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Session 6

This document covers Ziegler-Nichols tuning methods for PID controllers, conversion from continuous to digital controllers, and the structure of digital PID controllers. It discusses the stability margin and step response methods for determining PID parameters from experimental data. It also provides the equations for digital P, I, and PID controllers and includes MATLAB code examples for implementing Ziegler-Nichols tuning and converting continuous systems to discrete models.

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mohammed
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52 views13 pages

Session 6

This document covers Ziegler-Nichols tuning methods for PID controllers, conversion from continuous to digital controllers, and the structure of digital PID controllers. It discusses the stability margin and step response methods for determining PID parameters from experimental data. It also provides the equations for digital P, I, and PID controllers and includes MATLAB code examples for implementing Ziegler-Nichols tuning and converting continuous systems to discrete models.

Uploaded by

mohammed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Session 6

Automatic control Theory


Dr. Saber Abdrabbo
Sequence 6.8
Ziegler Nichols tuning controller parameters
and digital controllers
Preview: Last Sequences covered structure and
design of PID controllers
Present: Current sequence covers design of
PID controllers using Ziegler Nichols tuning
Methods for practical applications with Matlab
code and digital PID controllers
Ziegler Nichols tuning controller parameters

Method (I) stability margin method:


-The controller is switched to pure P action.
-The gain of the P controller is continuously increased until the closed loop
shows permanent oscillations.
-The value of the gain at this state is denoted as the critical controller gain
(Ku).
-The length of period (critical period) of the oscillations is measured (Pu).
determines the controller tuning values according to the following
formulas
Example
Given the plant
400
G p (S )
S ( S 2 30 S 200) 3 1 200

Find Kp,Kd and Ki using Zeigler Nichols 2 30 400Kp


1 (6000-400Kp)/30 0
Solution
By applying Rouths array hence 400Kp

Kp=15
from Rrouth schema
(Third row from bottom)
30S2 +6000=0
Replace j by S
-30 2 +6000=0
p=14 rad/sec
Example (cont.)
Pu=2/
For PID controller
Kp=7.5
Ki=40
Kd=0.5

Matlab code for Ziegler Nichols Method


clg, rlocus(ng,dg)
[km,pole]=rlocfind(ng,dg)
keyboard
wm=imag(pole);
kp=.5*km;
pu=2*pi/wm;
kd= 0.075*kp*pu
ki=1.2*kp/pu
Method (II) step response Method : The rules are based directly on the
slope of the tangent at the turning point and on the delay of the step
response. The transfer function will take the following form.
Where

d is the pure time delay, and is time constant of the system


One has to observe that the measurement of the step response needs
only to be taken at the turning point T, as the slope of the tangent already
describes the ratio . Using the measured data and as well as the formula
given in the following table the controller tuning parameters can be
determined by simple calculations.
Conversion from continuous to digital
Conversion using c2dm
[numDz,denDz] = c2dm (num,den,Ts,'zoh')
[F,G,H,J] = c2dm (A,B,C,D,Ts,'zoh')

1. Transfer function
Example
Suppose you have the following continuous transfer function

M=1;
b=10;
k=20;
num=[1];
den=[M b k];
Ts=1/100;
[numDz,denDz]=c2dm(num,den,Ts,'zoh')
transient response
Suppose we have the following discrete transfer function

numDz=[1];
denDz=[1 -0.3 0.5];
[x] = dstep (numDz,denDz,51);
t = 0:0.05:2.5;
stairs (t,x)
2. State-Space

Matlab code
M=1;
b=10;
k=20;
A=[0 1;
-k/M -b/M];

B=[ 0;
1/M];

C=[1 0];
D=[0];

Ts=1/100;
[F,G,H,J] = c2dm (A,B,C,D,Ts,'zoh')
Digital P and D controller

U (Z ) K p E (Z )

de(t )
u (t )
dt
e(k ) e(k 1)
U (k )
T
Digital I Controller
t
u (t ) u (to ) e( )d
to
( K 1)T

u (k 1) u (k ) e( )d
kT
T
u (k 1) u (k ) e(k 1) e(k )
2
or

T
ZU ( Z ) U ( Z ) ZE ( Z ) E ( Z )
2

Digital PID Controller


Summary
Current sequence covered the following
1- Ziegler Nichols Method for tuning PID parameters
2-Conversion from continuous system to digital
systems
3-Structure of PID digital controllers
1. Matlab code to design PID controllers
Assessment
To view the assessment click on the
link below.

Good Luck

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