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By Ahmad Taan
1
Content
Introduction
Objectives
Closed-loop Methods
Ziegler-Nichols Closed-loop
Tyreus-Luyben
Damped Oscillation
Open-loop Methods
Ziegler-Nichols Open-loop
C-H-R
Cohen-Coon
Ciancone-Marlin
Minimum Error Integral
Simulation and Results
GUI Description
PID tuning is to find the optimum Kp, Ki and Kd for the controller.
Actions > Instantaneous proportional action, Reset integral action, Rate derivative
action
Crosswind
Front wheels
Desired position angle Car position
Driver Car mechanism
(PID) (Process)
Driver’s eyes
(Feedback)
PID configuration
d𝑒(𝑡) 1 d𝑒(𝑡)
𝐶𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑜𝑢𝑡𝑝𝑢𝑡 = 𝐾𝑝 𝑒(𝑡) + 𝐾𝑖 𝑒(𝑡)𝑑𝑡 + 𝐾𝑑 = 𝐾𝑐 × (1 + 𝑒(𝑡)𝑑𝑡 + 𝜏𝑑 )
𝑑𝑡 𝜏𝑖 𝑑𝑡
𝐾𝑝 𝑒(𝑡)
PV d𝑒(𝑡)
𝐾𝑑
𝑑𝑡
Many tuning methods have been proposed for PID controllers each of which
has its advantages and disadvantages. So, no one can be considered the best
for all purposes.
Closed-loop methods tune the PID while it is attached to the loop while in
open-loop methods the process is estimated using a FOPDT model
A comparison of the most popular methods is to be done
Simulation will be implemented for 1st, 2nd and 3rd-order processes, some of
which are lag-dominant and the others are dead-time dominant.
IAE as criterion (which adds up the time and amplitude weight of the error)
Ziegler-Nichols Closed-loop
Tyreus-Luyben
Damped Oscillation
D
Tuning
SP C PV
PID Process
Feedback
Ziegler-Nichols Open-loop
C-H-R
Cohen-Coon
Ciancone-Marlin D
Tuning
Minimum Error Integral PV
PID Process
Procedure:
Set 𝐾𝑖 and 𝐾𝑑 to 0
Increase 𝐾𝑝 till sustained oscillation and find 𝐾𝑢 and 𝑃𝑢
Use the correlations in the table below
Controller 𝐾𝑐 𝜏𝑖 𝜏𝑑
P 0.5𝐾𝑢 - -
PI 0.45𝐾𝑢 0.83𝑃𝑢 -
PID 0.6𝐾𝑢 0.5𝑃𝑢 0.125𝑃𝑢
Procedure:
Same procedure as Ziegler-Nichols closed-loop
Controller 𝐾𝑐 𝜏𝑖 𝜏𝑑
PI 0.45𝐾𝑢 2.2𝑃𝑢 -
PID 0.313𝐾𝑢 2.2𝑃𝑢 0.16𝑃𝑢
1.2
1 4:1
0.8
0.6
0.4
0.2
0
0 10 20 30 40 50 60 70 80
Procedure:[1]
Set 𝐾𝑖 and 𝐾𝑑 to 0
Increase 𝐾𝑝 till ¼ damping ratio is maintained and find 𝑃𝑑 only
Use the correlations in the table below to find 𝜏𝑖 and 𝜏𝑑
Adjust 𝐾𝑝 till ¼ damping ratio is maintained again
Controller 𝐾𝑐 𝜏𝑖 𝜏𝑑
PI 𝑎𝑑𝑗𝑢𝑠𝑡𝑒𝑑 𝑃𝑑 /6 -
PID 𝑎𝑑𝑗𝑢𝑠𝑡𝑒𝑑 𝑃𝑑 /6 𝑃𝑑 /1.5
[1] Lipták, Béla G., and Kriszta Venczel. Instrument Engineers' Handbook: Process Control 4thed, Volume Two.
