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    Lab11 - Autotuning

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    Eng. Ebrahim A. Alrohmi
    The document discusses PID controllers and tuning methods. It describes PID control as calculating an error value between a setpoint and process variable to apply corrections. Both analytical techniques like root locus and experimental approaches like Ziegler-Nichols tuning rules are presented for designing PID controllers. Ziegler-Nichols rules determine PID parameters based on a plant's step response or by increasing proportional gain until sustained oscillations occur. Hardware implementation using Arduino and MATLAB/LabVIEW is also briefly covered.

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    Lab11 - Autotuning

    Uploaded by

    Eng. Ebrahim A. Alrohmi
    55 views26 pages
    The document discusses PID controllers and tuning methods. It describes PID control as calculating an error value between a setpoint and process variable to apply corrections. Both analytical techniques like root locus and experimental approaches like Ziegler-Nichols tuning rules are presented for designing PID controllers. Ziegler-Nichols rules determine PID parameters based on a plant's step response or by increasing proportional gain until sustained oscillations occur. Hardware implementation using Arduino and MATLAB/LabVIEW is also briefly covered.

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    The document discusses PID controllers and tuning methods. It describes PID control as calculating an error value between a setpoint and process variable to apply corrections. Both analytical techniques like root locus and experimental approaches like Ziegler-Nichols tuning rules are presented for designing PID controllers. Ziegler-Nichols rules determine PID parameters based on a plant's step response or by increasing proportional gain until sustained oscillations occur. Hardware implementation using Arduino and MATLAB/LabVIEW is also briefly covered.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    55 views26 pages

    Lab11 - Autotuning

    Uploaded by

    Eng. Ebrahim A. Alrohmi
    The document discusses PID controllers and tuning methods. It describes PID control as calculating an error value between a setpoint and process variable to apply corrections. Both analytical techniques like root locus and experimental approaches like Ziegler-Nichols tuning rules are presented for designing PID controllers. Ziegler-Nichols rules determine PID parameters based on a plant's step response or by increasing proportional gain until sustained oscillations occur. Hardware implementation using Arduino and MATLAB/LabVIEW is also briefly covered.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 26

    University of Sana’a Analog Control System

    MT311
    Faculty of Engineering

    Mechatronics Department

    Lab11:
    PID Controller and Auto-Tuning
    Eng Mohammed Daba
    Quiz-3
    Questions:
    For the transfer function that shown in the figure, using root-
    locus method, design the controller with the following design
    criteria:
    - Overshoot less than 10%
    - Rise time less than 2 seconds
    - Settling time less than 10 seconds
    - Steady-state error less than 2%

    Note:
    - Use a lead-lag Compensator
    - Or use PID Controller (pole , two zeros)
    PID Controller and Auto-Tuning
    PID Control

     A PID controller continuously calculates an error value e(t) as the difference between a
    desired setpoint (SP) and a measured process variable (PV) and applies a correction
    based on proportional, integral, and derivative terms (denoted P, I, and D respectively)
    which give the controller its name.
     A PID controller is a control loop feedback mechanism widely used in industrial control
    systems and a variety of other applications requiring continuously modulated control.
    PID Control in MATLAB

     PID Controller implement a continuous- or discrete-time controller (PID, PI, PD, P, or I)


    in your Simulink model.
     PID controller gains are tunable either manually or automatically.
     Automatic tuning requires Simulink Control Design software (PID Tuner or Control
    System Designer).
    PID Control in LABVIEW
     PID VIs Implements a PID controller using a PID algorithm for simple PID applications
    or high speed control applications that require an efficient algorithm.
    PID Control in LABVIEW
     A PID model in transfer function form.
    PID Tuning
    PID Tuning
     The process of selecting the controller parameters to meet given
    performance specifications is known as controller tuning.
     If a mathematical model of the plant can be derived, then it is possible to
    apply various analytical techniques for determining parameters of the
    controller that will meet the transient and steady-state specifications of the
    closed-loop system.
     However, if the plant is so complicated that its mathematical model cannot
    be easily obtained, Then we must resort to experimental approaches to the
    tuning of PID controllers.
    Analytical Techniques
     Control Systems Design by the Root-Locus Method
     Control Systems Design by Frequency Response
    Experimental Approaches for The Tuning of PID Controllers
     Ziegler-Nichols Rules for Tuning PID Controllers
     Cohen-Coon tuning rules
     Relay and Augmented Relay methods
    Ziegler-Nichols Rules for Tuning PID Controllers
     Ziegler and Nichols proposed rules for determining values of the proportional
    gain K, integral time Ti and derivative time Td, based on the transient
    response characteristics of a given plant.
     Such determination of the parameters of PID controllers or tuning of PID
    controllers can be made by engineers on-site by experiments on the plant.
     There are two methods called Ziegler-Nichols tuning rules.
    Ziegler-Nichols Rules for Tuning PID Controllers
    First Method
     In the first method, we obtain experimentally the response of the plant to a unit-step input.

     This method applies if the response to a step input exhibits an S-shaped curve.
     The S-shaped curve may be characterized by two constants, delay time (L) and time
    constant (T).
    Ziegler-Nichols Rules for Tuning PID Controllers
    First Method
     The delay time and time constant are determined by drawing a tangent line at the
    inflection point of the S-shaped curve and determining the intersections of the tangent line
    with the time axis and line c(t)=K
    Ziegler-Nichols Rules for Tuning PID Controllers - MATLAB

    First Method
    - Example
    Ziegler-Nichols Rules for Tuning PID Controllers
    Second Method
     In the second method, we first set Ti = oo and Td = 0. Using the proportional control action
    only increase K, from 0 to a critical value Kcr at which the output first exhibits sustained
    oscillations.
     If the output does not exhibit sustained oscillations for whatever value K, may take, then this
    method does not apply.
    Ziegler-Nichols Rules for Tuning PID Controllers
    Second Method
     The critical gain Kcr, and the corresponding period Pcr, are experimentally determined.
     Ziegler and Nichols suggested that we set the values of the parameters K,Ti and Td
    according to the formula shown in Table.
    Ziegler-Nichols Rules for Tuning PID Controllers - MATLAB
    Second Method
    - Example
    Control System Designer App

     Other auto-tuning methods.


     Computational Approach To Obtain Optimal Sets of Parameter Values.
     Design controllers using numerical optimization techniques.
    PID Auto-tuning using LABVIEW
     Built-in examples.
    Hardware Implementation
    Hardware in Loop - MATLAB
     One of the options is Serial Library
     ARDUINO library in Simulink “ARDUINO IO”
     This package allows using an ARDUINO connected to the computer to perform
    Analog and Digital Input and Output, (and command motors) from MATLAB.
     For more details go to:
    http://ctms.engin.umich.edu/CTMS/index.php?aux=Activities_IOpack

     PWM output.
     Low pass filter.
    Hardware in Loop - LABVIEW
     ARDUINO library in LABVIEW
    Arduino
     PID library in Arduino
     Arduino PID Autotune Library
    References

    File associated with lab:


    - ARDUINO library in Simulink “ARDUINO IO”
    - Control Tutorials for MATLAB and Simulink - Simulink ArduinoIO Package.pdf

    References:
    - https://www.mathworks.com/help/index.html
    - http://ctms.engin.umich.edu/CTMS/index.php
    - Modern Control Engineering, Katsuhiko Ogata
    Any Questions ?!

    By: Mohammed Daba


    fb.com/mnb.doba

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