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    Pid Manual Tunning

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    surajkaul
    1. The document discusses PID controller tuning and how to achieve acceptable stability and fast responses for a control system. 2. It explains that faster responses typically lead to worse stability while better stability leads to slower responses, so the goal is to achieve acceptable stability. 3. The document then demonstrates how a Smith predictor controller can significantly improve stability and performance for a system with time delays compared to a traditional PID controller.

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    © All Rights Reserved
    Download as DOC, PDF, TXT or read online from Scribd

    Pid Manual Tunning

    Uploaded by

    surajkaul
    100 views16 pages
    1. The document discusses PID controller tuning and how to achieve acceptable stability and fast responses for a control system. 2. It explains that faster responses typically lead to worse stability while better stability leads to slower responses, so the goal is to achieve acceptable stability. 3. The document then demonstrates how a Smith predictor controller can significantly improve stability and performance for a system with time delays compared to a traditional PID controller.

    Original Description:

    PID Tuning results

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    1. The document discusses PID controller tuning and how to achieve acceptable stability and fast responses for a control system. 2. It explains that faster responses typically lead to worse stability while better stability leads to slower responses, so the goal is to achieve acceptable stability. 3. The document then demonstrates how a Smith predictor controller can significantly improve stability and performance for a system with time delays compared to a traditional PID controller.

    Copyright:

    © All Rights Reserved
    Download as DOC, PDF, TXT or read online from Scribd
    Download as doc, pdf, or txt
    100 views16 pages

    Pid Manual Tunning

    Uploaded by

    surajkaul
    1. The document discusses PID controller tuning and how to achieve acceptable stability and fast responses for a control system. 2. It explains that faster responses typically lead to worse stability while better stability leads to slower responses, so the goal is to achieve acceptable stability. 3. The document then demonstrates how a Smith predictor controller can significantly improve stability and performance for a system with time delays compared to a traditional PID controller.

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    © All Rights Reserved
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    You are on page 1of 16

    PID MANUAL TUNING

    The aim of the controller tuning



    If possible, we would like to obtain both of the following for the control system:
    Fast responses, and
    Good stability
    Unfortunately, for most practical processes being controlled with a PID controller, these two
    wishes can not be achieed simultaneously!

    In other words
    "he faster responses, the worse stability, and
    "he better stability, the slower responses!
    For a control system, it is more important that it has good stability than being fast!
    So, we specif :
    Acceptable stability (good stability, but not too good as it gives too slow responses)
    "he plot below e#plain the aim of control tuning!
    Step response for LTI !tf ! "#$%&'(,") *$%%+ ,$,%)')(-
    $%D&'
    Step
    Scope
    tf([5.928],[1 3.994 0.09181])
    LTI System
    (esponse
    %bseration
    )ystem is unstable! )etpoint is not met!
    *+ ,pplying PID -ontroller to achiee the stability of the system!
    0 5 10 15 20 25 30 35 40 45 50
    0
    5
    10
    15
    20
    25
    30
    Time
    A
    m
    p
    l
    i
    t
    u
    d
    e
    Step response for LTI (tf ( [5.928],[1 3.994 0.09181])
    Simulation time-30 sec


    Step input
    Step response
    Analsis of PID .ontroller/
    $odel for PID -ontroller!
    P$0/1 Process 2aria3le
    S$P/1 Set point$
    4esponse 5
    )$ PI .ontroller/
    0 5 10 15 20 25 30 35 40 45 50
    0
    0.5
    1
    1.5


    X: 16
    Y: 1.428
    time
    R e s p o n s e
    unit step
    Response
    Response of LTI system having T.F=([5.928],[1 3.994 0.09181])
    on using PI( P=1,I=1)
    &$ PD .ontroller/
    *$ PID .ontroller!fast response, poor sta3ilit-/

    0 50 100 150
    0
    0.2
    0.4
    0.6
    0.8
    1
    1.2
    1.4
    on using PD( P=7.25,D=1.5)
    Time
    R e s p o n s e


    Step input
    Response
    0 50 100 150 200 250
    0
    0.2
    0.4
    0.6
    0.8
    1
    1.2
    1.4
    1.6
    Time
    R e s p o n s e


    Step input
    Response
    Response of LTI system having T.F=([5.928],[1 3.994 0.09181])
    Response of LTI system having T.F=([5.928],[1 3.994 0.09181])
    on using PID(P=3,I=6,D=0.2)
    .! PID -ontroller /marginally stable0*
    1! PID -ontroller/,ccurate stability0
    0 50 100 150 200 250 300
    -1
    0
    1
    2
    3
    4
    5
    on using PID(P=0.5,I=0.64,D=0.5)
    Time
    R e s p o s e


    unitstep
    response
    0 1000 2000 3000 4000 5000 6000 7000 8000
    -0.2
    0
    0.2
    0.4
    0.6
    0.8
    1
    1.2
    Time
    R e s o n s e


    step input
    response
    Response of LTI system having T.F=([5.928],[1 3.994 0.09181])
    Step response for LTI (tf ( [5.928],[1 3.994 0.09181])
    P=0.033,I=.056,D=-0.2
    63ser2ation
    &ffects of increasing a parameter independently
    Parameter 4ise time 62ershoot Settling time Stead/state error Sta3ilit
    Decrease Increase )mall change Decrease Degrade
    Decrease Increase Increase &liminate Degrade
    $inor change Decrease Decrease 2o effect in theory Improe if small
    7eha2ior of .ontrol Sstem on Introducing
    Transport Dela
    $odel
    '"I tf/31!4567,38 9!44. :!:486870