Procedure:
The process dynamics is modeled by a first order plus dead time model
𝐾𝑚 𝑒 −𝑡𝑑𝑠
𝐺𝑚 𝑠 =
𝜏𝑚 𝑠 + 1
2.5
1.5
0.5
-0.5
Controller 𝐾𝑐 𝜏𝑖 𝜏𝑑
P 1 𝜏𝑚
- -
𝐾𝑚 𝑡𝑑
PI 0.9 𝜏𝑚 𝑡𝑑
-
𝐾𝑚 𝑡𝑑 0.3
PID 1.2 𝜏𝑚
2𝑡𝑑 0.5𝑡𝑑
𝐾𝑚 𝑡𝑑
Controller 𝐾𝑐 𝜏𝑖 𝜏𝑑 𝐾𝑐 𝜏𝑖 𝜏𝑑
0% overshoot 20% overshoot
P 0.3 𝜏𝑚 0.7 𝜏𝑚
Setpoint
- - - -
𝐾𝑚 𝑡𝑑 𝐾𝑚 𝑡𝑑
PI 0.35 𝜏𝑚 0.6 𝜏𝑚
1.2𝜏𝑚 - 𝜏𝑚 -
𝐾𝑚 𝑡𝑑 𝐾𝑚 𝑡𝑑
PID 0.6 𝜏𝑚 0.95 𝜏𝑚
𝜏𝑚 0.5𝑡𝑑 1.4𝜏𝑚 0.47𝑡𝑑
𝐾𝑚 𝑡𝑑 𝐾𝑚 𝑡𝑑
P 0.3 𝜏𝑚 0.7 𝜏𝑚
- - - -
Disturbance
𝐾𝑚 𝑡𝑑 𝐾𝑚 𝑡𝑑
PI 0.6 𝜏𝑚 0.7 𝜏𝑚
4𝑡𝑑 - 2.3𝑡𝑑 -
𝐾𝑚 𝑡𝑑 𝐾𝑚 𝑡𝑑
PID 0.95 𝜏𝑚 1.2 𝜏𝑚
2.4𝑡𝑑 0.42𝑡𝑑 2𝑡𝑑 0.42𝑡𝑑
𝐾𝑚 𝑡𝑑 𝐾𝑚 𝑡𝑑
Procedure:[1]
The process reaction curve is obtained by an open loop test and the FOPDT
model is estimated as follows:
3
𝜏𝑚 = 𝑡 − 𝑡1 2.5
2 2
2
𝑡𝑑 = 𝑡2 − 𝜏𝑚 1.5
0.5
-0.5
[1] Smith,C.A., A.B. Copripio; “Principles and Practice of Automatic Process Control”, John Wiley & Sons,1985
Controller 𝐾𝑐 𝜏𝑖 𝜏𝑑
P
1 𝜏𝑚 𝑡𝑑
(1 + ) - -
𝐾𝑚 𝑡𝑑 3𝜏𝑚
PI 3𝑡
1 𝜏𝑚 𝑡𝑑 30 + 𝜏 𝑑
𝑚
(0.9 + ) 𝑡𝑑 -
𝐾𝑚 𝑡𝑑 12𝜏𝑚 20𝑡𝑑
9+ 𝜏
𝑚
PD 2𝑡
1 𝜏𝑚 𝑡𝑑 6− 𝜏 𝑑
𝑚
(1.25 + ) - 𝑡𝑑
𝐾𝑚 𝑡𝑑 6𝜏𝑚 3𝑡𝑑
22 + 𝜏
𝑚
PID 6𝑡
1 𝜏𝑚 𝑡𝑑 32 + 𝜏 𝑑 4
(1.33 + ) 𝑚 𝑡𝑑
𝑡𝑑 2𝑡
𝐾𝑚 𝑡𝑑 4𝜏𝑚 8𝑡𝑑 11 + 𝜏 𝑑
13 + 𝜏 𝑚
𝑚
Design criteria:
Minimization of IAE
Assumption of ±25% change in the process model parameters
A set of graphs are used for the tuning
Tuning for setpoint responses differs from load disturbance responses
Procedure:
Estimate the process with FOPDT as for Cohen-Coon method
𝑡𝑑
Calculate the ratio
𝑡𝑑 +𝜏𝑚
𝜏𝑖 𝜏𝑑
From the appropriate graph determine the values (𝐾𝑐 𝐾𝑚 , , )
𝑡𝑑 +𝜏𝑚 𝑡𝑑 +𝜏𝑚
1.5 1
1.3 0.8
setpoint
1.1 0.6
0.9 0.4
0.7 0.2
0.5 0
0 0.5 1 0 0.5 1
1
1.5
Disturbance
0.8
1 0.6
0.4
0.5
0.2
0 0
0 0.5 1 0 0.5 1
2 1 0.25
0.6 0.15
1
0.4 0.1
0.5 0.05
0.2
0 0 0
0 0.5 1 0 0.5 1 0 0.5 1
2 0.8 0.25
Disturbance
Considers the entire closed loop response not like the ¼-decay tuning methods which
considers only the first two peaks
Less oscillations in response than ¼-decay
Performs well when 𝝉𝒎 ≥ 𝟐𝒕𝒅 (lag dominant)
Performs very poorly for 𝒕𝒅 > 𝝉𝒎 (dead-time dominant)
Tuning for setpoint responses differs from load disturbance responses
