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Calculation of characteristic values Kp Tn Tv KI KD P 0.5 KPcrit PD 0.8 KPcrit 0.12 Tcrit KP TV PI 0.45 KPcrit 0.85 Tcrit KP / Tn PID 0.6 KPcrit 0.5 Tcrit 0.12 Tcrit KP / Tn KP TV Table 1 Controller coefficients according to Ziegler-Nichols method.
3.2 Computing example for a closed control loop with PID controller 1. Limit of stability of the closed control loop: KPcrit = 20 Tcrit = 100ms 2. Optimum controller coefficients of the PID controller: KP = 0.6 KPcrit = 0.6 20 = 12 Tn = 0.5 Tcrit = 0.5 100ms = 50ms Tv = 0.12 Tcrit = 0.12 100ms = 12ms KI = KP/Tn = 12 / 0.05 = 240 s-1 KD = KP Tv = 12 12ms = 144ms 4. Procedure 4.1 Pressure control loop The closed control loop is to be constructed and commissioned as described below: 1. Construct the circuit (see figs. 2 and 3). A long section of tubing is to be used as a reservoir. 2. Set the controller: Coefficients to zero, Offset to zero, Limiter to 10V. 3. Check the control direction: To check the control direction, set the coefficient KP = 1. The control direction is correct, if the controlled variable x also increases with an increasing reference variable w.
Fig. 3 Circuit diagram, electrical 4.2 Ziegler-Nichols method Perform the Ziegler-Nichols tuning method. The comparison between the empirically determined parameters and the values calculated here show clear differences: regarding the values of the parameters, regarding the characteristics of the control quality: Overshoot amplitude xm, Steady-state system deviation estat, Settling time Ta. regarding the oscillations in the closed control loop (stability). 4.3 Modified controlled system The pressure control loop is altered by removing the reservoir (tubing), thereby producing different time constants. The controller is reset according to the ZieglerNichols method. 5. Results 5.1 Ziegler-Nichols method Set a step-change reference variable w: w = 3V 2V, 1Hz, square wave form Determine the limit of stability of the closed control loop: KPcrit = ? Tcrit = ?
Calculate the coefficients of the PID controller using the Ziegler-Nichols method: KP = 0.6 KPcrit = ? Tn = 0.5 Tcrit = ? Tv = 0.12 Tcrit = ? KI = KP / Tn = ? KD = KP Tv = ? Set the calculated coefficients of the PID controller. Is the closed control loop stable? Check the control quality: Overshoot amplitude xm = ? Steady-state system deviation estat = ? Settling time Ta = ? 5.2 Modified controlled system Remove the tubing (= reservoir) from the hydraulic circuit. Determine the limit of stability of the closed control loop: KPcrit = ? Tcrit = ? Calculate the coefficients of the PID controller using Ziegler-Nichols method: KP = 0.6 KPcrit = ? Tn = 0.5 Tcrit = ? Tv = 0.12 Tcrit = ? KI = KP / Tn = ? KD = KP Tv = ? Set the coefficients according to the Ziegler-Nichols method and check the control quality. Controller coefficient Control quality Stability according to Z-N KP KI (1/s) KD (ms) xm (V) estat (v) Ta (ms) Carry out the empirical parameterisation of the PID controller and check the control quality. Controller coefficient Stability Control quality according to Z-N KP KI (1/s) KD (ms) xm (V) estat (v) Ta (ms) Which PID setting do you consider to be better?