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Process Control

This document discusses controller tuning techniques. It describes closed-loop tuning using the Ziegler-Nichols method, which involves bringing a proportional-only controller to the stability limit to determine the ultimate gain and period, then calculating PID settings. It also describes open-loop tuning using the Cohen-Coon method, which involves a step change experiment to identify a FOPDT model and calculate settings. An example applies both methods to a process and compares the resulting controller performance.

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Meena
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47 views

Process Control

This document discusses controller tuning techniques. It describes closed-loop tuning using the Ziegler-Nichols method, which involves bringing a proportional-only controller to the stability limit to determine the ultimate gain and period, then calculating PID settings. It also describes open-loop tuning using the Cohen-Coon method, which involves a step change experiment to identify a FOPDT model and calculate settings. An example applies both methods to a process and compares the resulting controller performance.

Uploaded by

Meena
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Controller Modes - Part 3

Controller
Composite Tuning
Controller
Prof. Sneh. K. Soni
Assistant Professor (Inst. & Control)
Room No. D306 (Third Floor)
sneh.soni@nirmauni.ac.in
Controller Tuning

What is controller tuning?


Why it is required?

What is “Good Control”?


Controller Tuning
Controller Tuning

Quarter Decay Performance?


Controller Performance
Controller Performance
Controller Tuning Techniques

Controller tuning techniques:

 Closed-loop tuning method.


 Open-loop tuning method.
Closed-Loop Tuning (Ziegler-Nichols)
Method

 The continuous cycling method was proposed by


Ziegler and Nichols in 1942 and is the best known
methods for tuning PID controllers.
 This is a closed-loop tuning methodology and is
also known as loop tuning or ultimate gain method
since the first step involves obtaining the closed-loop
ultimate gain.KCU).

Ultimate Gain (kcu) is the largest value of the controller


gain kc that maintains closed-loop stability when a
proportional-only controller is used.
Closed-Loop Tuning (Ziegler-Nichols)
Method
 Step 1: Eliminate integral and derivative actions, i.e.
keep a proportional-only (P) controller.
 Step 2: Set kc at a low value and place the controller in
automatic.
 Step 3: Increase the controller gain kc by small
increments until the closed-loop system response
exhibit continuous cycling (or sustained oscillations
with constant amplitude). The period of the sustained
oscillations is referred to as the ultimate period, pu.
 Step 4: The PID controller settings are calculated using
kcu and Pu based on Ziegler-Nichols (ZN) tuning
relations.
Ziegler-Nichols Settings

Ziegler-Nichols tuning relations:


Controller kc I D
P 0.5kcu --- ---

PI 0.45kcu Pu / 1.2 ---

PD 0.6kcu ---- Pu / 8

PID 0.6kcu Pu / 2 Pu / 8
Closed-Loop Tuning (Ziegler-Nichols)
Method

Advantages Disadvantages
 Closed-loop experiments are  Continuous cycling may be
used. objectionable since the process
 The controller settings are is pushed to the stability limit.
easily calculated.  Caution should be used for
 Does not assume a model open-loop unstable processes.
structure for the process  Some slow processes required
output. long time in the tuning.
Controller Tuning Strategy

We should emphasize that the settings


provided by either of the techniques have to
regarded as “good” first estimates and
subsequent fine-tuning should be considered.
Example
• Consider the following process:

2e s
g p (s )  ; g f (s )  1; g m (s )  1
10s  15s  1

• Design a PI & PID controller using ZN methods.


Example - ZN

Using P-controller
only, the closed-loop
system is brought to
the edge of the
stability limit. Pu= 12
The proportional gain
that yields sustained
oscillations and the
period of oscillations kcu= 8
are noted.

Controller kc I D
PI 3.63 10 ---
PID 4.70 6 1.5
Example - ZN

PI Controller

Set-point Response Disturbance Response


Example - ZN

PID Controller

Set-point Response Disturbance Response


Open-Loop Tuning (Cohen-Coon)
Method
• Consider the “open” (manual) control system:
d (s)

A
c (s )  g d (s )
s

ysp (s) e(s) + y (s)


g c (s ) g f (s )
m(s)
g (s ) +
+
-

ym (s)
g m (s )

• Introduce a step change of magnitude A in the manipulated


variable, c(s).
• Record the value of the output, ym(t), with respect to time.

Process Reaction Curve


Process Reaction Curve

B k

Find the parameters of a


ym(s)
FOPDT transfer function
from the process reaction
curve.

ym ( s ) k e  t D s
g PRC ( s )  
c( s)  p s  1

K=B/A =B/S
tD time
Cohen-Coon Settings

Use the FOPDT parameters (k, , tD) to compute the


parameter settings for P, PI or PID controllers using
Cohen-Coon (CC) relations.

For P controller:
1  tD 
kc  1  
k tD  3 
PI and PID Controller
For PI Controller
 tD 
1  tD   30  3 
 
kc   0 .9    I  tD 
k tD  12  9  20
tD

For PID Controller

 tD 
4 
 32  6 
1  tD     D  tD
kc  1.33    I  tD  11  2
tD
k tD  4  13  8
tD


Cohen-Coon Settings
Advantages Disadvantages

 The experimental test must be


 Only a single experiment is performed in open-loop.
necessary.  It may be difficult to determine the
 It does not require a trial- slope at the inflection point accurately,
especially for noisy systems.
and-error procedure.
 The method is based on the
 The controller settings are assumption that the FOPTD model
easily calculated. approximates the actual process
behavior well.
 It does not consider the dynamics of
all the component
Example
• Consider the following process:

2e s
g p (s )  ; g f (s )  1; g m (s )  1
10s  15s  1

• Design a PI & PID controller using CC Methods.


Example - CC
2
y(t)

The process 1.5


reaction curve is
obtained and its 1 2e 4s
parameters are g PRC (s ) 
determined. (13s  1)
0.5
They are used to
obtain CC settings.
0
0 20 40 time 60

Controller kc I D
PI 1.50 8.16 ---
PID 2.29 8.75 1.37
Example - CC
PI Controller

Set-point Response Disturbance Response


Example - CC

PID Controller

Set-point Response Disturbance Response


PI Controller Tuning Example

Unit-step disturbance responses for the closed loop system

(FOPTD Model: K = 1, d=4 and =20

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