PID Tuning PID Parameters The Ziegler-Nichols Rules Ziegler-Nichols: Method 1 Ziegler-Nichols: Method 2 Computational Search

Unit 8: Part 3: PID Tuning

Engineering 5821: Control Systems I
Faculty of Engineering & Applied Science Memorial University of Newfoundland

March 8, 2011

ENGI 5821

Unit 8: Design via Root Locus

PID Tuning PID Parameters The Ziegler-Nichols Rules Ziegler-Nichols: Method 1 Ziegler-Nichols: Method 2 Computational Search

PID Tuning PID Parameters The Ziegler-Nichols Rules Ziegler-Nichols: Method 1 Ziegler-Nichols: Method 2 Computational Search

ENGI 5821

Unit 8: Design via Root Locus

PID Tuning

Designing a PID compensator using the analytical methods discussed so far requires a mathematical model of the system.

PID Tuning

Designing a PID compensator using the analytical methods discussed so far requires a mathematical model of the system. However, PID controllers (compensator and controller are synonymous in control systems) are often used even when no such model exists.

PID Tuning

Designing a PID compensator using the analytical methods discussed so far requires a mathematical model of the system. However, PID controllers (compensator and controller are synonymous in control systems) are often used even when no such model exists. The process of adjusting the parameters of the PID controller in this situation is known as tuning. We will consider two options for tuning a PID (or PI or PD) controller in the absence of a system model:

PID Tuning

Designing a PID compensator using the analytical methods discussed so far requires a mathematical model of the system. However, PID controllers (compensator and controller are synonymous in control systems) are often used even when no such model exists. The process of adjusting the parameters of the PID controller in this situation is known as tuning. We will consider two options for tuning a PID (or PI or PD) controller in the absence of a system model: Ziegler-Nichols rules (rules of thumb)

PID Tuning

Designing a PID compensator using the analytical methods discussed so far requires a mathematical model of the system. However, PID controllers (compensator and controller are synonymous in control systems) are often used even when no such model exists. The process of adjusting the parameters of the PID controller in this situation is known as tuning. We will consider two options for tuning a PID (or PI or PD) controller in the absence of a system model: Ziegler-Nichols rules (rules of thumb) Computational search

PID Parameters

Recall the parameters for a PID compensator: 1 Gc (s) = K1 + K2 + K3 s s

PID Parameters

Recall the parameters for a PID compensator: 1 Gc (s) = K1 + K2 + K3 s s We will use the constants Kp , Ki , and Kd which stand for Proportional, Integral, and Derivative.

PID Parameters

Recall the parameters for a PID compensator: 1 Gc (s) = K1 + K2 + K3 s s We will use the constants Kp , Ki , and Kd which stand for Proportional, Integral, and Derivative. Gc (s) = Kp + Ki 1 + Kd s s

PID Parameters

Recall the parameters for a PID compensator: 1 Gc (s) = K1 + K2 + K3 s s We will use the constants Kp , Ki , and Kd which stand for Proportional, Integral, and Derivative. Gc (s) = Kp + Ki 1 + Kd s s

If Ki and Kd are zero we have a simple P controller.

PID Parameters

Recall the parameters for a PID compensator: 1 Gc (s) = K1 + K2 + K3 s s We will use the constants Kp , Ki , and Kd which stand for Proportional, Integral, and Derivative. Gc (s) = Kp + Ki 1 + Kd s s

If Ki and Kd are zero we have a simple P controller. If only Kd is zero we have a PI controller.

PID Parameters

Recall the parameters for a PID compensator: 1 Gc (s) = K1 + K2 + K3 s s We will use the constants Kp , Ki , and Kd which stand for Proportional, Integral, and Derivative. Gc (s) = Kp + Ki 1 + Kd s s

If Ki and Kd are zero we have a simple P controller. If only Kd is zero we have a PI controller. If only Ki is zero we have a PD controller.

The Ziegler-Nichols Rules

Ziegler and Nichols came up with two methods for setting the parameters of PID controllers.

The Ziegler-Nichols Rules

Ziegler and Nichols came up with two methods for setting the parameters of PID controllers. These are rules of thumb and there is no guarantee that the resulting system behaves optimally.

The Ziegler-Nichols Rules

Ziegler and Nichols came up with two methods for setting the parameters of PID controllers. These are rules of thumb and there is no guarantee that the resulting system behaves optimally. Ziegler-Nichols provides only a starting point for further tuning.

