Classical Techniques for PID Tunning: Review

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 09 Issue: 04 | Apr 2022 www.irjet.net p-ISSN: 2395-0072
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Classical Techniques for PID Tunning: Review
Dr. Manoj Kumar Shukla1, Kamendra Rajput2, Amit Kumar Yadav3, Sanket Prakash4, Anuj
Kumar5
1Professor, Dept. of Electronics and Communication Engineering, Lovely Professional University, Punjab, India
2,3,4,5 Dept. of Electronics and Communication Engineering, Lovely Professional University, Punjab, India
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Abstract - This paper presents a review of the current as well as old-style procedures utilized for PIDtuning. PIDregulatorshave
been utilized for machine control for a really long time, and PID tuning has been a field of dynamic examination for quite a while.
The methods evaluated are ordered intotraditionalprocedurescreatedforPIDtuningand newcomputational methodsapplied for
tuning purposes. Applications of PID controllers have additionally been given. The principal objective of this paper is to give an
exhaustive reference hotspot for individuals working in PID regulators so that they can use best suited technique for PID tuning.
Keywords: PID controllers, tuning, classical techniques
1. INTRODUCTION
In numerous businesses, PIDs are the most generally utilized input regulators. Observing the right P, I and D boundaries
empowers ideal execution. Whenever PID boundaries aren't tuned accurately, your control loop can show undesired motions
as well as overshoot. In this manner, it's crucial to pick the right arrangement of PID boundaries to accomplish ideal plant
execution[1].
PID tuning alludes to the work process by which PID boundaries are resolved in light of the PID calculation utilized, the open-
loop process conduct, your control targets and the designing particulars of the ideal close loop control structure. Optimal
tuning is finding the ideal arrangement of P, I and D boundaries proficiently.Insidetheenormousspaceofthehuntboundaries,
there is just one set that outcomes in an ideal execution. Based upon the PID strategies you use, the figured boundaries can be
nearer or further away from this ideal set.
Process conduct is critical! Optimal tuning must be performed when we grab the right process behavior[2]. Most techniques
decrease the process to an exceptionally straightforward first-order behavior, despite the fact that there are many processes
that cannot be portrayed with these basic models. For instance, steam heater drums, superheaters, processes with long
deferrals, (took care of) clump reactors and level regulators.
At long last, we shouldn't fail to remember the designing determinations of the ideal processconduct.Whilesetpointfollowing
is critical, make that your measure for optimality. Whenever aggravation dismissal is critical,centeraroundthat.Withthehelp
of methods discussed below one should be able to decide best suited method for the process we need developforourplant[3].
The name PID controller is given to it as its net output is sum of all the three terms derivative, proportional and integral terms
respectively. The value of these terms is dependent on the error value e between the output and the input.
Output = (1)
Here in these equations Kp, Ki and Kd are the P, I and D parameters respectively. Ki and Kd can also be expressed as,
(2)
where Ti and Td are reset time and derivative time respectively. The system response is determined by these terms.
There have been different types of techniques applied for PID tuning, Ziegler Nichols technique was one of the earliest
techniques developed. These techniques can be broadly classified as classical and computational or optimization techniques.
2. Classical techniques for tuning of PID
Old style procedures make specific presumptions abouttheplantandtheideal resultandattempttogetlogically,orgraphically
some component of the interaction that is then used to choose the regulator settings. These strategies are computationally
exceptionally quick and easy to carry out and are great as a first cycle. Be that as it may, becauseofthepresumptionsmade,the
regulator settings normally don't give the ideal outcomes straightforwardlyandfurthertuningisrequired.Acouple ofold-style
procedures have been explored in this paper[4].

