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1
Ziegler-Nichols method Contd….
This method is a trial and error tuning method
based on sustained oscillations that was first
proposed by Ziegler and Nichols.
This method that is probably the most known
and the most widely used method for tuning of
PID controllers.
The advantage of Z-N method is that it does
not require the process model.
Tyreus-Luyben method
Modified Ziegler-Nichols method
• The Tyreus-Luyben procedure is similar to the
For control loops the measure of oscillation, Ziegler–Nichols method but the final
provide by ¼ decay ratio. controller settings are different.
The corresponding large overshoots for set point • This method only proposes settings for PI and
changes are undesirable therefore more conservative PID controllers.
methods are often preferable such as modified Z-N • These settings that are based on ultimate gain.
settings.
2
Damped Oscillation Method C-H-R Method
This method that has proposed by
This method is used for solving problem
Chien,Hrones and Reswich .
of marginal stability.
This is a modification of open loop Ziegler and
The process is characterized by finding Nichols method.
the gain at which the process has a They proposed to use “quickest response
damping ratio of ¼. without overshoot” with 20% overshoot” as
design criterion.
They also made the important observation that
tuning for set point responses and load
disturbance responses are different.
11/9/2017 SREC/PEP/17-18 9 11/9/2017 SREC/PEP/17-18 10
3
Ciancone and Marline Method Internal Model Control
This method that enable, engineer to obtain The IMC approach has two important
controller parameters by using some graphs to advantages:
satisfy the control objective. It explicitly takes into account model
Minimizing IAE considering uncertainty
±25 % change in the process model It allows the designer to trade-off control
parameters. system performance against control system
Limits on the variation of the manipulated robustness to process changes and modeling
variable. errors.
4
Lambda Tuning Auto Tuning
Developed for achieving smooth set point Autotuning (also known as self-tuning) is a feature
response or load change. supplied by many controller, PLC and DCS vendors
that allows the controller to “tune itself”.
Guarantees stability, robustness and no
It minimize the task of a control engineer in manually
overshoot. tuning the loops.
Very popular in pulp & paper industry. A variety of auto tuning techniques found on the
Two basic steps of lambda tuning: market:
Scheduled tuning
Process model identification
On –demand tuning
Lambda tuning
On –line tuning
1st order process with dead time
11/9/2017 Integrating process
SREC/PEP/17-18 (i.e. level control) 17 11/9/2017 SREC/PEP/17-18 18
5
Summary of comparison of
PID controller tuning methods