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Control Systems Design- PID Tuning

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The document discusses one method of tuning the PID controller

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Control Systems Design- PID Tuning

  1. 1. Control Systems Design PID Controller Tuning Method Parul Goyal
  2. 2. PID Tuning ( The Ziegler-Nichols Method ) <ul><li>A Popular Method of Tuning PID Controller </li></ul><ul><li>Setting for P,I,D Gains According to Ziegler-Nichols Method </li></ul>Where: Kmax= the value of Kp at the point of instability (zeroing the integral and differential gains and raising the proportional gain until the system is unstable): f0= frequency of oscillation 0.125/f0 2.0*f0 0.6*Kmax PID Controller 0 1.2*f0 0.45*Kmax PI Controller 0 0 0.5*Kmax P Controller Kd Ki Kp Controller Type
  3. 3. PID Tuning ( The Ziegler-Nichols Method ) Application <ul><li>A Simple Model is Developed in Simulink to Demonstrate the PID Tuning by Ziegler-Nichols Method </li></ul><ul><li>Position Control of a Hydraulic Proportional Control Valve </li></ul>
  4. 4. PID Tuning ( The Ziegler-Nichols Method ) Application Input to the Model : Desired Position of the Valve Output of the Model : Controlled Position of the Valve
  5. 5. PID Tuning ( The Ziegler-Nichols Method ) Application Setting PID Gains: Kp=increase until output becomes unstable Ki=0, Kd=0 At Kp=21.5*1.1, Position Output is still Stable
  6. 6. PID Tuning ( The Ziegler-Nichols Method ) Application Setting PID Gains: Kp=increase until output becomes unstable Ki=0, Kd=0 At Kp=21.5*1.3, Position Output has become Unstable
  7. 7. PID Tuning ( The Ziegler-Nichols Method ) Application Calculation of Kmax & f0: Kmax = 21.5*1.3 f0 = frequency of oscillations = 33.33 hz PID Controller Parameters: Kp=0.6*Kmax = 0.6*(21.5*1.3) Ki=2.0*f0 = 2.0*33.33 Kd=0.125/f0 = 0.125/33.33 At Kp=21.5*1.3, Position Output has become Unstable
  8. 8. PID Tuning ( The Ziegler-Nichols Method ) Application Setting PID Gains: Kp = 21.5*1.3*0.6 Kd = 66.6 Ki = 0.00375
  9. 9. PID Tuning ( The Ziegler-Nichols Method ) Application Model Output Study: Reduced Steady State Error Stable Output More fine-tuning of PID Gains can be Done by Trial and Error

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