As of now, the greater part of the controllers utilized in industry are PID controllers.Before,a large numberofthesecontrollers
were simple; nonetheless, a considerable lot of the present controllers utilize advanced techniques. At the point when a
numerical model of a framework is accessible, the boundaries of the regulator cannot entirely Settled, nonetheless, when a
numerical model is inaccessible, the boundaries should be resolved tentatively. Controller tuning is the method involvedwith
deciding the regulator boundaries which producetheideal result.Regulatortuningtakesinto considerationenhancementofan
interaction and limits the mistake between the variable of the cycle and its set point[5], [6].
Kinds of controller tuning techniques incorporate the experimentation strategy,andinteractionresponsebendstrategies.The
most well-known traditional controller tuning strategies are the Ziegler-Nichols and Cohen-Coontechniques.These strategies
are frequently utilized when the numerical model oftheframework isn'taccessible.TheZiegler-Nicholsstrategycanbeutilized
for both closed and open loop system, while Cohen-Coon is regularly utilized for open loop systems. A closed loop control
framework is a framework which utilizes feedback control.Inanopen-loopsystem,the resultisn'tcontrasted withtheinput[7],
[8].
2.1 Ziegler-Nichols Method
In the 1940's, Ziegler and Nichols formulated two observational techniquesforgetting controllerboundaries.Their techniques
were utilized for non-first order in additiontodeadtimecircumstancesandinvolvedextrememanual estimations. Withfurther
developed advancementprogramming,mostmanual techniques,forexample,thesearenotgenerallyutilized.Notwithstanding,
even with PC helps, the accompanying two techniques are as yet utilized today, and are considered among the most well-
known:
Ziegler-Nichols closed-loop tuning method
The Ziegler-Nichols closed loop tuning technique permits you to utilize ultimate gain value, Ku, and a ultimate period of
oscillation, Pu, to work out Kc. It is a straightforward strategy for tuning PID regulators and can be refined to give better
approximations of the controller. You can acquire the regulator constants Kc,Ti, and Td in a framework with feedback. The
Ziegler-Nichols closed loop tuning strategy is restricted to tuning processes that can't run in an open-loop conditions[9],[10].
Deciding an ultimate gain value, Ku, is achieved by observing the value of the proportional-only gain that causes the control
loop to oscillate endlessly at consistent state. This implies that the gain from the I and D regulator are set to zero so the impact
of P can be determined. It tests the robustness of the Kc value with the goal that it is enhanced for the controller. One more
significant value related with this proportional-only control tuningstrategyisanultimateperiod(Pu).Anultimate periodisthe
time expected to finish one full oscillation while the system is at consistent state. Thesetwo boundaries,Ku,andPu areutilized
to find the loop tuning constants of the controller (P, PI, or PID).
Advantages
 It is easy to experiment as we only need to change the P controller.
 It involves the dynamics of whole process, which gives a more accurate picture of how the system is responding.
Disadvantages
 Sometimes these experiments can be time consuming.
 It can deviate into unstable regions which leads to system going out of control while testing the P controller.
Ziegler-Nichols Open-Loop Tuning Method or Process Reaction Method
This strategy stays a famous method for tuning controllers that utilizes proportional, integrative,andderivativeactivities.The
Ziegler-Nichols open-loop technique is additionallyalludedtoasprocessreactionmethod,sinceitteststheopen-loopresponse
of the process to an adjustment of the control variable result. This test expects that the reaction of the system be recorded,
ideally by a plotter or PC. When certain interaction reaction values are found, they can be connected to the Ziegler-Nichols
condition with explicit multiplier constants for the gains of the controller with one or the other P, PI, or PID activities.
Advantages
 When compared to other methods it is quite easy to use and quicker than other methods.
 It is a potent and widely followed method.

 When we take these two techniques, the Process Reaction Method is the easiest and least disruptive to implement.
Disadvantages
 To determine I and D controllers, it solely depend on the proportional measurement.
 The values that we take for the Kc, Ti, and Td might be different for different systems.
 It is not applicable for I, D and PD controllers.
2.2 Cohen-Coon Method
The Cohen-Coon technique for controllertuningrectifiesthesluggish,steadystatereactiongivenbytheZiegler-Nicholsmethod
when there is a huge dead time (process delay) comparative with the open loop time constant; a huge process delay is
important to make this technique practical in light of the fact that generally nonsensically large controller gains will be
anticipated. This strategy is just utilized for first-order models with time delay, because of the way that the controller doesn't
promptly respond to the disturbance (the stepdisturbanceisprogressiveinsteadofinstantaneous). TheCohen-Coonmethodis
classified as an 'offline' tuning method, which means that a step change canbeintroducedtotheinput whenitisin steadystate.
Output can then be measured based on time constant and time delay and this response can be used to test initial control
parameters.
The Cohen-Coon method has a set of predefined settings for obtaining the minimum offset and standard decay ratio of
1/4(QDR). A damping ratio of 1/4 (QDR) describes a response in which the vibration is reduced so thatthesecond vibrationis
1/4 the amplitude of the first vibration. These settings are shown in Table 1.
Kc Ti Td
P (P/NL)*(1+(R/3))
PI (P/NL)*(0.9+(R/12)) L*(30+3R)/(9+20R)
PID (P/NL)*(1.33+(R/4)) L*(30+3R)/(9+20R) 4L/(11+2R)
where the variables P, N, and L are defined below in table 2.
P Percent change of input
N Percent change of output/
L
R
Advantages
 Generally utilized for systems involving time delay.
 Its closed loop response time is quite fast.
Disadvantages
 Unstable closed loop systems.
 It cannot be only be used for second order or above models including large process delays.
 It is an offline method.
 The values that we take for the Kc, Ti, and Td might be different for different systems.
3. Application of PID controllers
A PID controller gadget is normally utilized in enterprises to control or change complex actual boundaries of the climate like
temperature and tension. It can likewise be utilized to keep up with these boundaries at a steady value. Probably the most
widely recognized utilizations of a PID controllers are recorded underneath:
 A PID regulator is an indispensable piece of the temperature control arrangement of an industry. It is commonlyusedto
control the temperature of the premises. Here, the contribution of the PID regulator is acquired from a temperature

