keywords— model of object with inertia; transfer function; PID present the difficult procedures of tuning, and other methods
controller; tuning parameters; automatic control system; tuning guarantee stability of the automatic control system, but do not
algorithms; performance of the automatic control system guarantee the quality of the operating regime.
I. INTRODUCTION From these considerations, there were developed the
In the automation of various industrial processes it is procedure for tuning the control algorithms to the model of
necessary to determine the mathematical models with the object (1) by the maximum stability degree (MSD) method
constant parameters attached to these processes. By the with iterations.
applying analytical or experimental identification methods, The pole - zero allocation method is an analytical method,
based on the operational requirements of these processes, there which based on the model of control object (1), the imposed
are obtained the mathematical models, that can have high performance to the automatic control system the settling time
order inertia. The procedures for synthesis the control ‫ݐ‬௥ and overshoot , and the model of the control algorithm PI
algorithms to these types of models of objects could become and PID with unknown tuning parameters, it is built the
difficult and accompanied with a high volume of calculations. polynomial equation of the closed loop automatic system,
Based on these considerations, it is rational to obtain a from which it is obtained the system of diofantic equations.
mathematical model with a low order inertia with constant Solving this system of equations are determined the tuning
parameters and then it can be synthesized control algorithm parameters which satisfy the stability requirements and the
with reduced order. imposed performance to the system. If the imposed
performance are not satisfied, in the polynomial equation are
In this paper it is used the mathematical model with inertia introduced additional poles-zeros, which are allocated in the
second order with known parameters with two poles allocated left half of the complex plane, placed as far as possible from
in the left half of the complex plane, which has a broad the main poles until all requirement performance are achieved
application in practice [1-5], and it is described by the [5].
following transfer function:
Thus, the procedure for synthesis the control algorithm is
௞ ௞ the procedure with iterations.
‫ܪ‬ሺ‫ݏ‬ሻ ൌ ሺ்భ ௦ାଵሻሺ்మ ௦ାଵሻ
ൌ ௔బ ௦మ ା௔భ ௦ା௔మ
, (1)

978-1-7281-4011-7/19/$31.00 ©2019 IEEE

 The maximum stability degree method in the classical ݇௣ , ݇௜ , ݇ௗ of the PI and PID controllers to the model of object
version it is not applied in case of tuning the PID controller to (1).
the model of object (1) [6]. The procedure of tuning the PI and
PID control algorithms is reduced to the formation of the For the automatic control system with PI algorithm are
characteristic equation of the closed loop system, it is obtained three expressions for calculation the tuning
introduced the notion of stability degree in the characteristic parameters:
equation, as a new unknown variable, and by derivation ଵ ଵ ௔భమ
operations of its, it is obtained a system of algebraic equations, ݇௣ ൌ ሺെ͵ܽ଴ ‫ܬ‬ଶ ൅ ʹܽଵ ‫ ܬ‬െ ܽଶ ሻ ൌ ቀ െ ܽଶ ቁ ൌ (4)
௞ ௞ ଷ௔బ
from which the maximum stability degree and tuning ݂௣ ሺ‫ܬ‬ǡ ݇ǡ ܽ଴ ǡ ܽଵ ǡ ܽଶ ሻ ൌ ݂௣ ሺ‫ܬ‬ሻ,
parameters can be calculated. ଵ ଵ
݇௜ ൌ ሺെʹܽ଴ ‫ܬ‬ଷ ൅ ܽଵ ‫ܬ‬ଶ ሻ ൌ ሺܽ଴ ‫ܬ‬ଷ െ ܽଵ ‫ܬ‬ଶ ൅ ܽଶ ‫ܬ‬ሻ ൅ ݇௣ ‫ ܬ‬ൌ
௞ ௞
In this paper it was proposed to use the maximum stability ଵ ௔భయ
ൌ ݂௜ ሺ‫ܬ‬ǡ ݇ǡ ܽ଴ ǡ ܽଵ ǡ ܽଶ ሻ ൌ ݂௜ ሺ‫ܬ‬ሻ, (5)
degree method with iterations [7-8]. ௞ ଶ଻௔బమ
௔
For an example of the control model of object (1), there is ‫ ܬ‬ൌ ଷ௔భ . (6)
బ
analyzed the procedures of tuning the PI and PID algorithms
according to the applied methods, the system is simulated and
Further, using the expression (6), based on the relations
the performance of the automatic control system are analyzed.