    Parameter 0alue
    P :!:5.985;68..:5.94
    I :!:::48566;<448.1:;1
    D *:!5..8.51<;:.591<
    Performance 0alue
    )ettling "ime =8:: s
    %ershoot =8:>
    (ise "ime 5;!6 s
    Time Dela ,$) sec 5 Sta3le
    0 50 100 150 200 250 300
    0
    0.2
    0.4
    0.6
    0.8
    1
    1.2
    1.4
    Time
    A
    m
    p
    l
    i
    t
    u
    d
    e


    Step Input
    Time Delay .01s
    Step Response
    Performance 0alue
    )ettling "ime =8:: s
    %ershoot =8:>
    (ise "ime 5;!< s
    Time Dela ,$# sec 5 Sta3le
    0 50 100 150 200 250 300
    0
    0.2
    0.4
    0.6
    0.8
    1
    1.2
    1.4
    Time
    A
    m
    p
    l
    i
    t
    u
    d
    e


    Step Input
    Time Delay .05s
    Step Response
    Performance 0alue
    )ettling "ime =4; s
    %ershoot =88>
    (ise "ime 5<!< s
    Time Dela ) sec 5 Sta3le
    0 50 100 150 200 250 300
    0
    0.2
    0.4
    0.6
    0.8
    1
    1.2
    1.4
    Time
    A
    m
    p
    l
    i
    t
    u
    d
    e


    Step Input
    Time Delay 1 s
    Step Response
    Performance 0alue
    )ettling "ime =41 s
    %ershoot =8.>
    (ise "ime 51!1 s
    Time Dela # sec 5 Sta3le
    0 50 100 150 200 250 300 350 400
    0
    0.5
    1
    1.5
    Time
    A
    m
    p
    l
    i
    t
    u
    d
    e


    Step Input
    Time Delay 5s
    Step Response
    Time Dela ), sec 5 Sta3le
    Performance 0alue
    )ettling "ime =59< s
    %ershoot =.9>
    (ise "ime 5:!6 s
    0 500 1000 1500 2000 2500
    0
    0.2
    0.4
    0.6
    0.8
    1
    1.2
    1.4
    1.6
    1.8
    2
    Time
    A
    m
    p
    l
    i
    t
    u
    d
    e


    Step Input
    Time Delay 10s
    Step Response
    Performance 0alue
    )ettling "ime =8!4e9 s
    %ershoot =49>
    (ise "ime 84!6 s
    Time Dela )# sec / Unsta3le
    0 200 400 600 800 1000 1200 1400
    -60
    -40
    -20
    0
    20
    40
    60
    80
    Time
    A
    m
    p
    l
    i
    t
    u
    d
    e


    Step Input
    Time Delay 15s
    Step Response
    Performance 0alue
    )ettling "ime 2a2
    %ershoot =5!9e<9>
    (ise "ime 84!6 s
    Time Dela ))$)%8 sec 5 Marginall Sta3le
    0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
    0
    0.5
    1
    1.5
    2
    2.5
    Time
    A
    m
    p
    l
    i
    t
    u
    d
    e


    Step Input
    Time Delay 11.197s
    Step Response
    Performance 0alue
    )ettling "ime 2a2
    %ershoot =85<>
    (ise "ime 84!; s
    Smith Predictor
    .ontrolling Sstems with Time Dela
    It is difficult to obtain satisfactory performances of control systems
    with time delay, which is a well recogni?ed problem in many control
    processes! "ime delay, also called dead time, is mostly aroused by
    transportation lags, measurement lags, analysis times, computation and
    communication lags! ,nd it e#ists in a lot of systems such as industrial
    process control systems, engineering systems, economical, and
    biological systems!
    Defining Dead time @ Dead time is a delay between when a process
    ariable changes, and when that change can be obsered! Dead time
    can also be caused by a system or output actuator that is slow to
    respond to the control command, for instance, a ale that is slow to
    open or close!
    7asic 7loc9 Diagram @
    Analsis
    '"I tf/31!4567,38 9!44. :!:486870
    63ser2ation
    0 100 200 300 400 500 600 700 800 900 1000
    0
    0.2
    0.4
    0.6
    0.8
    1
    1.2
    1.4
    1.6
    1.8
    Time
    A m p l i t u d e
    Transport delay-15sec


    Step input
    PID response
    Smith response
    Response for LTI (tf ( [5.928],[1 3.994 0.09181])
    "he aboe mode is simulated with both PID and )mith predictor to
    compare the stability ability of both!
    Parameters of PID controller are selected to get the best results "he
    (ed line represent the step response of system with PID -ontroller
    while Alue is with )mith Predictor!
    Be can see that the step response of system with )mith predictor is
    much better! "he time delay item is eliminated in case of )mith
    Predictor which improes the control performance significantly!

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