Professional Documents
Culture Documents
Cases:
Some process loops do have
relatively fast response.
Many processes take even
hours before results can be
observed.
It will take several minutes even
hours before response
resulting from the tuning can
be observed.
STEPS:
Determination of the dynamic
characteristics or personality of
the control loop.
Estimation of the controller
tuning parameters that produce
a desired response for the
dynamic characteristics
determined in the first step.
12/12/2016
12/12/2016
Example:
Given the characteristics equation
of the continuous stirred tank,
determine the quarter decay ratio
tuning parameters for the PID
controller by the Ultimate gain
method. Also, determine the
roots of the characteristics
equation for the controller tuned
with these parameters and
calculate the actual decay ratio.
Given:
C(s) = G1GC . R(s) + G2
. F(s)
1 + G1GC
1 + G1GC
G1 =
1.954
.
(0.2s+1)(8.34s+1)(0.502s+1)(0.75s+1)
Reqd:
Tuning parameters for a PID by
Ziegler-Nichols method
Roots of the c.e. for the PID
controlled by these parameters
Soln:
Determine Ku and Pu
Set the controller to P-controller
The c.e. is: 1 + G1GC = 0
With P-controller, GC = Kc
(0.2s+1)(8.34s+1)(0.502s+1)(0.75s
+1) + 1.954 Kc = 0
= 0 ; 5.303 u3 - 9.79 u = 0
5.303 u3 = 9.79 u
u = 1.359 rad/min
0.628 u4 - 12.73 u2 + 1 + 1.954 Ku = 0
Ku = 10.42
; P = 2/ = 4.62
I = Pu / 2 = 2.31 min
D = Pu / 8 = 0.58 min
TF of PID controller is:
Gc = Kc
1 + 1
Is
1+ Ds
12/12/2016
Activity:
Repeat problem for a PI controller
tuned using quarter decay
method.
= 1.232 rad/min
P = 2 / 1.232 = 5.1 min
Decay ratio:
e2/ = 0.19