Controller Modes - Part 3

Controller
Composite Tuning
Controller
Prof. Sneh. K. Soni
Assistant Professor (Inst. & Control)
Room No. D306 (Third Floor)
sneh.soni@nirmauni.ac.in
Controller Tuning

What is controller tuning?

Why it is required?

What is “Good Control”?

Controller Tuning
Controller Tuning

Quarter Decay Performance?

Controller Performance
Controller Performance
Controller Tuning Techniques

Controller tuning techniques:

 Closed-loop tuning method.

 Open-loop tuning method.
Closed-Loop Tuning (Ziegler-Nichols)
Method

 The continuous cycling method was proposed by

Ziegler and Nichols in 1942 and is the best known
methods for tuning PID controllers.
 This is a closed-loop tuning methodology and is
also known as loop tuning or ultimate gain method
since the first step involves obtaining the closed-loop
ultimate gain.KCU).

Ultimate Gain (kcu) is the largest value of the controller

gain kc that maintains closed-loop stability when a
proportional-only controller is used.
Closed-Loop Tuning (Ziegler-Nichols)
Method
 Step 1: Eliminate integral and derivative actions, i.e.
keep a proportional-only (P) controller.
 Step 2: Set kc at a low value and place the controller in
automatic.
 Step 3: Increase the controller gain kc by small
increments until the closed-loop system response
exhibit continuous cycling (or sustained oscillations
with constant amplitude). The period of the sustained
oscillations is referred to as the ultimate period, pu.
 Step 4: The PID controller settings are calculated using
kcu and Pu based on Ziegler-Nichols (ZN) tuning
relations.
Ziegler-Nichols Settings

Ziegler-Nichols tuning relations:

Controller kc I D
P 0.5kcu --- ---

PI 0.45kcu Pu / 1.2 ---

PD 0.6kcu ---- Pu / 8

PID 0.6kcu Pu / 2 Pu / 8
Closed-Loop Tuning (Ziegler-Nichols)
Method
Advantages
 Closed-loop experiments are
used.
 The controller settings are
easily calculated.
 Does not assume a model
structure for the process
output.
Disadvantages
 Continuous cycling may be
objectionable since the process
is pushed to the stability limit.
 Caution should be used for
open-loop unstable processes.
 Some slow processes required
long time in the tuning.
Controller Tuning Strategy

We should emphasize that the settings

provided by either of the techniques have to
regarded as “good” first estimates and
subsequent fine-tuning should be considered.
Example
• Consider the following process:

2e s
g p (s )  ; g f (s )  1; g m (s )  1
10s  15s  1

• Design a PI & PID controller using ZN methods.

Example - ZN

Using P-controller
only, the closed-loop
system is brought to
the edge of the
stability limit. Pu= 12
The proportional gain
that yields sustained
oscillations and the
period of oscillations kcu= 8
are noted.

Controller kc I D
PI 3.63 10 ---
PID 4.70 6 1.5
Example - ZN

PI Controller

Set-point Response Disturbance Response

Example - ZN

PID Controller

Set-point Response Disturbance Response

Open-Loop Tuning (Cohen-Coon)
Method
• Consider the “open” (manual) control system:
d (s)

A
c (s )  g d (s )
s

ysp (s) e(s) + y (s)

g c (s ) g f (s )
m(s)
g (s ) +
+
-

ym (s)
g m (s )

• Introduce a step change of magnitude A in the manipulated

variable, c(s).
• Record the value of the output, ym(t), with respect to time.

Process Reaction Curve

 Process Reaction Curve

B k

Find the parameters of a

ym(s)
FOPDT transfer function
from the process reaction
curve.

ym ( s ) k e  t D s
g PRC ( s )  
c( s)  p s  1

K=B/A =B/S
tD time
 Cohen-Coon Settings

Use the FOPDT parameters (k, , tD) to compute the

parameter settings for P, PI or PID controllers using
Cohen-Coon (CC) relations.

For P controller:
1  tD 
kc  1  
k tD  3 
PI and PID Controller
For PI Controller
 tD 
1  tD   30  3 
 
kc   0 .9    I  tD 
k tD  12  9  20
tD

For PID Controller

 tD 
4 
 32  6 
1  tD     D  tD
kc  1.33    I  tD  11  2
tD
k tD  4  13  8
tD


 Cohen-Coon Settings
Advantages
 Only a single experiment is
necessary.
 It does not require a trial-
and-error procedure.
 The controller settings are
easily calculated.
Disadvantages
 The experimental test must be
performed in open-loop.
 It may be difficult to determine the
slope at the inflection point accurately,
especially for noisy systems.
 The method is based on the
assumption that the FOPTD model
approximates the actual process
behavior well.
 It does not consider the dynamics of
all the component
Example
• Consider the following process:

2e s
g p (s )  ; g f (s )  1; g m (s )  1
10s  15s  1

• Design a PI & PID controller using CC Methods.

Example - CC
2
y(t)

The process 1.5

reaction curve is
obtained and its 1 2e 4s
parameters are g PRC (s ) 
determined. (13s  1)
0.5
They are used to
obtain CC settings.
0
0 20 40 time 60

Controller kc I D
PI 1.50 8.16 ---
PID 2.29 8.75 1.37
Example - CC
PI Controller

Set-point Response Disturbance Response

Example - CC

PID Controller

Set-point Response Disturbance Response

PI Controller Tuning Example

Unit-step disturbance responses for the closed loop system

(FOPTD Model: K = 1, d=4 and =20