PID controller Control engineering and signal processing Michala

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PID controller Control engineering and signal processing Michala Srnová 2009/2010

PID controller Control engineering and signal processing Michala Srnová 2009/2010

Content Compensator P compensator PI compensator Lead compensator Lag compensator PID controller

Content Compensator P compensator PI compensator Lead compensator Lag compensator PID controller

PID controller Proportional + integral + derivative Transfer function: KD – derivative gain Used

PID controller Proportional + integral + derivative Transfer function: KD – derivative gain Used in majority of closed-loop industrial processes

PID controller Step response Rise time Overshoot Settling Time Steady state Error Effect of

PID controller Step response Rise time Overshoot Settling Time Steady state Error Effect of increasing the parameters:

Tune Alter step response Find out parameter Kp, Ki, Kd Various methods Manual Tuning

Tune Alter step response Find out parameter Kp, Ki, Kd Various methods Manual Tuning Ziegler-Nichols Software Tools Cohen-Coon

Manual Tuning No math required On-line method 1. What in characteristic need to be

Manual Tuning No math required On-line method 1. What in characteristic need to be improved 2. Kp – decrease the rise time 3. Kd – reduce overshoot and settling time 4. Ki – eliminate steady state error Does not work in every time

Ziegler-Nichols Rules for determine Kp, Ki, Kd Based on step response Proposed more methods

Ziegler-Nichols Rules for determine Kp, Ki, Kd Based on step response Proposed more methods First method – Step response method No integrators No dominant complex-pairs Response: s-shape, no overshoot Ʈ, a

Ziegler-Nichols Parameters Ʈ and a – calculating Drawbacks: lack robustness Improvement : K, Ʈ,

Ziegler-Nichols Parameters Ʈ and a – calculating Drawbacks: lack robustness Improvement : K, Ʈ, T in model From step response

Ziegler Nichols Second method – frequency response 1. Ki and Kd =0, setting of

Ziegler Nichols Second method – frequency response 1. Ki and Kd =0, setting of Kp 2. Starting of ocsillations → Kc, period – Tc 3. These values used to calculate Kp, Ki, Kd

Software Tuning Modern industrial facilities Online, offline method Software will Gather data Develop process

Software Tuning Modern industrial facilities Online, offline method Software will Gather data Develop process model Suggest optimal tuning Principle Mathematical loops Frequency response to impulse Design PID loop values

Thank you for your attention

Thank you for your attention

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