(4)-(5) can be calculated the tuning parameters of the PI
It is analyzed the efficiency of tuning the typical PID algorithm, and thus the synthesis problem is solved.
algorithm based on the performance and robustness of the
automatic control system, when on the system acts the For the automatic control system with the PID algorithm,
disturbance signal as step signal and when it is the variation of are obtained three expressions for calculation the tuning
the model object parameters with ± 50% from the nominal parameters:
values of the object model.
ଵ
݇௣ ൌ ሺെ͵ܽ଴ ‫ܬ‬ଶ ൅ ʹܽଵ ‫ ܬ‬െ ܽଶ ሻ ൅ ʹ݇ௗ ‫ ܬ‬ൌ (7)
II. ALGORITHM OF TUNING THE PI AND PID CONTROLLERS ଵ
௞
ଶ
ൌ ሺ͵ܽ଴ ‫ ܬ‬െ ܽଶ ሻ ൌ ݂௣ ሺ‫ܬ‬ǡ ݇ǡ ܽ଴ ǡ ܽଵ ǡ ܽଶ ሻ ൌ ݂௣ ሺ‫ܬ‬ሻ,
In the study it is used the block scheme of the automatic ௞
control system that consists from the controller with transfer ଵ
݇௜ ൌ ሺܽ଴ ‫ܬ‬ଷ െ ܽଵ ‫ܬ‬ଶ ൅ ܽଶ ‫ܬ‬ሻ െ ݇ௗ ‫ܬ‬ଶ ൅ ݇௣ ‫ ܬ‬ൌ (8)
function‫ܪ‬ோ ሺ‫ݏ‬ሻ and model of object with transfer function ௞
௔బ ଷ
‫ܪ‬ሺ‫ݏ‬ሻ, presented in the Fig. 1. ൌ ‫ܬ‬ ൌ ݂௣ ሺ‫ܬ‬ǡ ݇ǡ ܽ଴ ǡ ܽଵ ǡ ܽଶ ሻ ൌ ݂௜ ሺ‫ܬ‬ሻ,
௞
ଵ
݇ௗ ൌ ሺ͵ܽ଴ ‫ ܬ‬െ ܽଵ ሻ ൌ ݂ௗ ሺ‫ܬ‬ǡ ݇ǡ ܽ଴ ǡ ܽଵ ǡ ܽଶ ሻ ൌ ݂ௗ ሺ‫ܬ‬ሻ. (9)
௞

A possible way for determination the tuning parameters of

the PID algorithm is reduced to the condition that the
Fig. 1. The structural block scheme of the automatic control system. coefficient݇ௗ ൐ Ͳ is necessary that for the maximum stability
degree to achieve inequality:
The PI and PID control algorithms in the standard form
are described by the transfer functions in the following form: ௔
‫ ܬ‬൐ ଷ௔భ . (10)
బ
௞೔ ௞೛ ௦ା௞೔
‫ܪ‬௉ூ ሺ‫ݏ‬ሻ ൌ ݇௣ ൅ ௦
ൌ ௦ , (2)
Further, using the expression (10), based on the relations
௞೔ ௞೏ ௦మ ା௞೛ ௦ା௞೔
‫ܪ‬௉ூ஽ ሺ‫ݏ‬ሻ ൌ ݇௣ ൅ ௦
൅ ݇ௗ ‫ ݏ‬ൌ ௦
, (3) (7)-(9) can be calculated the tuning parameters of the PID
algorithm, and thus the synthesis problem is solved.
where ݇௣ , ݇௜ are the tuning parameters of the PI control To optimize the performance of the automatic control
algorithm, and ݇௣ , ݇௜ , ݇ௗ – are the tuning parameters of the system, it is proposed the following procedure.
PID control algorithm. Expressions (4) - (5) and (7) - (9) for calculation the tuning
The method of pole-zero allocation in the complex plan for parameters of the PI and PID control algorithms are presented
tuning the control algorithms is well known method, which is as functions݇௣ ൌ ݂௣ ሺ‫ܬ‬ሻ, ݇௜ ൌ ݂௜ ሺ‫ܬ‬ሻ, ݇ௗ ൌ ݂ௗ ሺ‫ܬ‬ሻ on variable‫ܬ‬,
described in [5] and will be applied for tuning the PID control which presents the maximum stability degree of the designed
algorithm. system.
