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Parameter
Kc, proportional
gain
I , Integral time
D , Derivative time
PID Controller
Ku
1.7
Pu
2
Pu
8
Steps:
1. Determination of the dynamic characteristics or personality of the control loop.
2. Estimate of the controller tuning parameters that produce a desired response for the dynamic characteristics
determined in the 1st step. This is matching the personality of the controller to that of the other elements in the
loop.
The dynamic characteristics of the process are represented by the ultimate gain of the proportional controller and the
ultimate period of oscillation of the loop. These can be determined from the transfer function of all the components of
the loop. Most often, they are experimentally determined.
Experimental Determination of Ku and Pu:
1. Switch off the integral and derivative modes of the feedback controller so as to have a proportional controller
only. Some controllers have Integral mode which cannot be switched off but it can be de-tuned by switching
I to its maximum value or by setting the integral rate to the minimum value.
2. With the controller in automatic (i.e. the loop is closed), increase the proportional gain (or reduce the
proportional band) until the loop oscillates with constant amplitude. Record the values of the gain that
Time
C(ts)
; B=A
Time
Quarter decay ratio response is very desirable for disturbance inputs because it prevents a large initial deviation
from the setpoint without being too oscillatory. It is not desirable for step changes in setpoint because the new setpoint
in each deviation is the preceding maximum deviation from the new setpoint in the opposite direction. This difficulty
can easily be corrected by reducing the Kc (proportional gain) from the value predicted by the formula as given in the
table.
The decay ratio is a direct function of the Kc and can be adjusted at anytime by simply changing the gain. If the
quarter decay ratio response is too oscillatory, reduction of the gain will smoothen out the response.
The ZN parameters produce fast response for most industrial loops.
Controller - Tuning Problem:
Given the characteristics equation of the continuous stirred tank, determine the quarter decay ratio tuning parameters
for a PID controller by the ultimate gain method (ZN Method). Also calculate the roots of the characteristic equation for
the controller tuned with these parameters and calculate the actual decay ratio.
Transfer Function:
Feed
C(s)
G1G C
G2
R(s)
F(s)
1 G1G C
1 G1G C
Ku = 10.4% CO
% TO
Ti , F
; Tu = 4.6 min
Steam , T st
Where:
G1
1.984
%TO
.
(0.2s 1)(8.34s 1)(0.502s 1)(0.75s 1) %CO
Parameter
Kc, proportional
gain
I , Integral time
D , Derivative time
PID Controller
Ku
2.2
2.2 Pu
Pu
6.3
The use of PID controllers in process control is limited, primarily because of problems with noisy signals. The
derivative action amplifies this noise and gives a poor performance in some applications.
Y (s)
where X(s) depends on the type of input (step, pulse, ramp, sinusoidal, etc)
Expand:
Y(s)
A1
A2
An
.........
[ terms of X(s) ]
s - r1 s r2
s rn
With s
Y (s)
(A A 2 )(s ) i(A 1 A 2 )
A
A
....... 1
.....
s i s i
(s )2 2
(s )2 2
Y (s)
B(s )
C
= :
tan1
B
C
d) Frequency of the sine wave is equal to the imaginary parts of the roots.