Mechatronics Engineering Department
Experiment Name:
PID Control Tuning
Name: Mohamed Alamrouni
No: 3787
Mohamed alamrouni 3787
Background:
PID control relies on feedback, where the output of a device is compared to a target set
point. If there’s a difference, a correction is calculated and applied. The output is then
measured again, and any necessary adjustments are recalculated. Not all controllers use
all three PID functions; many processes can be managed adequately with just
proportional and integral controls. However, derivative control is important for fine-
tuning and preventing overshoot.
Proportional control adjusts based on the size of the error, but this can lead to
persistent errors as the difference decreases. The integral function helps by
accumulating the error over time, increasing the correction for ongoing discrepancies.
However, delays in response can lead to overshoot. The derivative function mitigates
this by adjusting the correction based on the rate of change.
To tune PID settings, understand the process characteristics, grouping them into fast,
slow, integrating, or noisy loops. Begin tuning by identifying the loop’s response time
and selecting an appropriate controller (PI or PID). For open-loop tuning, stabilize the
process, apply a small change, and estimate the model’s gain, deadtime, and time
constant. Set initial PID values and refine them using closed-loop tuning methods for
optimal performance.
How to Tune a PID Controller
Many rules have emerged for tuning a PID controller, with the most famous being the
Ziegler-Nichols (ZN) rules. Introduced in 1942, ZN includes two methods: one measures
the lag in response and time to reach a new output, while the other establishes the
period of steady-state oscillation. These values are then used to derive gain, reset time,
and rate.
However, ZN can lead to overly aggressive responses with excessive overshoot and may
be time-consuming for slow processes. As a result, some practitioners prefer alternative
methods, such as Tyreus-Luyben or Rivera, Morari, and Skogestad.
Manual Tuning: To manually tune a PID controller, set the reset time to its maximum
value and the rate to zero. Increase the gain until the loop oscillates consistently. If the
response is quick, a larger gain can be used; if slow, a smaller gain is better. Next, set the
gain to half that value and adjust the reset time to correct any offset in an acceptable
timeframe. Finally, increase the rate until overshoot is minimized.
Experiment Design and Results
Experiment Design and Results:
The PID tuning results show a notably different approach compared to the classic
Ziegler-Nichols (ZN) method. The Kp, Ki, and Kd values are significantly higher than
typical ZN recommendations, suggesting a focus on achieving a more moderate, stable
response rather than the typically aggressive ZN tuning.
The step response plot confirms this, with minimal overshoot and a fast rise time. The
closed-loop stability is also indicated as "Stable," indicating an effective balance
between responsiveness and robustness.
This tuning approach likely reflects a deeper understanding of the plant's specific
characteristics and a more nuanced optimization of performance objectives. While the
ZN method provides a good starting point, custom tuning can often yield superior
results, especially for complex or sensitive processes. The key is finding the right
balance through a thoughtful, iterative tuning process.
Conclusion:
The PID tuner is a useful tool for engineers to improve control systems. In this case, the
tuning method was different from the classic Ziegler-Nichols approach. The final values
for Kp, Ki, and Kd were much higher, which helped achieve a stable response.
This custom tuning worked well, resulting in minimal overshoot, a quick rise time, and
stable behavior. The main takeaway is that effective PID tuning needs to be tailored to
each application. While the Ziegler-Nichols method is a good starting point, adjusting the
PID parameters based on the specific system can lead to better performance.
Reference:
https://www.omega.co.uk/prodinfo/how-to-tune-a-pid-
controller.html#:~:text=How%20to%20Tune,overshoot%20is%20min
imized.
https://www.controleng.com/articles/pid-loop-tuning-parameters-
and-control-
fundamentals/#:~:text=PID%20control%20is,point%20is%20approac
hed.
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