It will be performed the tuning of the control algorithms (2) At the variation of the ‫ ܬ‬as independent variable it is
and (3) to the model of object (1) by the maximum stability calculated and constructed the curves (4) - (5) and (7) - (9)
degree method with iterations [7, 8]. ݇௣ ൌ ݂௣ ሺ‫ܬ‬ሻ, ݇௜ ൌ ݂௜ ሺ‫ܬ‬ሻ, ݇ௗ ൌ ݂ௗ ሺ‫ܬ‬ሻ for the PI and PID
Bellow it is presented the maximum stability degree algorithms.
method with iterations for determination the tuning parameters
 For these curves݇௣ ൌ ݂௣ ሺ‫ܬ‬ሻ, ݇௜ ൌ ݂௜ ሺ‫ܬ‬ሻ, ݇ௗ ൌ ݂ௗ ሺ‫ܬ‬ሻ are
b)
chosen the values of the tuning parameters of the PI and PID ki
controller ‫ܬ‬௜ െ ݇௣௜ , ݇௜௜ , ݇ௗ௜ and computer simulation is done,
are obtained the transient processes based on these are kp
determinate the performance of the automatic control system, kd
which would satisfy the imposed requirements of the system.
III. STUDY CASE AND COMPUTER SIMULATION
In order to verify the obtained results in case of tuning the
PI and PID algorithms to the model of object (1) by the pole-
zero allocation method and maximum stability degree method
Fig. 2. Dependencies ൌ ݂ሺ‫ܬ‬ሻǡ ݇௣ ൌ ݂ሺ‫ܬ‬ሻ, ݇௜ ൌ ݂ሺ‫ܬ‬ሻǤ
with iterations it is presented a calculation example.
It is given the model of object with inertia second order
with known parameters: transfer coefficient ݇ ൌ Ͳǡʹ, time
constantsܶଵ ൌ Ͳǡͷ•, ܶଶ ൌ Ͳǡʹ s, ܽ଴ ൌ ܶଵ ܶଶ ൌ Ͳǡͷ ‫Ͳ כ‬ǡʹ ൌ
Ͳǡͳ‫ ݏ‬ଶ , ܽଵ ൌ ܶଵ ൅ ܶଶ ൌ Ͳǡͷ ൅ Ͳǡʹ ൌ Ͳǡ͹ s, ܽଶ ൌ ͳ, which are
described by the transfer function [5-7]: Fig. 3. Simulation diagram of the control system.

௞ ௞ TABLE I. PERFORMANCE OF THE AUTOMATIC CONTROL SYSTEM

‫ܪ‬ሺ‫ݏ‬ሻ ൌ ሺ் ௦ାଵሻሺ் ௦ାଵሻ ൌ ൌ (11)
భ మ ௔బ ௦మ ା௔భ ௦ା௔మ No. Con. Tuning parameters Performance of the
ଶ ଴ǡଶ ଶ ஻ሺ௦ሻ iter. type control system
ൌ ሺ௦ାଶሻሺ௦ାହሻ
ൌ ଴ǡଵ௦మ ା଴ǡ଻௦ାଵ ൌ ௦మ ା଻௦ାଵ଴ ൌ ஺ሺ௦ሻ. ‫ܬ‬ ݇௣ ݇௜ ܶ௜ , s ݇ௗ , ‫ݐ‬௖ , ɐ, ‫ݐ‬௥ , ߣ
s s % s
1 PID 2,4 3,64 6,91 0,14 0,1 1,6 - 1,6 -
For the imposed performance of the automatic control 2 PID 2,5 4,38 7,81 0,12 0,2 1,5 - 1,5 -
system with overshoot ɐ ൑ ͳͲ % and settling time ‫ݐ‬௥ ൑ ʹ s, it 3 PID 3,0 8,50 13,5 0,11 1,0 1,0 - 1,0 -
is synthesised the control algorithm PI and PID to the model 4 PID 3,5 13,3 21,4 0,04 1,7 0,4 - 0,4 -
of object (1) by the maximum stability degree method and 5 PID 3,6 14,4 23,3 0,04 1,9 0,3 - 0.3 -
6 PID 3,7 15,5 25,3 0,03 2,0 0,3 6,50 0,5 1
pole-zero allocation method. 7 PID 3,8 16,6 27,4 0,03 2,2 0,3 9,27 0,6 1
There were done the calculation for tuning the PI and PID 8 PID 4,0 19,0 32,0 0,03 2,5 0,2 14,6 0,9 1
9 PI 2,3 3,17 6,35 0,15 - 1,8 - 1,8 -
controller by the maximum stability degree method using 10 PID - 0,4 11,2 1,3 1
relations (4) - (5) and (7) - (9) to the model of object (1) with
