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PID Controller: Control Engineering and Signal Processing Michala Srnová 2009/2010

The document discusses PID controllers and their tuning. It describes the components of a PID controller as proportional, integral and derivative gains. It explains how adjusting the gains can affect the step response properties like rise time, overshoot and settling time. Several methods for tuning PID controllers are presented, including manual tuning by observing the system response, Ziegler-Nichols tuning rules based on step tests, and modern software tools that automatically gather data and suggest optimal parameter values.

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srnka
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734 views

PID Controller: Control Engineering and Signal Processing Michala Srnová 2009/2010

The document discusses PID controllers and their tuning. It describes the components of a PID controller as proportional, integral and derivative gains. It explains how adjusting the gains can affect the step response properties like rise time, overshoot and settling time. Several methods for tuning PID controllers are presented, including manual tuning by observing the system response, Ziegler-Nichols tuning rules based on step tests, and modern software tools that automatically gather data and suggest optimal parameter values.

Uploaded by

srnka
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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PID controller

Control engineering and signal processing

Michala Srnová
2009/2010
Content
 Compensator

P compensator
 PI compensator
 Lead compensator
 Lag compensator
 PID controller
PID controller

Proportional + integral + derivative


Transfer function:

KD – derivative gain
 Used in majority of closed-loop industrial processes
PID controller
 Step response
 Rise time
 Overshoot
 Settling Time
 Steady state Error
 Effect of increasing the parameters:
Tune
 Alter step response

Find out parameter Kp, Ki, Kd
 Various methods

Manual Tuning
 Ziegler-Nichols
 Software Tools
 Cohen-Coon
Manual Tuning
 No math required

On-line method
1. What in characteristic need to be improved
2. Kp – decrease the rise time
3. Kd – reduce overshoot and settling time
4. Ki – eliminate steady state error
 Does not work in every time
Ziegler-Nichols
 Rules for determine Kp, Ki, Kd
 Based on step response

Proposed more methods
 First method – Step response method
 No integrators
 No dominant
complex-pairs
 Response:
s-shape, no overshoot
 Ʈ, a
Ziegler-Nichols
 Parameters Ʈ and a – calculating


Drawbacks: lack robustness
 Improvement : K, Ʈ, T in model
 From step response
Ziegler Nichols
 Second method – frequency response
1. Ki and Kd =0, setting of Kp
2. Starting of ocsillations → Kc, period – Tc
3. These values used to calculate Kp,Ki,Kd
Software Tuning
 Modern industrial facilities

Online, offline method
 Software will
 Gather data
 Develop process model
 Suggest optimal tuning
 Principle
 Mathematical loops
 Frequency response to impulse

Design PID loop values
Thank you for your attention

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