Outline

Empirical Tuning of Digital PID • Procedure for empirical tuning.

Controllers • Example

M. Sami Fadali
Professor EBME Dept.
University of Nevada, Reno

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Empirical Tuning Effect of ZOH

• Analog PID controller transfer function:

=integral time constant

= derivative time constant. /

• Bilinear transformation (with pole at removed)

• Expand: model as time delay by

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 Plant Model
• Use a simple first order model with time
delay
= process gain
=process (dominant) time constant
=(apparent) dead time of the process.
• For digital PID, add a delay of
Tangent Method
1. Obtain the step response experimentally.
2. Draw a tangent at the inflection point.
3. Gain
4. Dead time = from time of step input to the
intersection of the tangent line with the time
axis plus .
5. = time interval between the step input
and the intersection of the tangent line with the
to . final steady-state output level.
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Tangent Method
Alternatively

1 5. time interval between the step
0.8
input and the time when the process
output attains the 63.2% of its final value.
process output

0.6

KA
Note: If the dynamics of the process can be
0.4 perfectly described by a first-order-plus-
0.2
dead-time model, then the values of
obtained in the two cases are identical.
0
L 

-0.2
0 2 4 6 8 10 12 14
time
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 Ziegler-Nichols Tuning Rules Example
.
Process transfer function

Controller >> g=zpk([],[-1,-1,-1,-1],1,'inputdelay',0.2)

type zero/pole/gain:
_ _
P 1
_ exp(-0.2*s) * -------
PI
(s+1)^4
PID Estimate a first-order-plus-dead-time model of
the process and design a PID controller by
applying the Ziegler-Nichols tuning rules.
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Block Diagram Apply tangent method

Load
Disturbance 1

Reference
Input  Digital PID  Output 0.8
GZAS(z)
Process Output

Controller

0.6 System: g
Time (seconds): 4.55
0.4 Amplitude: 0.632

0.2

0
0 2 4 6 8 10 12
11 Time (seconds) 12
Digital PID Controller Process Output PID Control

• Response due to a unit step input at and to a

unit step change in the control variable at time

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