known parameters and the obtained curves are presented in the Using the procedure for calculation the tuning parameters
Figure 2, a, b. by the pole-zero allocation method, according to the imposed
The automatic control system with the PI and PID performance to the system, there are determinate the dominant
controller was simulated (Figure 3) and the obtained transient poles of the characteristic polynomial which have values
processes are presented in the Figure 4, and the performance ‫ݏ‬ଵǡଶ ൌ െʹ േ ݆ʹǡ͸͸, and it is designed the controller PID
of the system are given in the Table 1 (curve numbering which provide the settling error İ ൌ Ͳ to the references and
corresponds to row number 5 - PID controller (curve 1) and 9 perturbation signal as unit step signal.
– PI controller (curve 2) from Table I) and the performance of
According to the pole-zero allocation method it is
the automatic control system are given in the rows 5 and 9
constructed the desired characteristic polynomial of the
from Table I.
designed system which has the order ‫ ݎ‬ൌ ʹ݊ ൌ Ͷ, composed
from dominant poles ‫ݏ‬ଵǡଶ ൌ െʹ േ ݆ʹǡ͸͸ and two additional
a)
poles ‫ݏ‬ଷǡସ ൌ െͳͲ, allocated at the real negative semiaxis as far
as possible from the dominant poles, so that the controller to
be physically realizable and to assure the imposed
kp performance of the system and that has the form :
ki ܲ௖ ሺ‫ݏ‬ሻ ൌ ሺ‫ ݏ‬൅ ‫ݏ‬ଵ ሻሺ‫ ݏ‬൅ ‫ݏ‬ଶ ሻሺ‫ ݏ‬൅ ‫ݏ‬ଷ ሻሺ‫ ݏ‬൅ ‫ݏ‬ସ ሻ ൌ
ൌ ሺ‫ ݏ‬൅ ʹ െ ݆ʹǡ͸Ͷሻሺ‫ ݏ‬൅ ʹ ൅ ݆ʹǡ͸Ͷሻሺ‫ ݏ‬൅ ͳͲሻଶ ൌ(12)
‫ ݏ‬ସ ൅ ʹͶ‫ ݏ‬ଷ ൅ ͳͺͻ‫ ݏ‬ଶ ൅ ൅ͷͺͲ‫ ݏ‬൅ ͻͲͲ.
It is chosen the PID control algorithm with the real
derivative component in the following form:
௤బ ା௤భ ௦ା௤మ ௦మ ொሺ௦ሻ
‫ܪ‬ோ ሺ‫ݏ‬ሻ ൌ ൌ ௉ሺ௦ሻ, (13)
௦ሺ௦ା௣బ ሻ
 where ‫ݍ‬଴ ǡ ‫ݍ‬ଵ ǡ ‫ݍ‬ଶ ǡ ‫݌‬଴ are unknown tuning parameters, which - The performance of the automatic control system with
will be calculated. the PID controller tuned by the maximum stability degree
method is higher (the rise time is with 1,21 times lower,
It is constructed the polynomial equation of the system in
overshoot ɐ ൌ Ͳ, the settling time is with 3,47 times lower,
the form:
the transient process is aperiodic) in comparison with
஻ሺ௦ሻ ொሺ௦ሻ performance of the automatic control system with PID
ͳ ൅ ‫ܪ‬ሺ‫ݏ‬ሻ‫ܪ‬ோ ሺ‫ݏ‬ሻ ൌ ͳ ൅ ൌൌ(14)
஺ሺ௦ሻ ௉ሺ௦ሻ controller tuned by the pole-zero allocation method. Ussing
‫ܣ‬ሺ‫ݏ‬ሻܲሺ‫ݏ‬ሻ ൅ ‫ܤ‬ሺ‫ݏ‬ሻܳሺ‫ݏ‬ሻ ൌ ܲ௖ ሺ‫ݏ‬ሻ, the maximum stability degree method it is possible to obtain
or in the form: the oscillating transient process with higher performances in
comparison with performance obtained in case of tuning
ሺ‫ ݏ‬ଶ ൅ ͹‫ ݏ‬൅ ͳͲሻ‫ݏ‬ሺ‫ ݏ‬൅ ‫݌‬଴ ሻ ൅ ʹሺ‫ݍ‬଴ ൅ ‫ݍ‬ଵ ‫ ݏ‬൅ ‫ݍ‬ଶ ‫ ݏ‬ଶ ሻ ൌ controller by the pole-zero method (view Table I, row 6).
