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PID Controller Tuning

The document discusses PID controller tuning, emphasizing the adjustment of controller parameters to achieve desired system responses. It outlines various performance criteria for tuning, including steady-state and dynamic performance, and introduces methods like the Process Reaction Curve and Ziegler-Nichols tuning methods. The importance of balancing conflicting performance characteristics and the effects of different controller modes on system stability are also highlighted.

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krushnasamy subramaniyan
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11 views

PID Controller Tuning

The document discusses PID controller tuning, emphasizing the adjustment of controller parameters to achieve desired system responses. It outlines various performance criteria for tuning, including steady-state and dynamic performance, and introduces methods like the Process Reaction Curve and Ziegler-Nichols tuning methods. The importance of balancing conflicting performance characteristics and the effects of different controller modes on system stability are also highlighted.

Uploaded by

krushnasamy subramaniyan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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PID Controller Tuning

By
Krushnasamy V S M.Tech.,Ph.D
Associate Professor
Department of EIE
DSCE
Controller Tuning

“The tuning of a controller can be described as


adjusting the parameters of the controller so
that the system response is good or what is
wanted by the designer.”
“The optimal adjustment of controller
parameters to achieve satisfactory control.”
Introduction
• There are variety of performance criteria for
controller tuning such as
• Keep the maximum deviation (error) as small as
possible.
• Achieve short settling times.
• The typical criteria for good control is that there
should be minimum overshoot, rise time and settling
time.
Introduction
The controller design problem is associated with three logical
questions in series:
• What type of controller should be used for a given process – P, PI
or PID ?
• What should be the best values of controller parameters – ?
• What performance criterion should be used for answering above
two questions?
• Various performance criteria are available for the above purpose
• Steady-State performance criteria-Zero error at steady state.
• Dynamic performance criteria
• Simple performance criteria-criteria that uses only a few points of
the response( simpler, but only approximate) .
• Time Integral performance criteria- criteria that uses entire closed
loop response from t=0 to t=very large.These are more precise but
also more cumbersome to use.
Introduction
Simple Performance Criteria
• The simple performance criteria are based on some
characteristic features of closed loop response such as
overshoot, rise time, settling time, decay ratio, frequency of
oscillation of transient etc .
• Designer may choose one or more of such criteria in order to
arrive at a set of controller parameters.
• Unfortunately, controller design based on multiple performance
criteria often yields conflicting response characteristics.
• For an example, smaller value of gain reduces overshoot but at
the cost of increase in settling time.
• The control engineers must use their experience and
subjectively balance these conflicting characteristics.
Controller Tuning PID

“The optimum values of controller parameters


KP,Ti,Td(proportional gain, integral time, derivative time) are
intimately related to the dynamics and characteristics of the
process, where a particular dynamic variable is measured,
monitored and controlled.”
Desirable Controller Features

• Stable
• Quick responding
• Adequate disturbance rejection
• Insensitive to model, measurement errors
• Avoids excessive controller action
• Suitable over a wide range of operating conditions
Process Reaction Curve method

• This method of controller tuning developed by Cohen-Coon.


• It was also called Open-Loop method .
• Here the process control loop is opened by disconnecting the
controller from final control element ,so that no control action
occurs and an disturbances is introduced by the step change
in the signal to the control valve.
• Record the value of output w.r.t time.
• The curve Ym(t) is called as process reaction curve.
Process Reaction Curve
Process Reaction Curve Method
• The equation shows that the process reaction curve affected
not only by the dynamics of the main process but also the
dynamics of the measuring sensor and final control element.
• C-C observed that the response of most processing units to
an input change such as the above ,had a sigmoid shape as
shown in figure.
• He approximated the controller output to a first order plus
dead time system(FOPDT)
Process Reaction Curve Method
• A tangent line is drawn at the inflection point of the curve.
• The inflection point is defined as that point on the process
reaction curve where the slope stops increasing and begins to
decrease.
• Wherever the tangent line crosses the time axis we get td dead
time.
• Also from the curve we get time constant( τ).
• Let B=Ultimate value of the output as t ∞

•
Z-N on Process Reaction Curve Method
Process Reaction Curve Method
Keep on mind:

• The controller settings given above are based on the assumption


that the first order plus dead time system is a good approximation
for the sigmoidal response the local loop real process.
• It is possible though that the approximation may be poor.In such
case the C-C settings viewed only first guesses needing certain
online correction.
• The gain of the PI controller is lower than that of the P
controller .This is due to the fact that the integral mode makes the
system more sensitive and thus the gain value needs to be more
conservative.
• The stabilizing effect of the derivative control mode allows the use
of higher gains in the PID controller.(higher than the gain of P or
PI.
Ziegler-Nichols Tuning Method
• This method was proposed by John G Ziegler and Nathaniel B
Nichols in 1942.
• This method based on frequency response analysis.
• This method also known as online tuning method,ultimate
cycling method,ultimate gain method.
• This method is based on adjusting the control loop until
steady oscillations occur. Controller settings are then based on
the condition that generate cycling.
Procedure for Ultimate Cycling Method
• Firstly it is checked that whether the desired proportional gain is
positive or negative.
• For this ,step input is manually increased to little, if the steady
state output increases as well it is positive,otherwise it is
negative.
• Then Ki,Kd set to zero and only Kp value is increased until it
creates a periodic oscillation at the output response.
• This critical Kp value is attained to be ultimate gain KU and the
period where the oscillations occurs is termed as ultimate
period PU .
• Using the values of KU and PU Z-N recommended the following
settings for feedback controllers.
Ziegler-Nichols Tuning Method
Some comments
• For P control alone use gain margin equals to 2.
• For PI control use lower proportional gain the presence of
integral control mode introduces additional phase lag in all
frequencies with destabilizing effects on the
system .Therefore lower KP maintains approximately the
same gain margin.
• The presence of the derivative control mode introduces
phase lead with strong stabilizing effects in the closed loop
response. The proportional gain KP for a PID controller can
be increased without threatening the stability of the system.

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