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Basics of PID Controlers

The document discusses properties of first and second order systems including their transfer functions, pole locations, stability, DC gain, overshoot, rise time, and settling time. It also covers topics like system stability, dampening factors, block diagram reduction, PID tuning methods including manual tuning and the Ziegler-Nichols method, lowpass filters, and integral anti-windup.

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Enzo Gomes
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© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
30 views

Basics of PID Controlers

The document discusses properties of first and second order systems including their transfer functions, pole locations, stability, DC gain, overshoot, rise time, and settling time. It also covers topics like system stability, dampening factors, block diagram reduction, PID tuning methods including manual tuning and the Ziegler-Nichols method, lowpass filters, and integral anti-windup.

Uploaded by

Enzo Gomes
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Poles

Given a function f ( x ) ∈C → C , a pole is defined as any p such that:

1
g ( x )=
f (x)
g ( p )=0
U (s )
In a transfer function of type H ( s )= . The poles will be:
Y (s )
Y ( p )=0

A function is stable if:

R ( p ) <0

Properties of 1st and 2nd order systems


1st order system 2nd order system
Transfer function K ωn
2
H ( s )= G ( s )=
τs+ 1 2
s +2 ξ ω n s+ ωn
2
Or:
−t
K τ
h ( t )= e
τ
Pole location/stability* The system is asymptotically stable: The system is oscillating:
I ( p i) =0 , ∀ i ∈[1 , n] ∃ I ( p i ) ≠ 0 , i∈[1 , n]
DC gain (K) K=H (0)
Maximum overshoot ( M p) M p=0 −ξπ
√ 1−ξ2
M p=e %
Peak time (T p) T p=∞ π
T p=
ωn √ 1−ξ 2
Rise time (t r) t r=2.197 τ 1.8
tr ≅
ωn
Settling time (t s) t s=2.996 τ 3.2
ts ≅ , 0<ξ <0.69
ξ ωn
4.5 ξ
ts ≅ , 0.69<ξ <1
ωn

*under the condition that R ( pi ) <0 , ∀ i∈[1 ,n ]

Note: τ is the convergence speed of a 1 st order system, ω n is the natural frequency of a 2 nd order system
and ξ is the dampening factor.
System stability:

Stable: R ( p D ) <0

Marginally stable: R ( p D )=0

Unstable: R ( p D ) >0

Where p D is the dominant pole (rightmost pole in the complex plane).

Dampening factors:

Undampened: ξ=0

Underdamped: ξ <1

Critically dampened: ξ=1

Overdampened (unstable): ξ >1


Block diagram reduction
Method to reduce the size and complexity of a block diagram, as well as obtaining the transfer function.
The method is as follows:
1. Simplify blocks connected in series
2. Simplify blocks in parallel
3. Simplify feedback loops (use mason’s rule)
4. Difficult take-off points are shifted to the right and transfer functions are adjusted accordingly
5. Difficult summing points are shifted to the left and transfer functions are a
6. Repeat until a single block is obtained

PID tuning
Manual tuning
To determine the optimal settings of a PID controller, one may look at the PID gains for clues:

Parameter Rise time Overshoot Settling time Steady-state Stability


(t r) ( M p) ¿) error
Kp Decrease Increase Small change Decrease Degrade
Ki Decrease Increase Increase Eliminate Degrade
Kd Minor change Decrease Decrease No effect Improve with
small K d

Ziegler-Nichols method
Heuristic method to determine optimal settings for PID controllers. The procedure is as follows:
0. Observe the response to a step change and note down:
a. Time constant
b. Delay
c. Steady-state behaviour
1. Increase the proportional gain (Kp) until steady oscillation at constant amplitude. Note down:
a. the proportional gain at this point, called the ultimate gain (Ku)
b. the oscillation period at this point, called the ultimate period (Pu)
2. Calculate the gains for the PDI controller:
K p=0.6 K u

2Kp
K i=
Pu
K p Pu
Kd=
8
3. Set the values of the PDI to those determined in step 2, test the performance and adjust if needed.
Step 0 has no importance for the procedure but may be useful to have.

Lowpass filter

Integral anti-windup

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