ൌ ሺ‫ ݏ‬൅ ʹ െ ݆ʹǡ͸Ͷሻሺ‫ ݏ‬൅ ʹ ൅ ݆ʹǡ͸Ͷሻሺ‫ ݏ‬൅ ͳͲሻଶ , - The performance of the system with PI controller tuned
ସ
‫ ݏ‬൅ ‫ ݏ‬ଷ ሺ‫݌‬଴
൅ ͹ሻ ൅ ‫ ݏ‬ଶ ሺ͹‫݌‬଴
൅ ͳͲ ൅ ʹ‫ݍ‬ଶ ሻ ൅ ‫ݏ‬ሺͳͲ‫݌‬଴ ൅ by the maximum stability degree method are higher (the
ʹ‫ݍ‬ଵ ሻ ൅ ʹ‫ݍ‬଴ ൌ ‫ ݏ‬ସ ൅ ʹͶ‫ ݏ‬൅ ͳͻͳ‫ ݏ‬ଶ ൅ ͸ʹͲ‫ ݏ‬൅ ͳͳͲͲ.
ଷ obtained performance of the automatic control system satisfy
the imposed performance of the system) than the performance
After some transformations of polynomial expression and of the automatic control system with controller tuned by the
equalization of the coefficients with same powers from the left pole-zero method (see rows 9 and 10).
and right side it is obtained the matrix relationship, from - It was analyzed the evolution of the automatic control
which are obtained the tuning parameters ‫݌‬଴ ൌ ͳ͹, ‫ݍ‬ଶ ൌ ͵ͳ, system for the case of variation the values of the object
‫ݍ‬ଵ ൌ ʹʹͷ, ‫ݍ‬଴ ൌ ͷͷͲ of the PID algorithm with transfer parameters ݇, ܶଵ , ܶଶ with േ 50 % from the nominal values
function: (the rise time ‫ݐ‬௖ varies from 2,95 to 3,3 times, in case of
ொሺ௦ሻ ௤బ ା௤భ ௦ା௤మ ௦మ ହହ଴ାଶଶହ௦ାଷଵ௦మ
variation the ݇ േ 50 %, and the settling time increases up to
‫ܪ‬ோ ሺ‫ݏ‬ሻ ൌ ൌ ൌ . 2,2 times in case when the time constants are varying ܶଵ , ܶଶ
௉ሺ௦ሻ ௦ሺ௦ା௣బ ሻ ௦ሺ௦ାଵ଻ሻ
with േ 50 % from the nominal values) and the action of the
It was done the computer simulation (Figure 2) with the perturbation signal is as unit step signal.
model of object (1) and the PID control algorithm (13), and
- The system with the PID controller tuned by the maxim
the transient process is presented in the figure 3 (curve 3,
stability degree method is more robust in comparison to the
which corresponds to row 10 from Table 1, and the
system with controller tuned by the pole-zero method (the
performances of the automatic control system are given in
Table I (row 10). stability degree of the system is‫ ܬ‬ൌ ʹǡʹͷ͸, and the system
with PID controller tuned by the pole-zero method has ‫ ܬ‬ൌ
͵ǡͻͶͳ – 1,74 times farther from the imaginary axis).
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