Different error integrals can be used (IAE, ISE, ITAE, ITSE)
∞ ∞ ∞ ∞
Procedure:
Estimate the process with FOPDT as for Cohen-Coon method
Use the appropriate table to find the PID parameters
𝑎1 𝑡𝑑 𝑏 𝑎1 = 0.758 𝑎1 = 0.586
𝐾𝑐 = ( ) 1
𝐾𝑚 𝜏𝑚 𝑏1 = −0.861 𝑏1 = −0.916
𝜏𝑚
𝜏𝑖 = 𝑎2 = 1.02 𝑎2 = 1.03
𝑡
𝑎2 + 𝑏2 (𝜏 𝑑 ) 𝑏2 = −0.323 𝑏2 = −0.165
𝑚
PID Controller
𝑎1 𝑡𝑑 𝑏 𝑎1 = 1.086 𝑎1 = 0.965
𝐾𝑐 = ( )1
𝐾𝑚 𝜏𝑚 𝑏1 = −0.869 𝑏1 = −0.855
𝜏𝑚
𝜏𝑖 = 𝑎2 = 0.74 𝑎2 = 0.796
𝑡
𝑎2 + 𝑏2 ( 𝑑 ) 𝑏2 = −0.13 𝑏2 = 0.147
𝜏𝑚
𝑡𝑑 𝑎3 = 0.348 𝑎3 = 0.308
𝜏𝑑 = 𝑎3 𝜏𝑚 ( )𝑏3
𝜏𝑚 𝑏3 = 0.914 𝑏3 = 0.9292
PID Controller
1
Test cases include processes of: 6. 𝐺 𝑠 = 𝑒 −3𝑠
𝑠 2 +1.8𝑠+1
Dead-time dominant (𝑡𝑑 > 2𝜏𝑚 )
Lag dominant (𝜏𝑚 ≥ 2𝑡𝑑 ) 1. 𝐺 𝑠 =
1 7. 𝐺 𝑠 =
1
𝑠+1 25𝑠+1 20𝑠+1 30𝑠+1
In-between cases
Complex poles 1 2
2. 𝐺 𝑠 = 𝑒 −0.2𝑠 8. 𝐺 𝑠 = 𝑒 −0.5𝑠
0.5𝑠+1 150𝑠 3 +95𝑠 2 +18𝑠+1
Unstable process
1 2
3. 𝐺 𝑠 = 𝑒 −1.2𝑠 9. 𝐺 𝑠 = 𝑒 −4.2𝑠
0.5+1 2𝑠 3 +5𝑠 2 +4𝑠+1
1 250
4. 𝐺 𝑠 = 10. 𝐺 𝑠 =
30𝑠 2 +13𝑠+1 𝑠 2 +4𝑠+50
1 7𝑠 2 +28𝑠+28
5. 𝐺 𝑠 = 2 𝑒 −0.2𝑠 11. 𝐺 𝑠 =
𝑠 +3𝑠+1 10𝑠 3 −10𝑠 2 −50𝑠−30
1
𝐺 𝑠 = 𝑒 −1.2𝑠
0.5+1
Method 𝑲𝒑 𝑲𝒊 𝑲𝒅
Ziegler-Nichols Closed-
0.63 0.24 0
loop
Tyreus-Luyben 0.44 0.06 0
Damped Oscillation 0.76 0.28 0
Settling
Method Overshoot Rise time
time
Ziegler-Nichols Closed-
0 9.41773 20.10063
loop
Tyreus-Luyben 0 41.5833 78.08328
1
𝐺 𝑠 = 𝑒 −1.2𝑠
0.5+1
Method 𝑲𝒑 𝑲𝒊 𝑲𝒅
Ziegler-Nichols Open-loop 0.38 0.096 0
C-H-R 0.26 0.50 0
Cohen-Coon 0.46 0.59 0
Ciancone-Marlin 0.65 0.61 0
Minimum Error Integral 0.36 0.19 0
Method IAE ITAE ISE
Ziegler-Nichols Open-loop 10.62439 133.3877 4.672032
C-H-R 2.534889 4.215979 1.916891
Cohen-Coon 2.23463 3.378988 1.687213
Ciancone-Marlin 2.31806 4.337486 1.623838
Minimum Error Integral 5.443972 29.46653 2.827566
1 1
𝐺 𝑠 = 𝑒 −0.2𝑠 ≫ 𝐺 𝑠 = 𝑒 −0.4𝑠 Method
𝑠 2 +3𝑠+1 𝑠 2 +3.4𝑠+1 𝑲𝒑 𝑲𝒊 𝑲𝒅
Ziegler-Nichols
7.38 5.13 0
Closed-loop
Tyreus-Luyben 5.13 1.35 0
Damped Oscillation 8.26 4.36 0
∆%Settling
Method ∆%Overshoot ∆%Rise time
time
Ziegler-Nichols
2.53E+46 0.005528
Closed-loop
Tyreus-Luyben 0.780894 0.021236 0.222945
Robustness assessment