PID controller

Control engineering and signal processing

Michala Srnová
2009/2010
 Content
 Compensator

P compensator
 PI compensator
 Lead compensator
 Lag compensator
 PID controller
 PID controller

Proportional + integral + derivative


Transfer function:

KD – derivative gain
 Used in majority of closed-loop industrial processes
 PID controller
 Step response
 Rise time
 Overshoot
 Settling Time
 Steady state Error
 Effect of increasing the parameters:
 Tune
 Alter step response

Find out parameter Kp, Ki, Kd
 Various methods

Manual Tuning
 Ziegler-Nichols
 Software Tools
 Cohen-Coon
 Manual Tuning
 No math required

On-line method
1. What in characteristic need to be improved
2. Kp – decrease the rise time
3. Kd – reduce overshoot and settling time
4. Ki – eliminate steady state error
 Does not work in every time
 Ziegler-Nichols
 Rules for determine Kp, Ki, Kd
 Based on step response

Proposed more methods
 First method – Step response method
 No integrators
 No dominant
complex-pairs
 Response:
s-shape, no overshoot
 Ʈ, a
 Ziegler-Nichols
 Parameters Ʈ and a – calculating


Drawbacks: lack robustness
 Improvement : K, Ʈ, T in model
 From step response
 Ziegler Nichols
 Second method – frequency response
1. Ki and Kd =0, setting of Kp
2. Starting of ocsillations → Kc, period – Tc
3. These values used to calculate Kp,Ki,Kd
 Software Tuning
 Modern industrial facilities

Online, offline method
 Software will
 Gather data
 Develop process model
 Suggest optimal tuning
 Principle
 Mathematical loops
 Frequency response to impulse

Design PID loop values
Thank you for your attention