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    Ziegler-Nichols Rules For Tuning PID Controllers

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    زهراء عادل عبد الزهرة إسماعيل
    The document discusses the Ziegler-Nichols tuning rules for PID controllers. There are two methods for determining the proportional, integral, and derivative constants (KP, TI, TD) based on experimental step responses or sustained oscillations of a plant. The first method analyzes an S-shaped step response curve to determine delay time and time constant. The second method increases the proportional gain until sustained oscillations occur, then uses the critical gain and oscillation period. Ziegler-Nichols provided tables to set the PID constants based on the results of these experiments. An example shows applying the second method to find the PID settings for a plant with an integrator.

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    Ziegler-Nichols Rules For Tuning PID Controllers

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    زهراء عادل عبد الزهرة إسماعيل
    77 views5 pages
    The document discusses the Ziegler-Nichols tuning rules for PID controllers. There are two methods for determining the proportional, integral, and derivative constants (KP, TI, TD) based on experimental step responses or sustained oscillations of a plant. The first method analyzes an S-shaped step response curve to determine delay time and time constant. The second method increases the proportional gain until sustained oscillations occur, then uses the critical gain and oscillation period. Ziegler-Nichols provided tables to set the PID constants based on the results of these experiments. An example shows applying the second method to find the PID settings for a plant with an integrator.

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    Lec4- Ziegler-Nichols

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    The document discusses the Ziegler-Nichols tuning rules for PID controllers. There are two methods for determining the proportional, integral, and derivative constants (KP, TI, TD) based on experimental step responses or sustained oscillations of a plant. The first method analyzes an S-shaped step response curve to determine delay time and time constant. The second method increases the proportional gain until sustained oscillations occur, then uses the critical gain and oscillation period. Ziegler-Nichols provided tables to set the PID constants based on the results of these experiments. An example shows applying the second method to find the PID settings for a plant with an integrator.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    77 views5 pages

    Ziegler-Nichols Rules For Tuning PID Controllers

    Uploaded by

    زهراء عادل عبد الزهرة إسماعيل
    The document discusses the Ziegler-Nichols tuning rules for PID controllers. There are two methods for determining the proportional, integral, and derivative constants (KP, TI, TD) based on experimental step responses or sustained oscillations of a plant. The first method analyzes an S-shaped step response curve to determine delay time and time constant. The second method increases the proportional gain until sustained oscillations occur, then uses the critical gain and oscillation period. Ziegler-Nichols provided tables to set the PID constants based on the results of these experiments. An example shows applying the second method to find the PID settings for a plant with an integrator.

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    © All Rights Reserved
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    of 5

    AMJAD HASOON Process Control Lec.

    Ziegler-Nichols Rules for Tuning PID Controllers

    Ziegler and Nichols proposed rules for determining values of the proportional gain K P
    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: the first method and the
    second method. We shall give a brief presentation of these two methods.

    First Method
    In the first method, we obtain experimentally the response of the plant to a unit-step input,
    as shown in Figure- 1. If the plant involves neither integrator(s) nor dominant complex-
    conjugate poles, then such a unit-step response curve may look S-shaped, as shown in
    Figure -2.This method applies if the response to a step input exhibits an S-shaped curve.
    Such step-response curves may be generated experimentally or from a dynamic simulation
    of the plant.
    The S-shaped curve may be characterized by two constants, delay time L and time
    constant T. 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 tan-
    gent line with the time axis and line c(t) = K, as shown in Figure 2. The transfer function
    C(s)/U(s) may then be approximated by a first-order system with a transport
    lag as follows:

    Figure 1

    Figure 2
    1
    AMJAD HASOON Process Control Lec.4

    Ziegler and Nichols suggested to set the values of Kp Ti and Td according to the formula
    shown in Table 10-1.

    Second Method.
    In the second method, we first set Ti = ∞ and Td = 0. Using the proportional control action
    only (see Figure 3), increase Kp, 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 Kp, may take, then this method does not apply.) Thus, the critical gain Kcr,
    and the corresponding period Pcr, are experimentally determined (see Figure 4). Ziegler and
    Nichols suggested that we set the values of the parameters Kp , Ti and Td according to the
    formula shown in Table 10-2.

    Figure 3: Closed-loop system with a proportional controller.

    Figure 4: Sustained oscillation with period PCr,

    2
    AMJAD HASOON Process Control Lec.4

    Comments. Ziegler-Nichols tuning rules have been widely used to tune PID controllers in
    process control systems where the plant dynamics are not precisely known. Over
    many years, such tuning rules proved to be very useful. Ziegler-Nichols tuning rules can,
    of course, be applied to plants whose dynamics are known. (If the plant dynamics are
    known, many analytical and graphical approaches to the design of PID controllers are
    available, in addition to Ziegler-Nichols tuning rules.)

    EXAMPLE 10-1
    Consider the control system shown in Figure below in which a PID controller is used to
    control the system. The PID controller has the transfer function

    Find the PID parameter using Ziegler –Nichols method


    Solution:
    Since the plant has an integrator, we use the second method of Ziegler-Nichols tuning
    rules. By setting Ti = ∞ and Td = 0, we obtain the closed-loop transfer function as follows:

    The value of KP that makes the system marginally stable so that sustained oscillation
    occurs can be obtained by use of Routh's stability criterion. Since the characteristic
    equation for the closed-loop system is

    3
    AMJAD HASOON Process Control Lec.4

    To find the frequency of the sustained oscillation, we substitute (s = jw) Into this
    characteristic equation as follows:

    4
    AMJAD HASOON Process Control Lec.4

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