PID CONTROLLER DESIGN

When a plant cannot be modeled as linear time invariant,

lumped parameter system, normal design methods cannot
be used for the design of the system.
For designing such non linear systems use
(a) Non linear techniques such as Phase plane method,
Describing function method and Lyapunov Stability
method
(b) Find a linearized model and carry put linear design, then
apply computed compensator to the actual plant. Then
adjust the parameter of the compensator.
(c) Use PID controller and adjust the parameters This
method is most widely used one.
PID Controller design
The design can use either active or passive
compensators. If we design an active PD
controller followed by an active PI
controller, the resulting compensator is
called a proportional-plus-integral-plus-
derivative (PID) controller.
PID Controller & Transfer function
The PID controller has two zeros plus a pole at
the origin.
One zero and the pole at the origin can be
designed as the ideal integral compensator, the
other zero can be designed as the ideal
derivative compensator.
The Design Technique
The design technique, consists of following steps:
1. Evaluate the performance of the uncompensated system to determine
how much improvement in transient response is required.
2. Design the PD controller to meet the transient response specifications.
The design includes the zero location and the loop gain.
3. Simulate the system to be sure all requirements have been met.
4. Redesign if the simulation shows that requirements have not been met.
5. Design the PI controller to yield the required steady-state error.
6. Determine the gains, K1, K2, and K3,
7. Simulate the system to be sure all requirements have been met.
8. Redesign if simulation shows that requirements have not been met
PID Controller Tuning
Tuning is the process of selecting controller
parameters to meet the given performance
specifications.
Zeigler and Nichols suggested rules for
tuning PID controllers based on
experimental step responses or based on the
values of K
p
that results in marginal
stability when only proportional control
action is used.
The technique to be adopted for determining
the proportional, integral and derivative
constants of the controller (called tuning in
process control parlance) depends upon the
dynamic response of the plant.
In presenting the various tuning techniques we
shall assume the basic control configuration.
The controller input is the error between the desired
output (command, set point, input) and the actual
output. This error is manipulated by the controller
(PID) to produce a command signal for the plant
according to the relationship.
Dynamic Model is NOT Known
When the dynamic model of the
process, for which the PID
constants are to be found, is not
known, its open-loop response
for a step input is determined
experimentally or by
simulation.
If this response is S-shaped as
shown, Ziegler-Nichols tuning
method is applicable. The S-
shaped response is
characterized by two constants,
the dead time L and the time
constant T.
These constants can be determined
by drawing a tangent to the S-
shaped curve at the inflection point
and finding its intersection with the
time axis and the line
corresponding to the steady-state
value of the output.
From the response of this nature the
plant can be mathematically
modeled as first order system with
a time constant T and delay time L
as shown in block diagram form
The gain K corresponds to the
steady state value of the output C
ss
.
Dynamic Model of the plant is
known
If the dynamic model of the system is known, the PID controller
can be tuned using Ziegler- Nichols method.
It is first assumed that the controller has only proportional gain (K
p
) term.
Determine the critical gain, K
cr
for the closed-loop system to just
get into continuous oscillations.
The corresponding. period T
cr
of the oscillations is
determined.
Knowing these two values the PID controller can be tuned using
the following results
K p = 0.6 K
cr
T
i
= 0.5 T
cr
T
d
= 0.125 T
cr
When Dynamic model of the plant is known,
but
1. Neither the critical gain exists
2. Nor the step response of the system is S-
shaped
In such a situation the plant has to be
analyzed using the root-locus technique.
The PID controller induces two zeros and a pole (at origin) in the overall
transfer function. The zeros of the controller are,
The two zeros have to be placed in such a way that the desired response
of the system can be obtained.
The steps involved in deciding the values of
the controller constants are
1. Choose any value of
i
and
d
and calculate the zeros of the controller.
2. Plot the root locus of the system.
3. From the root locus find the K p such that the desired closed-loop poles of
the system can be obtained.
4. If such a value of K p does not exist, then start from the step 1with new
values of
i
and
d
Problem
Given the system of Figure below, design a
PID controller do that the system can operate
with a peak time that is two-thirds that of the
uncompensated system at 20% overshoot and
with zero steady-state error for a step input.
Ziegler-Nichols tuning rules
First Method.
In the first method, we obtain experimentally the
response of the plant to a unit-step input. If the
plant involves neither integrator (s) nor dominant
complex-conjugate poles, then such a unit-step
response curve may look S-shaped.
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 tangent line
with the time axis and line c(t)
= K
The transfer may be
approximated by the first order
term with a transport lag
The values of K
p
, T
i
, and T
d
are computed
Using the following table Ziegler-Nichols Tuning Rule
Based on Step Response of Plant (First Method)
the PID controller tuned by the first method of Ziegler-
Nichol rules gives,
The PID controller has double zeros at
s = - 1/L and a pole at the origin.
Second Method.
In the second method, we first set Ti = infinity
and T
d
= 0.
Using proportional control action only, increase
Kp from 0 to a critical value K cr 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).
The critical gain Kcr and the corresponding period
Pcr are experimentally determined.
we set the values of the parameters Kp, Ti, and
Td according to the formula shown in the
following Table
Ziegler-Nichols Tuning Rule
Based on Critical Gain Kcr and Critical Period Pcr (Second Method)
The PID controller tuned by the second
method of Ziegler-Nichols rules gives
The PID controller has a pole at the origin
and double zeros at s = -4/ Pcr
Consider the following system which is the
modification of the system with PID
controller. The modifications are (i) a
disturbance is introduced between the
controller and the plant and (ii) a noise is
introduced into the system in the feedback
path.
If the reference input is a step function,
then, because of the presence of the
derivative term in the control action, the
manipulated variable u(t) will involve an
impulse function (delta function).
In an actual PID controller, instead of
derivative term T
d
s, we employ
where the value of is 0.1.
when the reference input is a unit step
function, the manipulated variable u(t) will
not involve an impulse function but will
involve a sharp pulse function. Such a
phenomenon is called set-point kick.
To avoid the set point kick we modify the
PID controller scheme.
Modification results in two schemes
PI D Control and I PD control.
PI D Controller
To avoid the set-point kick phenomenon, the
derivative action is operated only in the
feedback path so that differentiation occurs
only on the feedback signal and not on the
reference signal.
For the PI D controller
In the absence of the disturbances and noises,
the closed-loop transfer function of the PI - D
control system
I PD Controller
When the reference input is a step function both
PID control and PI-D control involve a step
function in the manipulated signal.
When a step change in the manipulated signal is
not desirable, it may be advantageous to move the
proportional action and derivative actions to the
feedback path so that these actions affect the
feedback signal only.
This modification results in I PD control