The Ziegler-Nichols Rules

Ziegler and Nichols came up with two methods for setting the parameters of PID controllers. These are rules of thumb and there is no guarantee that the resulting system behaves optimally. Ziegler-Nichols provides only a starting point for further tuning. Method 1: Applies if the systems response to a unit-step is S-shaped, indicating that the plant involves no pure integration and the system response is not dominated by a pair of complex-conjugate poles:

The Ziegler-Nichols Rules

Ziegler and Nichols came up with two methods for setting the parameters of PID controllers. These are rules of thumb and there is no guarantee that the resulting system behaves optimally. Ziegler-Nichols provides only a starting point for further tuning. Method 1: Applies if the systems response to a unit-step is S-shaped, indicating that the plant involves no pure integration and the system response is not dominated by a pair of complex-conjugate poles:

The Ziegler-Nichols Rules

Ziegler and Nichols came up with two methods for setting the parameters of PID controllers. These are rules of thumb and there is no guarantee that the resulting system behaves optimally. Ziegler-Nichols provides only a starting point for further tuning. Method 1: Applies if the systems response to a unit-step is S-shaped, indicating that the plant involves no pure integration and the system response is not dominated by a pair of complex-conjugate poles:

Notice that this method is applied on the plant itself, without feedback.

The Ziegler-Nichols Rules

Ziegler and Nichols came up with two methods for setting the parameters of PID controllers. These are rules of thumb and there is no guarantee that the resulting system behaves optimally. Ziegler-Nichols provides only a starting point for further tuning. Method 1: Applies if the systems response to a unit-step is S-shaped, indicating that the plant involves no pure integration and the system response is not dominated by a pair of complex-conjugate poles:

Notice that this method is applied on the plant itself, without feedback. Method 2: The system appears to involve some pure integration and/or dominant complex-conjugate poles (i.e. the response is similar to an underdamped 2nd order response).

The Ziegler-Nichols Rules

Ziegler and Nichols came up with two methods for setting the parameters of PID controllers. These are rules of thumb and there is no guarantee that the resulting system behaves optimally. Ziegler-Nichols provides only a starting point for further tuning. Method 1: Applies if the systems response to a unit-step is S-shaped, indicating that the plant involves no pure integration and the system response is not dominated by a pair of complex-conjugate poles:

Notice that this method is applied on the plant itself, without feedback. Method 2: The system appears to involve some pure integration and/or dominant complex-conjugate poles (i.e. the response is similar to an underdamped 2nd order response).

The Ziegler-Nichols Rules

Ziegler and Nichols came up with two methods for setting the parameters of PID controllers. These are rules of thumb and there is no guarantee that the resulting system behaves optimally. Ziegler-Nichols provides only a starting point for further tuning. Method 1: Applies if the systems response to a unit-step is S-shaped, indicating that the plant involves no pure integration and the system response is not dominated by a pair of complex-conjugate poles:

Notice that this method is applied on the plant itself, without feedback. Method 2: The system appears to involve some pure integration and/or dominant complex-conjugate poles (i.e. the response is similar to an underdamped 2nd order response). This method is applied on the closed-loop system, with feedback.

Ziegler-Nichols: Method 1
The systems S-shaped response can be characterized by two constants, the delay time L and time constant T .

Ziegler-Nichols: Method 1
The systems S-shaped response can be characterized by two constants, the delay time L and time constant T . These parameters can be obtained by drawing a tangent line at the inection point of the curve:

Ziegler-Nichols: Method 1
The systems S-shaped response can be characterized by two constants, the delay time L and time constant T . These parameters can be obtained by drawing a tangent line at the inection point of the curve:

L is the intersection of the tangent line with the time axis.

Ziegler-Nichols: Method 1
The systems S-shaped response can be characterized by two constants, the delay time L and time constant T . These parameters can be obtained by drawing a tangent line at the inection point of the curve:

L is the intersection of the tangent line with the time axis. L + T is the time at which the tangent line intersects the steady-state value.

The following table gives the gains for Method 1.

