I.E.
T LUCKNOW
Seminar
On
Pid Tuning Methods
Submitted To:- Guided By:- Submitted By:-
Department Of Electronics [Link] Dwivedi Nirmal Sachan
IET Lucknow 1605232037
Electronics & Instrumentation
3rd Year (2018-2019)
Content
Introduction of controller
Proportional controller
Integral controller
Derivative controller
What is tuning
Methods of tuning
Open loop method
Closed loop method
Application of pid controller
Future Scope
Conclusion
Introduction
A controller is a device which is used to get
the required transient and steady state
response as per the requirement
The best system demands is smallest rise
time,smallest settling time,smallest steady
state error and smallest peak overshoot
Proportional contoller
To change the transient response as per the requirement
A proportional control acting is a simple gain multiplication
of the error signal present in the system
E (s) K p U (s) u (t ) K p e(t )
Change in gain in P controller
Increase in gain:
Upgrade both steadystate and
transient responses
Reduce steady-state
error
Reduce stability!
Maxium peakover shoot
increase!
Stead state error can not be
completely eliminated!
Integral Controller
Also known as reset controller
Because it eliminate the steady state error completely
Should not be use for slow moving process and fast moving process
t
Ki
E ( s) U ( s) u (t ) Ki e(t )dt
s 0
Change in gain for PI controller
Increase in gain:
Steady state error can br eliminated
completely
Stability of the system decrease!
Increase oscillations and
overshoot!
Settling time increase!
Increase oscillations
and overshoot!
Derivative Controller
The name rate because of it produces the output which is
the derivative of input
signal Derivative controller is also known as rate controller
de(t )
E ( s ) K d s U ( s ) u (t ) K d
dt
Changes in gains for PID Controller
Increase in gain:
Upgrade transient response
Decrease the peak and rise time
Stability of the system increase
Settling time decrease
Increase overshoot
and settling time!
Can’t eliminate steady
state error completely!
What is tuning
The process of selecting the value of Kp,Kc,Kd so that
we can find optimum response
It is used when it is difficult to find the transfer
function of system
Like, it is used to maintain the tempreture of the
furnace or in other application in industry
In 1942 Ziegler and Nicoles proposed two methods of
tuning
(1)open loop method
(2) closed loop method
Open loop method(Reaction curve technique)
It is used when closed loop can
break as shown in figure
The step input is applied at m’ and
output is taken from b
It is not used when loop can’t break
Difficutto find the slop of the output due to
noise present
Not able to give exact output
Closed loop Method
Used when it is not possible to break the loop of system
In this method first select the Kd=0,Ki=0
And then slowly increase the of kp value and check output
At particular value of kp sustainable oscillation will produce in the output
Note down kp and Tu and put in optimum setting
Application of pid controller
It is used in automobiles as a speed controller
It is used to control the tempteture of furnace
Also used as a Ph neutralization in industry
As a normal tank operating level
Reference
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THANKS