5/30/2018 PID Tuning

Assignment

SIR DR. ALI MUGHAL

Haseeb Tariq
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 Table of Contents

1. Introduction:......................................................................................................................................... 3
2. Simulation:............................................................................................................................................ 3
3. Values of Kp Ki and Kd: ........................................................................................................................ 4
4. Output:.................................................................................................................................................. 4
5. Ziegler-Nichols Method: ....................................................................................................................... 5
6. Simulation: ............................................................................................................................................ 5
7. Output:.................................................................................................................................................. 6

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 Table of Figures
Figure 1: PID tuning simulation diagram....................................................................................................... 3
Figure 2: Values of Tuning Parameters ......................................................................................................... 4
Figure 3 :Output After Tuning ....................................................................................................................... 4
Figure 4: Parameters for Z-N Method ........................................................................................................... 5
Figure 5: Simulation for Z-N Method ............................................................................................................ 5
Figure 6: Output for Z-N Method .................................................................................................................. 6

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 Tuning of PID Controller
1. Introduction:
A proportional–integral–derivative controller (PID controller or three term controller) is
a control loop feedback mechanism widely used in industrial control systems and a variety of
other applications requiring continuously modulated control.

A PID controller continuously calculates an error value as the difference between a

desired setpoint (SP) and a measured process variable (PV) and applies a correction based
on proportional, integral, and derivative terms (denoted P, I, and D respectively) which give
the controller its name.

2. Simulation:

Figure 1: PID tuning simulation diagram

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 3. Values of Kp Ki and Kd:

Figure 2: Values of Tuning Parameters

4. Output:

Figure 3 :Output After Tuning

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 5. Ziegler-Nichols Method:
Another heuristic tuning method is formally known as the Ziegler–Nichols method, introduced
by John G. Zieglerand Nathaniel B. Nichols in the 1940s. As in the method above, the and Kp
Ki gains are first set to zero. The proportional gain is increased until it reaches the ultimate
gain, at which the output of the loop starts to oscillate. and the oscillation period are used to
set the gains.

Figure 4: Parameters for Z-N Method

6. Simulation:

Figure 5: Simulation for Z-N Method

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 7. Output:
After doing some calculations roughly, the values for Tu and Ku comes out to be:

Tu=3.41 and Ku= 10

The output with these values is:

Figure 6: Output for Z-N Method

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