Scribd Logo
Upload

Welcome to Scribd!

  • 779 views

    Tuning of A PID Controller Using Ziegler-Nichols Method

    Uploaded by

    TomKish
    This document describes tuning a PID controller using the Ziegler-Nichols method. It explains that the Ziegler-Nichols method determines PID parameters based on the plant's step response. The method involves increasing the proportional gain until sustained oscillations occur, then setting the PID gains based on the critical gain value and oscillation period. The document provides the Ziegler-Nichols formulas for setting P, PI, and PID controller types and explains how changes in PID parameters affect the closed-loop step response. It outlines using LabVIEW to implement the Ziegler-Nichols tuning method and determine the optimal PID gains.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Tuning of A PID Controller Using Ziegler-Nichols Method

    Uploaded by

    TomKish
    779 views7 pages
    This document describes tuning a PID controller using the Ziegler-Nichols method. It explains that the Ziegler-Nichols method determines PID parameters based on the plant's step response. The method involves increasing the proportional gain until sustained oscillations occur, then setting the PID gains based on the critical gain value and oscillation period. The document provides the Ziegler-Nichols formulas for setting P, PI, and PID controller types and explains how changes in PID parameters affect the closed-loop step response. It outlines using LabVIEW to implement the Ziegler-Nichols tuning method and determine the optimal PID gains.

    Original Description:

    College Lab using Ziegler-Nichols method to tune PID loop.

    Original Title

    Tuning of a PID controller using Ziegler-Nichols Method

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document describes tuning a PID controller using the Ziegler-Nichols method. It explains that the Ziegler-Nichols method determines PID parameters based on the plant's step response. The method involves increasing the proportional gain until sustained oscillations occur, then setting the PID gains based on the critical gain value and oscillation period. The document provides the Ziegler-Nichols formulas for setting P, PI, and PID controller types and explains how changes in PID parameters affect the closed-loop step response. It outlines using LabVIEW to implement the Ziegler-Nichols tuning method and determine the optimal PID gains.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    779 views7 pages

    Tuning of A PID Controller Using Ziegler-Nichols Method

    Uploaded by

    TomKish
    This document describes tuning a PID controller using the Ziegler-Nichols method. It explains that the Ziegler-Nichols method determines PID parameters based on the plant's step response. The method involves increasing the proportional gain until sustained oscillations occur, then setting the PID gains based on the critical gain value and oscillation period. The document provides the Ziegler-Nichols formulas for setting P, PI, and PID controller types and explains how changes in PID parameters affect the closed-loop step response. It outlines using LabVIEW to implement the Ziegler-Nichols tuning method and determine the optimal PID gains.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 7
    At a glance
    Powered by AI
    The document discusses tuning PID controllers using the Ziegler-Nichols method. It explains the different terms in a PID controller and how changing the parameters affects the step response. The Ziegler-Nichols method is a standard way to tune the gains of PID controllers based on measuring the process response to a step input.

    The Ziegler-Nichols tuning method involves increasing the proportional gain until sustained oscillations occur, then using the critical gain and oscillation period to calculate the PID gains based on formulas proposed by Ziegler and Nichols.

    A PID controller uses proportional, integral and derivative terms. The proportional term helps stability and transient response. The integral term eliminates steady state error, and the derivative term improves response speed. Together these terms control the process variable based on the error between the setpoint and measured process variable.

    Page 1 of 7

    ECET- 462
    Application of Computers in Process Control

    Purdue University, Calumet
    [LABORATORY 8]
    Tuning of a PID controller using Ziegler-Nichols Method
    Page 2 of 7

    Tuning of a PID controller using Ziegler-Nichols Method
    LAB 8

    Objective:
    1) To demonstrate the use of PID controller using LabVIEW.
    2) Finding the values of K
    P
    and T
    I
    and T
    D

    using Ziegler Nichols Method for Tuning the PID
    controller
    Software required: LabVIEW
    Background:
    PID controllers are probably the most commonly used controller structures in industry. They do,
    however, present some challenges to control and instrumentation engineers in the aspect of
    tuning of the gains required for stability and good transient performance. There are several
    prescriptive rules used in PID tuning. An example is that proposed by Ziegler and Nichols in the
    1940's and described in this note.

    The PID controller encapsulates three of the most important controller structures in a single
    package. The parallel form of a PID controller has transfer function:

    ()

    )
    where:
    Kp := Proportional Gain
    KI := Integral Gain TI := Reset Time =Kp/Ki
    Kd :=Derivative gain Td := Rate time or derivative time


    Parallel Form of the PID Compensator
    Page 3 of 7

    The proportional term in the controller generally helps in establishing system stability and
    improving the transient response while the derivative term is often used when it is necessary to
    improve the closed loop response speed even further. Conceptually the effect of the derivative
    term is to feed information on the rate of change of the measured variable into the controller
    action. The most important term in the controller is the integrator term that introduces a pole at s
    = 0 in the forward loop of the process. This makes the compensated open loop system (i.e.
    original system plus PID controller) a type 1 system at least; our knowledge of steady state errors
    tells us that such systems are required for perfect steady state setpoint tracking.


    Ziegler-Nichols Tuning

    In 1942 Ziegler and Nichols, both employees of Taylor Instruments, described simple
    mathematical procedures for tuning PID controllers. These procedures are now accepted as
    standard in control systems practice. Ziegler-Nichols formulae for specifying the controllers are
    based on plant step responses.

    Steps to determine PID controller parameters:

    1. Reduce the integrator and derivative gains to 0.
    2. Increase Kp from 0 to some critical value Kp=Kc at which sustained oscillations occur
    3. Note the value Kc and the corresponding period of sustained oscillation, Tc
    4. The controller gains are now specified as follows:

    PID Type K
    P
    T
    I
    T
    d

    P 0.5Kc Inf 0
    PI 0.45Kc Tc/1.2 0
    PID 0.6Kc Tc/2 Tc/8


    Consider a process with transfer function:
    ()

    ( )( )( )




    Let us consider that the overall system has a unity feedback.
    Page 4 of 7


    Changes in systems closed loop response because of the changes in PID parameters with respect
    to a step input can be best described using the following chart:




    In LabVIEW there are several PID controller modules. We shall use the Academic PID
    controller. The difference between different PID controllers is shown below:




    Page 5 of 7

    Program:











    Page 6 of 7



    Page 7 of 7

    Conclusion:

    1) Follow the steps describe above to tune the PID controller.
    2) Find the values of K
    P
    , T
    I
    , T
    D.

    3) What is the effect of changing the PID controller parameters in the step response of the
    overall system?
    4) Note the Time response parametric data after the controller is tuned.


    Ref:

    The Design of PID Controllers using Ziegler Nichols Tuning --Brian R Copeland; March, 2008

    You might also like