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!