MEC-E5004

Fluid Power
Systems Report - servo system 1

Name
Servo simulation and tuning: report
Student number
Ziegler-Nichols
The method is implemented as follows:

First, all the gains (KP, KI, KD) of the

controller are set to zero, after which
the gain KP is increased until the
system starts to oscillate continuously.
This value of gain KP is so called
critical gain KP,crit and the time period
of oscillation Tcrit corresponding this
gain can be ”read” from response (time
between two successive peaks).

Department of Mechanical Engineering

05/05/2020
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Table 1:
Ziegler-Nichols parameters

Department of Mechanical Engineering

05/05/2020
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Table 2:
Effect of PID-controller parameters

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05/05/2020
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Criteria regarding the quality of the
control
1.6 - Dead time
Damping ratio15/53= circa 0.28 - Rise time (several)
1.4

Overshoot, circa 53%

- Overshoot
1.2
Second overshoot, circa 15% Time period - Damping ratio
circa 1.0 s
- Settling time (e.g.
1
5%)
5% settling time, circa 3.2 s - Time period
0.8

95% rise time

0.6
circa 0.28 s
(2*pi*1)^2
(2*pi*1)^2
11
0.4 ss22+2*(2*pi*1*0.2)*1s+(2*pi*1)^2
Rise time 0-90% Constant
Constant
+2*(2*pi*1*0.2)*1s+(2*pi*1)^2
Transfer
TransferFcn
Fcn
Transport
Transport
Delay
circa 0.19 s Delay
1s
1s Vaste
Vaste
0.2
1.05
1.05

Constant1
Constant1

0 0.95
0 1 2 3 0.95 4 5 6

Dead time Constant2

Constant2 Second
Second order
order system
system ++ delay
delay 11 ss
circa 1 s -- Nominal
Nominal frequency
frequency 11 Hz
Hz
-- Relaive
Relaive damping
damping 0.2
0.2
Department of Mechanical Engineering
05/05/2020
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 Report 1/11
Report: P control
System model servo
Comments on performance
Input values
Kp_crit  
T_crit s

Controller parameters
Controller Kp KI KD
P    
PI  
PD  
PID
Pessen rule
Small overshoot
No overshoot

Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM

Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 2/11
Report: PD control
System model servo
Comments on performance
Input values
Kp_crit  
T_crit s

Controller parameters
Controller Kp KI KD
P    
PI  
PD  
PID
Pessen rule
Small overshoot
No overshoot

Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM

Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 3/11
Report: PI control – Anti-Windup ON
System model servo
Comments on performance
Input values
Kp_crit  
T_crit s

Controller parameters
Controller Kp KI KD
P    
PI  
PD  
PID
Pessen rule
Small overshoot
No overshoot

Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM

Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 4/11
Report: PID control – Anti-Windup ON
System model servo
Comments on performance
Input values
Kp_crit  
T_crit s

Controller parameters
Controller Kp KI KD
P    
PI  
PD  
PID
Pessen rule
Small overshoot
No overshoot

Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM

Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 5/11
Report: PID control – Anti-Windup OFF
System model servo
Comments on performance
Input values
Kp_crit  
T_crit s

Controller parameters
Controller Kp KI KD
P    
PI  
PD  
PID
Pessen rule
Small overshoot
No overshoot

Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM

Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 6/11
Report: PID control – Anti-Windup ON
Comments on performance
HIGHER PUMP PRESSURE

System model servo

Input values
Kp_crit  
T_crit s
Pump pressure   bar
Controller parameters
Controller Kp KI KD
P
PI
PD
PID
Pessen rule
Small overshoot
No overshoot
Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 7/11
Report: PID control – Anti-Windup ON
Comments on performance
HIGHER Kp

System model servo

Input values
Kp_crit  
T_crit s
Pump pressure   bar
Controller parameters
Controller Kp KI KD
P
PI
PD
PID
Pessen rule
Small overshoot
No overshoot
Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 8/11
Report: PID control – Anti-Windup ON
Comments on performance
HIGHER KI

System model servo

Input values
Kp_crit  
T_crit s
Pump pressure   bar
Controller parameters
Controller Kp KI KD
P
PI
PD
PID
Pessen rule
Small overshoot
No overshoot
Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 9/11
Report: PID control – Anti-Windup ON
Comments on performance
HIGHER KD

System model servo

Input values
Kp_crit  
T_crit s
Pump pressure   bar
Controller parameters
Controller Kp KI KD
P
PI
PD
PID
Pessen rule
Small overshoot
No overshoot
Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 10/11
Report: PID control – Anti-Windup ON
Comments on performance
Simulink PID tuner

System model servo

Input values
Kp_crit  
T_crit s
Pump pressure   bar
Controller parameters
Controller Kp KI KD
P
PI
PD
PID
Pessen rule
Small overshoot
No overshoot
Performance
Overshoot   %
Rise time 95%   s
Settling time 5%   s
Steady state error   RPM Fig. Response
Department of Mechanical Engineering

05/05/2020
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 Report 11/11
Report – simulation experiences
Your choice for controller or system modification
• No/small Overshoot

• Short Rise Time

• Short Settling Time

• Small Steady State Error

Controller tuning “thumb rules”, are they valid in this case?

• P

• I

• D

Department of Mechanical Engineering

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