The following table gives the gains for Method 1. Controller P PI PID Kp T /L 0.9T /L 1.2T /L Ki 0 0.27T /L2 0.6T /L2 Kd 0 0 0.6T

The following table gives the gains for Method 1. Controller P PI PID Kp T /L 0.9T /L 1.2T /L Ki 0 0.27T /L2 0.6T /L2 Kd 0 0 0.6T

A PID controller tuned by this method has a pole at the origin and double zeros at s = 1/L:

The following table gives the gains for Method 1. Controller P PI PID Kp T /L 0.9T /L 1.2T /L Ki 0 0.27T /L2 0.6T /L2 Kd 0 0 0.6T

A PID controller tuned by this method has a pole at the origin and double zeros at s = 1/L: Gc (s) = Kp + Ki 1 + Kd s s

1 = 1.2T /L + 0.6T /L2 + 0.6Ts s s+ = 0.6T s

12 L 2

Ziegler-Nichols: Method 2

To apply the second method we do a test on the system that varies Kp while keeping Kd = 0 and Ki = 0.

Ziegler-Nichols: Method 2

To apply the second method we do a test on the system that varies Kp while keeping Kd = 0 and Ki = 0. The system being tested is as follows:

Ziegler-Nichols: Method 2

To apply the second method we do a test on the system that varies Kp while keeping Kd = 0 and Ki = 0. The system being tested is as follows:

Ziegler-Nichols: Method 2

To apply the second method we do a test on the system that varies Kp while keeping Kd = 0 and Ki = 0. The system being tested is as follows:

Kp is increased from 0 until it reaches a critical value Kcr at which the output exhibits sustained oscillations...

At Kp = Kcr the systems output will oscillate with period Pcr .

At Kp = Kcr the systems output will oscillate with period Pcr . These two values are used to determine the PID gains:

At Kp = Kcr the systems output will oscillate with period Pcr . These two values are used to determine the PID gains: Controller P PI PID Kp 0.5Kcr 0.45Kcr 0.6Kcr Ki 0 0.54Kcr /Pcr 1.2Kcr /Pcr Kd 0 0 0.075Kcr Pcr

At Kp = Kcr the systems output will oscillate with period Pcr . These two values are used to determine the PID gains: Controller P PI PID Kp 0.5Kcr 0.45Kcr 0.6Kcr Ki 0 0.54Kcr /Pcr 1.2Kcr /Pcr Kd 0 0 0.075Kcr Pcr

Computational Search
If we have a model of the system or if the system can somehow be simulated, we can simply search for the PID parameters that best satisfy our design criteria.

Computational Search
If we have a model of the system or if the system can somehow be simulated, we can simply search for the PID parameters that best satisfy our design criteria. e.g. Assume we have the following system:

Computational Search
If we have a model of the system or if the system can somehow be simulated, we can simply search for the PID parameters that best satisfy our design criteria. e.g. Assume we have the following system:

Computational Search
If we have a model of the system or if the system can somehow be simulated, we can simply search for the PID parameters that best satisfy our design criteria. e.g. Assume we have the following system:

Like the controllers produced by Ziegler-Nichols, this PID controller has a pole at the origin and a pair of double zeros at a.

Computational Search
If we have a model of the system or if the system can somehow be simulated, we can simply search for the PID parameters that best satisfy our design criteria. e.g. Assume we have the following system:

Like the controllers produced by Ziegler-Nichols, this PID controller has a pole at the origin and a pair of double zeros at a. This gives us a 2-D parameter space which is relatively easy to search.

Computational Search
If we have a model of the system or if the system can somehow be simulated, we can simply search for the PID parameters that best satisfy our design criteria. e.g. Assume we have the following system:

Like the controllers produced by Ziegler-Nichols, this PID controller has a pole at the origin and a pair of double zeros at a. This gives us a 2-D parameter space which is relatively easy to search. The goal is to satisfy the following requirements: %OS < 10%

We choose a step size of 0.2 for both K and a.

Computational Search
If we have a model of the system or if the system can somehow be simulated, we can simply search for the PID parameters that best satisfy our design criteria. e.g. Assume we have the following system:

Like the controllers produced by Ziegler-Nichols, this PID controller has a pole at the origin and a pair of double zeros at a. This gives us a 2-D parameter space which is relatively easy to search. The goal is to satisfy the following requirements: %OS < 10% 2K 3

We choose a step size of 0.2 for both K and a.

Computational Search
If we have a model of the system or if the system can somehow be simulated, we can simply search for the PID parameters that best satisfy our design criteria. e.g. Assume we have the following system:

Like the controllers produced by Ziegler-Nichols, this PID controller has a pole at the origin and a pair of double zeros at a. This gives us a 2-D parameter space which is relatively easy to search. The goal is to satisfy the following requirements: %OS < 10% 2K 3 0.5 a 1.5 We choose a step size of 0.2 for both K and a.