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R = B/A
Where
R = Process Reaction Rate
A = Time in minutes
B = % change in MV
1] Ziegler-Nichols Open Loop Method
Calculating Unit Reaction Rate:
R1 = R / X
Where
R1 = Unit Reaction Rate
R = Process Reaction Rate
X = % change in controller output
2] Ziegler-Nichols Close Loop Method
Steps:
1. Set the controller to automatic mode.
2. Switch off integral and derivative actions.
3. Slowly increase controller gain until measured value oscillates
uniformly.
4. Monitor the response curve and determine the Ultimate Gain (Gu)
and Ultimate Period (Pu).
2] Ziegler-Nichols Close Loop Method
Steps:
5. Calculate new tuning parameters using the formula below:
Mode Proportional Gain (Kc) Reset Time (Ti) Derivative Time (Td)
P Kc = 0.5Gu N/A N/A
PI Kc = 0.45Gu Ti = Pu/1.2 N/A
PID Kc = 0.6Gu Ti = 0.5Pu Td = Pu/8