Shams Saudi Summary

SHAMS Closed-Loop Tuning Method:
A Fast Approach for PI/PID Controller Tuning in Closed-Loop
Shams
Assistant Professor
King Fahd University of Petroleum and Minerals, Dhahran
mshams@kfupm.edu.sa
ISAAutomationConference2013EMEA(Dammam,SaudiArabia)December1012,2013
Alternative Approach of Direct PI/PID:
PI/PID-Tuning Based on Closed-Loop Data

Ziegler-Nichols (1942) closed-loop method
Step 1. Closed-loop experiment
Use P-controller with sustained oscillations. Record:

1. Ultimate controller gain (Ku)
2. Period of oscillations (Pu)
Kc=Ku
Step 2. Simple PI rules: Kc=0.45Ku and I=0.83Pu.

Advantages ZN:
. Closed-loop experiment
. Very little information required
. Simple tuning rules
Disadvantages:
. System brought to limit of instability
. Many trials are required to obtain Ku
. Relay test (strm) can avoid this problem but requires the feature of switching to on/offcontrol
. Settings not very good: Aggressive for lag-dominant processes (Tyreus and Luyben) and
quite slow for delay-dominant process (Skogestad).
. Only for processes with phase lag > -180o (does not work on second-order)
This work.
Improved Closed-Loop PID-Tuning Method

Want to develop improved and
simpler alternative to Z-N:
Closed-loop setpoint
response with P-controller
Use P-gain about 50% of Z-N
Identify key parameters

from setpoint response:
Simplest to observe is first
peak!
Idea: Derive correlation between key parameters and proposed PID-settings for corresponding process
Closed-Loop Setpoint Experiment

Procedure:
Switch to P-only mode and make setpoint change
Adjust controller gain to get overshoot between 10-60 % (about 0.30 (30%) is
preferable)
Record key parameters:

1. Controller gain Kc0
2. Overshoot = (yp-y)/y
3. Time to reach peak (overshoot), tp
4. Steady state change, b = y/ys.
Estimate of y without waiting to settle:

y = 0.45(yp + yu)
ClosedloopstepsetpointresponsewithPonlycontrol.
Selection of Controller Gain (Kc0)

An overshoot of around 0.3 is recommended,
Achieving the P-controller gain (Kc0) via trial and error
can be time consuming.
Lets assume for the first closed-loop test P-controller
gain of Kc01 is applied and resulting overshoot OS1 is
achieved that is between 0.1 to 0.60 but not around 0.30.
Selection of Initial Controller Gain (Kc0)

Closed-loop test with P-controller gain of K c01 is applied and lets say resulting overshoot is OS1
Overshootaround0.30(30%)
Kc01=Kc0
Goal achieved!
Overshootnotaround0.30(30%)
Itisbetween0.1to0.60(methodwork)
Recommendedtorepeatthe
experimentwithnewcalculatedKc0.
K c 0 1.19 1.55 OS1 2.159 OS1 1.35 K c 01

2
23Iterationisrequiredtogetovershootaround30%
Kc01=Kc0 Goal achieved!
Summary of the Proposed Method
PID
controller:
From P-control setpoint experiment record key parameters:
4. Steady state change, b = y/ys
Proposed PID settings (including detuning factor F)
2
K c = K c0 A F A= 1.55(overshoot) - 2.159(overshoot) + 1.35
b
I =min 0.645A
t p , 2.44t p F
1-b
D = 0.14t p
Choice of detuning factor F:

F=1. Good tradeoff between fast and robust (c=)
F>1: Smoother control with more robustness
F<1 to speed up the closed-loop response.
Selection of Initial Controller Gain (Kc0)

Closed-loop test with P-controller gain of K c01 is applied and lets say resulting overshoot is OS1
Overshootaround0.30(30%)
Kc01=Kc0
Goal achieved!
Overshootnotaround0.30(30%)
Itisbetween0.1to0.60(methodwork)
Recommendedtorepeatthe
experimentwithnewcalculatedKc0.
K c 0 1.61 1.152 OS1 1.607 OS1 1.0 K c 01

2
23Iterationisrequiredtogetovershootaround30%
Kc01=Kc0 Goal achieved!
Setpoint Overshoot Method
Probably the fastest PI-tuning approach in the world

From P-control setpoint experiment record key parameters:
PI
controller:
4. Steady state change, b = y/ys
Proposed PI settings (including detuning factor F)
2
K c = K c0 A F A= 1.152(overshoot) - 1.607(overshoot) + 1.0
b
I =min 0.86A
t p , 2.44t p F
1-b
Choice of detuning factor F:

F=1. Good tradeoff between fast and robust (c=)
F>1: Smoother control with more robustness
F<1 to speed up the closed-loop response.
PI/PID Controller Tuning Rule for Time Delay

Process
Objective: PI/PID tuning formula based upon low order
process model
Simple, unified, robust, and enhanced design method of
the PI/PID controller
Applicable for the FOPDT, SOPDT and Integrating

processes
PI/PID controller in
Analytical PI/PID Tuning Formula

For stable process
For Integrating process
where =100
c =2, will give Ms=2.0 for lag dominant process and Ms=1.26 for delay dominant
process
Final Comments for PI/PID Open-loop Method

Applicable for several types of processes with time delay
(approximate integrating first order delay process
where =100 (sufficiently big)

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SHAMS Closed-Loop Tuning Method:

A Fast Approach for PI/PID Controller Tuning in Closed-Loop

Alternative Approach of Direct PI/PID:

PI/PID-Tuning Based on Closed-Loop Data

Use P-controller with sustained oscillations. Record:

Step 2. Simple PI rules: Kc=0.45Ku and I=0.83Pu.

Improved Closed-Loop PID-Tuning Method

Identify key parameters

Closed-Loop Setpoint Experiment

Record key parameters:

Estimate of y without waiting to settle:

Selection of Controller Gain (Kc0)

Selection of Initial Controller Gain (Kc0)

K c 0 1.19 1.55 OS1 2.159 OS1 1.35 K c 01

Summary of the Proposed Method

Proposed PID settings (including detuning factor F)

Choice of detuning factor F:

Selection of Initial Controller Gain (Kc0)

K c 0 1.61 1.152 OS1 1.607 OS1 1.0 K c 01

Setpoint Overshoot Method

Probably the fastest PI-tuning approach in the world

4. Steady state change, b = y/ys

Proposed PI settings (including detuning factor F)

Choice of detuning factor F:

PI/PID Controller Tuning Rule for Time Delay

Applicable for the FOPDT, SOPDT and Integrating

Analytical PI/PID Tuning Formula

Final Comments for PI/PID Open-loop Method

(approximate integrating first order delay process

where =100 (sufficiently big)

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