CHE3007S Block3
Lecture 10
Controller Tuning
Overview
• What is Controller tuning?
• How can we tune a controller?
Additional Reading / Learning
Sections of textbook by Seborg et al. to study:
• Chapter 11 – 3rd Edition
• Chapter 12 – 4th Edition
Glossary:
• Tuning, Direct Synthesis, Ziegler-Nichols tuning,
What is Controller tuning?
When using a PID controller we have a choice in:
• 𝐾𝑝 - the proportional gain
• 𝜏𝑝 - integration time constant
• 𝜏𝐼 - derivative time constant
Changing these constants can either stabilize or destabilize a system
• Recall closed loop stability
Feedback control loop stability
Controller Plant
𝑌𝑆𝑃 + GC GP 𝑌
-
𝑌 𝐺𝐶 𝐺𝑃
=
𝑌𝑆𝑃 1 + 𝐺𝐶 𝐺𝑃
How do I change 𝐺𝐶 such that 1 + 𝐺𝐶 𝐺𝑃 is a stable system while
meeting my control criteria?
XCOS Definitions
Xcos allows you to specify three controller constants:
• Proportional control constant: 𝐾𝑝
𝐾𝑝
• Integration control time:
𝜏𝐼
• Differential control constant: 𝐾𝑝 𝜏𝐷
How can we tune a controller?
Theoretical methods
• Direct Synthesis method (DS)
• Internal Mode Control method (IMC)
• Controller tuning relations
• Frequency response techniques
• Computer simulation
Empirical methods (See Control Prac)
• On-line tuning after the control system has been installed
Direct Synthesis Method
We choose how we want our system to response:
𝑌 𝐺𝐶 𝐺𝑃
=
𝑌𝑆𝑃 1 + 𝐺𝐶 𝐺𝑃
Rearrange to formulate Gc for a desired response:
𝑌ൗ
1 𝑌𝑠𝑝
𝐺𝑐 = ( )
𝑌
𝐺𝑝 1 − ൗ
𝑌𝑠𝑝
Direct Synthesis Method Example
We choose how we want our system to respond:
𝑌 1
=
𝑌𝑆𝑃 𝜏𝑐 𝑠 + 1
The overall transfer function of our plant is:
𝐾
𝐺𝑃 =
(𝜏𝑃 𝑠 + 1)
The controller then has the form:
𝑌ൗ 1
1 𝑌𝑠𝑝 𝜏𝑃 𝑠 + 1 𝜏𝑐 𝑠 + 1
𝐺𝑐 = =
𝐺𝑝 1 − 𝑌ൗ𝑌 𝐾 1−
1
𝑠𝑝 𝜏𝑐 𝑠 + 1
𝜏𝑃 𝑠 + 1 1 𝜏𝑃 1
𝐺𝑐 = = + Integral
𝐾 𝜏𝑐 𝑠 𝐾𝜏𝑐 𝐾𝜏𝑐 𝑠
Proportional
Typical responses
Undamped Under damped Over damped
Critically damped Unstable
Ziegler-Nichols tuning
P I D
P 𝐾𝑐ൗ
2
PI 𝐾𝑐ൗ 𝑃𝑐ൗ
2.2 1.2
PID 𝐾𝑐ൗ 𝑃𝑐ൗ 𝑃𝑐ൗ
1.7 2 8
• The ultimate gain (𝐾𝑐 ) and ultimate period (𝑃𝑐 ) needs to be determined
• It is tuned for a quarter wave decay underdamped response
• It is a heuristic and further tuning may be required
Ziegler-Nichols tuning
To get the ultimate Gain and Ultimate period:
• Set the controller to proportional control only
• Increase the proportional gain till the response starts oscilating
• Find the undamped response
• continuous oscillation that does not shrink or grow
• The amplitude of this oscillation is KC
• The period of this oscillation is PC
