Professional Documents
Culture Documents
By
Mohd Hafiz Bin A. Jalil @ Zainuddin
Contents
1. Introduction
2. Definition of P, I and D in controller design
3. P, PI, and PID ideal controller structure
4. Determination of P, PI, PID parameter
using open-loop method.
4.1 Ziegler Nichols Tuning rules
4.2 Cohen Coon Tuning Formulae
4.3 Determination of process Gain, K,
Time constant, and Time Delay using
Process Reaction Curve
4.4 Example PID controller (ZN)
5. Suggestion
1. Introduction
Start
Develop mathematical
equation for the system What your have learn this semester?
(Modeling) Mathematical model based on first
-First principal
-Empirical principle approach.
-Semi-Empirical Notes:
Empirical approach-ARX, ARMAX,
NARX, NARMAX, FOPDT, SOPDT
Controller design and many more
-Lead-lag What your will learn this semester?
-P, PI, PID
-Predictive Lead-lag compensator
-Adaptive and Many P, PI and PID
More
N
Transient
Accepted
Y
Real time
implementation
Where:
Proportional gain, Kp
U (s)
G p (s) Kp
E (s)
Kp Controller Saturation
Plant
r (s )
E(s) U(s) c (s )
Ki G (s )
_
Where:
Proportional gain, Kp
U (s) Kp
G pi ( s ) Kp
E (s) Ti s
Integral gain, Ki
Kp Controller Saturation
Plant
r (s )
U(s)
E(s) c (s )
Ki G (s )
_
Kd
Where:
Proportional gain, Kp
Derivative gain, Kd
U (s) Kp
G pid ( s ) Kp K pTd s
E (s) Ti s
Integral gain, Ki
• There are two method in tuning P, PI, and PID parameter either using open
loop method or closed loop method.
• Two well known open loop tuning method are known as;
100
90
80
60
A 50
Open Loop output
40
response
63%
30
X
20
Inflection point
10
0
0 0.5 1 1.5 2 2.5 3
4
x 10
5V
B Input
0V
120
110
100
90
80
re
ut
ra
e
p
m
70
Open Loop output
60
e
T response
50
40
30
20
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (s)
5V
Input
0V
First step: determine time Process gain, Time constant and Time delay
120
112 C
o
110
100
90
80
er
A tu
ar 70 Open Loop output
e
p
m
e 60 Tangent to inflection point response
T
63% 50
X
40
Inflection point
30
26 C
o
20
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Time (s)
M
5V
B Input
0V
Figure 6
4.4 Example PID design using Ziegler Nichols
tuning rules
G (s)
r ( s ) 1800 s 1
4.4 Example PID design using Ziegler Nichols
tuning rules
1.2 1.2(1800)
Proportion al gain, K 0.502326
K 17.2( 250)
P
K 0.502326 0.001005
Therefore, Integral Gain, K p
Ts 500s s
i
i
4.4 Example PID design using Ziegler Nichols
tuning rules
PID Controller
Controller Saturation
0.502326
Plant
r(s)
E(s) 0.001005 U(s) c(s)
G(s)
_ s
62.8s
or
PID Controller
Controller Saturation
Plant
r (s ) E(s) U(s) c(s )
0.001005 G (s )
0.502326 62.8s
_ s
100
90
80
Set-point, R(s)
70
60
50
40
30
20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
4
x 10
u (s) 0 . 007053
G (s)
r(s) s 0 . 0001854
4.4 Example PID design using Ziegler Nichols
tuning rules
140
120
Temperature output, Y(s)
100
80
Set-point, R(s)
60
40
20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
4
x 10
Figure 12: Parallel PID Block Diagram in matlab using given model
TABLE 5: Analysis PID performance based on 2% band
• In order to get better transient response such as, reduction in percentages overshoot or
faster the settling time, several method are suggested;
– Retune PID parameter (try and error) based on calculated value
– Adding anti-windup
– Hybrid with other controller such as fuzzy, neural network for self tuning.
TQ