PID tuning

The setting up of PID controllers is complex and contains many varaibles. Following are two examples of
methods that may be adopted
Ziegler-Nichols Closed Loop (Hunt) Method
i. Set up the system in closed loop i.e. with the controller in auto mode
ii. Remove integral and derivative action
iii. Increase the gain (reduce proportional band) untill the controller just begins a steady hunt
iv. record the Proportional Band setting as value P
v. Record the periodic time of the sinusoidal hunt as value
For Proportional only- Proportional Band = 2 x P
For Proportional + integral- Proportional band = 2.2 x P, Integral Action Time = T/2
For Proportional + Integral + Deriatie- Proportional band = !."# x P, Integral Action Time =
T/2, Deriatie action time = T/$
Ziegler-Nichols Open Loop Method
i. Switch controller to manual ensuring that the system is open loop. i.e. that the controller is
disconnected from the controlling unit which can be manually adjusted
ii. Rapidly alter manual regulator to cause a stepped change in the control valve by a set amount.
Record the movement of the control valve as a percentage of total travel. Record this as !R
In the above e"ample the valve has moved by #$ out of a total $%mm therefore is has move
&%' of its total travel.!R ( &%
iii. Record the system open loop resonse. hat is record the intial valve from the measured valve
transmitter) initiate the stepped input then record how the measure valve responds in relation
to this
iv. *hange the vertical a"is of the response graph so that it is scaled as a percentage of the measure
value range ( which from above we see is $%m).
v. +rom the grap dtermine values as best as possible for dv (distance,velocity, time between
controller output signal being generated and contolled element receiving it) lag -s.and the
ma"imum slope /-'0s.
For Proportional only- Proportional Band = % xT/&' x !(()
For Proportional + integral- Proportional band = % x T/&' x !!(), Integral Action Time = *.** x
T
For Proportional + Integral + Deriatie- Proportional band = % x T/&' x $*), Integral Action
Time = 2 x T, Deriatie action time = (.+ x T
For the above worked example this would give the following results
Proportional only
PB ! x T"#$ % &'' &(.) x &.* " +' % &'' ,,.*-
Proportional + Integral ction
PB ! x T"#$ % &&' &(.) x &.* " +' % &&' ,.-
I/T 0.00 x T 0.00 x &.* * 1s2
Proportional + Integral ction + Deri!ati!e ction
PB ! x T"#$ % )0 &(.) x &.* " +' % )0 0(-
I/T 3 x T 3 x &.* 0 1s2
D/T '.* x T o.* % &.* '.(* 1s2
"yste# responses
$%%ects o% changing Proportinal &and on P controller
$%%ects o% changing Integral ction 'i#e on P + I controller
$%%ects o% changing Deri!ati!e ction 'i#e on P + I + D controller