DEPARTMENT OF TECHNICAL EDUCATION

ANDHRA PRADESH
Name : E. Babu
Designation : Lecturer
Branch : Electronics & Instrumentation Engg.
Institute : S.G.P.R.Govt.Polytechnic,Kurnool.
Year/Semester : V Semester
Subject : Process control
Subject code : AEI-504
Topic : Controller Principles
Duration : 50mts.
Sub Topic : Ultimate gain method
Teaching Aids : PPT’s, Diagrams

AEI 504.34 1
 Recap

In pervious class we have discussed about:

• Tuning methods

• Trial and error method

AEI 504.34 2
 Objectives

On completion of this period, you would be

able to know:

• Ultimate gain tuning method

AEI 504.34 3
 Ultimate gain method

• This is called as continuous cycling method

• This is also called Ziegler – Nichols method ( loop

tuning method)

AEI 504.34 4
 Ultimate gain method….
Step1:
• Eliminate derivative action by setting TD at its minimum
value

• Eliminate integral action by setting TI at its maximum

value

Step2:
• Set Kc at a low value (0.5) and put controller automatic

Step3:
• Increase the controller gain Kc by small increments
AEI 504.34 5
 Ultimate gain method….

• At a point , sustained oscillations with constant amplitude

occurs which is called continuous cycling

• The constant amplitude is called ultimate gain Kcu

• The period of resulting sustained oscillations is called

ultimate period Tu

AEI 504.34 6
 Ultimate gain method….

• PID controller settings are calculated by Ziegler- Nichols

tuning relations

• The Z-N tuning relations were empirically developed

• These provide a ¼ decay ratio

AEI 504.34 7
 Ultimate gain method Ziegler- Nichols
controller settings

controller Kc TI TD

P 0.5Kcu - -

PI 0.45Kcu Tu/1.2

PID 0.6Kcu Tu/2 Tu/8

AEI 504.34 8
 Ultimate gain method….

• Significant safety is provided for proportional controller

• When the integral action is added Kc = 0.45Kcu

• When the derivative action is added then Kc= 0.6Kcu

AEI 504.34 9
 Modified Z-N settings

• The degree of oscillations associated with ¼ decay ratio

is undesirable

• Large overshoot for set point changes are undesirable

• Hence modified Z-N settings are used

• The following table gives the setting

AEI 504.34 10
 Original and Modified Ziegler- Nichols
PID controller settings
PID controller Kc TI TD

Original (1/4) 0.6Kcu Tu/2 Tu/8

Some 0.33Kcu Tu/2 Tu/3

Overshoot

No overshoot 0.2Kcu Tu/2 Tu/3

AEI 504.34 11
 Advantages

• Less time consuming

• Requires only one trial and error search

AEI 504.34 12
 Disadvantages

• Continuous cycling pushes process to limit the

stability

• Unstable operation may be caused

• Not suitable for open loop unstable processes

• Subsequent fine tuning via trial and error is required

AEI 504.34 13
 Summary

In this session we have learnt about :

• Steps to be followed in ultimate gain method

• Advantages

• Disadvantages

• Z-N relations

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 Quiz

1. Ultimate gain method is also called as……

a) Z-N method

b) Trial and error

c) PRC method

d) None

AEI 504.34 15
 Quiz

2. Integral action can be eliminated by

• Setting TD to low

• Setting TI to maximum

• Setting TI to minimum

• None

AEI 504.34 16
 Quiz

3. Derivative action can be eliminated by

• Setting TD to minimum

• Setting TD to maximum

• Setting TI to minimum

• None

AEI 504.34 17
 Quiz

4. Ultimate gain Kcu is……..

• Largest value of Kc with constant oscillations

• Minimum value of Kc

• 0.5

• None

AEI 504.34 18
 Quiz

5. Demerit of Z-N method is……

a. Fast setting method

b. Fine tuning with trial and error

c. Used to open loop processes

d. None

AEI 504.34 19
 Frequently Asked Questions

1. Explain the ultimate gain tuning method

2. Define the ultimate gain

3. List the demerits of ultimate gain method

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