sensor and the result is taken care of to a fan or a radiator. The fan or the radiator; subsequently, goes about as a control
component. The speed of the fan or the temperature of the radiator gets changed by the feedback signal.
 Most assembling ventures utilize immense heaters to soften and warm various components. The temperature of such
heaters is expected to be observed occasionally. Likewise, one should have the option to control and change the
temperature to keep up with the temperature of the heater at the ideal steady worth. For this reason, by and large,a PID
controller is utilized.
 A PID controller is generally utilized as a greatest power point following charge regulatororMPPTcharge regulator. The
V-I attributes of a photovoltaic cell by and large rely upon two boundaries, to be specific the irradiance and the scope of
the temperature. This is the motivation behind why the upsides of current and the working voltage is every now and
again expected to be shifted according to the atmospheric conditions. The following of the most powerful mark of a
photovoltaic cell is a convoluted assignment. A PID regulator is normally utilized to play out the errand of keeping up
with the steady worth of current and voltage by assessing the MPPT and giving a consistentworthofcurrentandvoltage
for each adjustment of climate.
 A PID controller is most commonly used in power converters.
 Different exploration, advancement, and testing associations like synthetic, drug, and assembling businesses utilize the
PID regulators to keep up with the dampness and temperature of a specific region at a steady level.
 PID controllers are also used in pH, flow, and speed control devices.
4. CONCLUSION
Classical techniques have been reviewed in this paper and along with PID tuning applications in day-to-day life. A brief
description of PID tuning was followed by the techniques used for tuning along with their merits and demerits to help us
understand the better the application of these techniques for particular problems we might come across. Applications
discussed gives idea about where PID tuning can be used for improving our lives.
References
[1] N. Ebrahimi, “Modeling, Simulation and Control of a Robotic Arm,” no. 3, 2019, doi: 10.31224/osf.io/t8fsr.
[2] C. Knospe, “PID control,” IEEE Control Syst. Mag., vol. 26, no. 1, pp. 30–31, 2006.
[3] M. Y. Tabari and A. V. Kamyad, “Design optimal Fractional PID Controller for Inverted Pendulum with Genetic
Algorithm,” Int. J. Sci. Eng. Res., vol. 4, no. 2, pp. 2–5, 2013.
[4] S. A. Ajwad, U. Iqbal, and J. Iqbal, “Hardware realization and PID control of multi-degreeoffreedomarticulatedrobotic
arm,” Mehran Univ. Res. J. Eng. Technol., vol. 34, no. S1, pp. 1–12, 2015.
[5] J. S. Kumar and P. G. Student, “Control and Tracking of Robotic Manipulator using PID controllerandHardwareinLoop
Simulation,” pp. 1–3, 2014.
[6] D. T. Pham, E. Koç, M. Kalyoncu, and M. Tinkir, “Hierarchical PID Controller Design for a Flexible Link Robot
Manipulator Using the Bees Algorithm,” Methods (Eg. Genet. Algorithm), vol. 25, no. October, p. 32, 2006.
[7] J. Alvarez-ramirez, R. Kelly, and I. Cervantes, “Semiglobal stability of saturated linear PID control for robot
manipulators,” vol. 39, pp. 989–995, 2003, doi: 10.1016/S0005-1098(03)00035-9.
[8] R. Kelly and R. Kelly, “A tuning procedure for stable PID control ofrobotmanipulatorsAtuningprocedureforstablePID
control of robot manipulators *,” no. March 2009, pp. 141–148, 2014, doi: 10.1017/S0263574700017641.
[9] “pp_151_152_PID_Controller.pdf.” .
[10] P. Rocco, “Stability of PID control for industrial robot arms,” IEEETrans. Robot. Autom.,vol.12,no.4,pp.606–614,1996.

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