Outline

Empirical Tuning of PID • Why empirical tuning?

Controllers • Procedure for empirical tuning.
• Example
M. Sami Fadali
Professor EBME Dept.
University of Nevada, Reno

1 2

Block Diagram Empirical Tuning

• Allows us to address
Load (i) load disturbance rejection specifications
Disturbance (ii) time delay in the process.
Reference • PID controller transfer function:
Input  PID  Output
G(s)
Controller


=integral time constant

= derivative time constant.
3 4
 Plant Model Tangent Method
Use a simple first order model with time 1. Obtain the step response experimentally.
delay 2. Draw a tangent at the inflection point.

3. Gain

4. Dead time = from time of step input to the
= process gain intersection of the tangent line with the time
axis.
=process (dominant) time constant
5. = time interval between the step input
=(apparent) dead time of the process. and the intersection of the tangent line with the
final steady-state output level.
5 6

Tangent Method
Alternatively
 5. =time interval between the step
1
input and the time when the process
0.8 output attains the 63.2% of its final value.
Note: If the dynamics of the process can be
process output

0.6

KA perfectly described by a first-order-plus-

0.4
dead-time model, then the values of
0.2 obtained in the two cases are identical.
0
L 

-0.2
0 2 4 6 8 10 12 14
7 8
time
 Ziegler-Nichols Tuning Rules Example
.
Process transfer function

Controller >> g=zpk([],[-1,-1,-1,-1],1,'inputdelay',0.2)

type zero/pole/gain:
_ _
P 1
_ exp(-0.2*s) * -------
PI
(s+1)^4
PID Estimate a first-order-plus-dead-time model of
the process and design a PID controller by
applying the Ziegler-Nichols tuning rules.
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Block Diagram Apply tangent method

1

0.9
Load 0.8
Disturbance
0.7

0.6

process output
Reference
Input  PID  Output 0.5
G(s)
Controller 0.4

 0.3

0.2

0.1

0
0 2 4 6 8 10 12 14
tim e

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 PID Controller Process Output PID Control
1.5

• Use table to calculate the controller

parameters
1

0.5

0
0 10 20 30 40 50 60 70 80 90 100
time

• Oscillatory, typical feature of the Ziegler-Nichols method.

• Minimize effect of the disturbance on the step response.
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