12.

PID Control System Design/Tuning Method II: Continuous Cycling Method Plants

Lecture 13: PID Control System Design/ Tuning Fine Tuning

Review of Ziegler-Nichols Tuning/Design Methods Fine Tuning

Case Study and Examples

1-1

AE 8120 Bldg Control & Automation Systems

Ziegler Nichols Tuning Methods

Process Reaction PID Tuning Method

1-2

AE 8120 Bldg Control & Automation Systems

Process Reaction PID Tuning Method

Kplant, T and L Note: Actuator is included as a part of the plant to obtain the above parameters

KP 1 K Plant T L

R I (reps/min)

TD (mins)

PI

0.9 T K Plant L 1.2 T K Plant L

0.3 L 0.5 L

x%
PID 0.5L

KP

TI (mins) T L

TD (mins)

63.2%y% y%
P 1 K Plant 0

28.3%y%
PI

0.9 T K Plant L 1.2 T K Plant L

L 0.3

L t1 t2

T
PID 2L 0.5L

1-3

AE 8120 Bldg Control & Automation Systems

Almost done

Ziegler Nichols Tuning Methods

Continuous Cycling PID Tuning Method

1-4

AE 8120 Bldg Control & Automation Systems

Continuous Cycling PID Tuning Formula

Continuous Cycling PID Tuning Method Required parameters Kcr and Pcr Closed control loop parameters

KP P 0.50K cr

R I (reps/min) 0 1.2 Pcr 2 Pcr

TD (mins) 0

PI

0.45K cr

PID

0.60K cr

Pcr 8

Pcr
P

KP 0.50K cr

TI (mins) Pcr 1.2

TD (mins) 0

PI

0.45K cr

PID

0.60K cr

0.5Pcr

Pcr 8

1-5

AE 8120 Bldg Control & Automation Systems

Almost done

Review: Ziegler-Nichols Tuning/Design Methods

PID parameters obtained from the Ziegler-Nichols tuning rules

can serve as a quantitative start point

An educated good guess
At least stable and safe to the plants

Reasonably fast response

Control performance may not be optimal or even satisfactory

Based on a lot of assumptions which the actual plant may not meet Plant non-linearity

Fine-tuning can improve the PID controller performance

1-6

AE 8120 Bldg Control & Automation Systems

Fine Tuning
Based on desired performance
Minimum rising time/settling time but stable Minimum overshoot/maximum stability but reasonably quick Compromise between the above two (5%<overshoot<15%) Minimum offset

e = %5 or 3% overshoot

peak time rise time

1-7 AE 8120 Bldg Control & Automation Systems

settling time

Fine Tuning
Guidelines
The following table Practice/experience/knowledge of the plant

RESPONSE

RISE TIME

OVERSHOOT

SETTLING TIME No definite trend

OFFSET ERROR Zero

Used information Present Past

P (Kp) I (Ri)

D (Td)

Minor

Minor

No effect in theory

Future

1-8

AE 8120 Bldg Control & Automation Systems

Fine Tuning of Proportional Gain and Integral Reset

Things in common for KP and RI Increase in either of the above will
Reduce control error faster Achieve faster response

Decrease in either of the above will

Increase the stability Decrease oscillation Decrease overshoot

How do we know which parameters should be fine-tuned?

1-9

AE 8120 Bldg Control & Automation Systems

Fine Tuning of Proportional Gain and Integral Reset

Inherent Difference Proportional control (using current error information) has an instant control effect in response to set point change or disturbance
Proportional to the magnitude of the current error Maximum error occurs when there is a sudden change in set point or disturbance

Integral reset (using past information) does not have an instant control effect

in response to set point change or disturbance

Proportional to the accumulation (integration) of error Maximum integration of error occurs before the sign of error changes

1-10

AE 8120 Bldg Control & Automation Systems

Fine Tuning of Proportional Gain and Integral Reset

Simple one-D fine-tuning strategy If the control has a sluggish response at the beginning, increase the proportional gain first If the control has a sluggish response at the end, increase the integral reset first Two-D fine-tuning strategy An increase/decrease in proportional gain tends to shift the step response upwards/downwards and simultaneously increase/decrease the amplitude of the overshoot. An increase/decrease in integral reset tends to change the shape of the step response by increasing/decreasing the damping ratio.

1-11

AE 8120 Bldg Control & Automation Systems

Too sluggish at the end, increase RI

Too sluggish at the beginning, increase KP

Unstable or too fast at the Sluggish at both ends, beginning, reduce KP increase both KP and RI
1-12 AE 8120 Bldg Control & Automation Systems

Case Study
MatLab SimuLink Simulator
Steps Plant parameter identification PID Tuning Fine-Tuning

1-13

AE 8120 Bldg Control & Automation Systems