PID Structure Consider the simple SISO control loop shown in Figure 3.

1:

The standard form PID are:

PID Transfer Function

If we now loo at the general transfer function of a PID!controller" the three terms can #e recognised as follows:

$n alternati%e series form is:

&ecause of their widespread use in practice" we present #elow se%eral methods for tuning PID controllers. $ctuall' these methods are (uite old and date #ac to the 1)*+,s. -onetheless" the' remain in widespread use toda'. In particular" we will stud'. Ziegler-Nichols Oscillation Method Ziegler-Nichols Reaction Curve Method Cohen-Coon Reaction Curve Method

(1)

Ziegler-Nichols (Z-N) Oscillation Method

This procedure is onl' %alid for open loop sta#le plants and it is carried out through the following steps Set the true plant under proportional control" with a %er' small gain. Increase the gain until the loop starts oscillating. -ote that linear oscillation is re(uired and that it should #e detected at the controller output. .ecord the controller critical gain Kp / Kc and the oscillation period of the controller output" Pc. $d0ust the controller parameters according to Ta#le 3.1 there is some contro%ers' regarding the PID parameteri1ation for which the 2!- method

was de%eloped" #ut the %ersion descri#ed here is" to the #est nowledge of the authors" applica#le to the parameteri1ation of standard form PID. Ta#le 3.1: Ziegler-Nichols tuning using the oscillation method

General S ste!
If we consider a general plant of the form:
4 0 5s6 = 3 0 e s 7 0 > 0 0s + 1

then one can o#tain the PID settings %ia 2iegler!-ichols tuning for different %alues of and +. The ne8t plot shows the resultant closed loop step responses as a function of the ratio 8 @
. 0

Consider a plant with a model gi%en #'

Find the parameters of a PID controller using the 2!- oscillation method. O#tain graph of the response to a unit step input reference and to a unit step input distur#ance. Solution $ppl'ing the procedure we find: Kc / 9 and c / 3. :ence" from Ta#le 3.1" we ha%e

The closed loop response to a unit step in the reference at t / + and a unit step distur#ance at t / 1+ are shown in the ne8t figure.

(")

#eaction $ur%e &ased Methods

$ lineari1ed (uantitati%e %ersion of a simple plant can #e o#tained with an open loop e8periment" using the following procedure: 1.;ith the plant in open loop" ta e the plant manuall' to a normal operating point. Sa' that the plant output settles at y5t6 / y+ for a constant plant input u5t6 / u+. <.$t an initial time" t+" appl' a step change to the plant input" from u+ to u 5this should be in the range of ! to "!# of full scale6. 3..ecord the plant output until it settles to the new operating point. $ssume 'ou o#tain the cur%e shown on the ne8t slide. This cur%e is nown as the process reaction cur%e. In Figure 3.=" m.s.t. stands for ma$imum slope tangent. >.Compute the parameter model as follows

The suggested parameters are shown in Ta#le 3.<. Ta'le ()"*Ziegler-Nichols tuning using the reaction curve

Ti!e Dela s Time dela's occur due to 516 Fluid flow in a pipe 5<6 Transport of solid material 5e.g." con%e'or #elt6 536 Chemical anal'sis 5>6 Sampling line dela' and 5*6 Time re(uired to do the anal'sis 5e.g." on!line gas chromatograph6 Mathe!atical descri+tion* $ time dela'" ? " #etween an input u and an output y results in the following e8pression:

+ y( t) = u ( t ? ) % 5s6 & 5 s 6 = e s = ' 5s6

for? for?

t< t

,++ro-i!ation of .igher-Order Transfer Functions Time dela' can #e e8pressed as a Ta'lor series e8pansion. For small %alues of s"

e ?+ s 1?

+s

$n alternati%e first!order appro8imation consists of the transfer function" 1 1 e ? + s = ? s + +s e + 1? ;here the time constant has a %alue of

@ @ @

These e8pressions can #e used to appro8imate the pole or 1ero term in a transfer function. S ogestad 5<++<6 has proposed an appro8imation method for higher!order models that contain multiple time constants. :e appro8imates the largest neglected time constant in the following manner. !One half of its %alue is added to the e8isting time dela' 5if an'6 and the other half is added to the smallest retained time constant. !Time constants that are smaller than the Alargest neglected time constantBare appro8imated as time dela's using e(uation a#o%e /0,MP1/ Consider a transfer function: K ( +.1s + 1) & ( s) = ( *s + 1) ( 3s + 1) ( +.*s + 1)