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Aggressive response
Aggressive response
Performan
ce
Robustnes
s
Robust
Wide range of
conditions
Rapid response
to changes
Smooth
responses
Reasonable
degree of mod
el
inaccuracy
Kc -> low
I -> large
Computer simulation
What is ?
constant
time delay
=3.75
=1.88
=0.682
3.75
1.88
0.682
15
(1/15)*
15
(1/15)*
15
(1/15)*
3.33
3.33
3.33
guess
If the system can be simulated by then
1.
and
ZeiglerNichols
P
0.5
PI
PI
0.45
PID
PID
0.6
---
-------
2.
Set to a small value. Then set the controller
in automatic.
3. Introduce an small set point change.
Gradually increase until a sustained
oscillation with constant amplitude occurs.
This value of is called Ultimate gain. The
period of the oscillation is the ultimate
period,
.0
4.
Use the table to calculate
ZeiglerNichols
0.5
PI
PI
0.45
PID
PID
0.6
---
-------
ZeiglerNichols
P
---
---
PI
---
PID
0.5
Workshop
Now you have time to solve the following question
Workshop
Use the Ziegler and Nichols method and the curve
response method to tune the proportional, proportional
integral and PID controlled systems indicated below.
Compare your results with the tuning results calculated by
using Matlab.