PID Tuning: The Ziegler Nichols Method Explained
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- เผยแพร่เมื่อ 12 ก.ย. 2024
- In this short tutorial I will take you through the two Ziegler-Nichols tuning methods. This will let you tune the derivative, proportional and integral gains on your P, PI or PID controller. Thankfully these methods are extremely simple to understand and implement.
Correct PID controller formula: Kp(1 + 1/(Ti*s) + Td*s)
Ti and Td are time constants. K are gains. So therefore Ki gain is actually Kp/Ti and Kd gain is actually Kp*Td.
Ti time constant what time sampling time?
Cant believe it took me so long to find this video. Thanks so much for this!
for anyone else read old comments. it is first method always, you dont want actual equipment to be oscillating and go damage. In HMI say it is pump running at 20% and PLC pid controls analog output. In HMI force analog output to be in Manual mode, so it pid no longer control output, than change eg. from 20% to 25% and see historian for flow feedback data at exact time of setpoint been changed. Most cases dont use PID , use PI control but instead D term apply software first order lag filter for the feedback signal. increasing Kp makes faster response but increase overshoot, Increasing Ki reduces error and damps Kp oscillation but too much will come back to as if it was only Kp control but even with increased overshoot and increased oscillations. If output out of bounds of physical equipment capability do not integrate output(integral antiwindup), when output is within the range continue integrating.
One thing please.
The second method is used once the first is failed, and it fails whenever the plant response doesn't follow that S shape.(S shape will be there whenever there are no complex poles pair or zero at origion).
In that case 2nd method will be used..
When to use first method and also when to use second one?
I mean how to differentiate that in the given question we are required to apply first method or second one?
The second method should be easy to implement in an auto-tuning PID, apart from the 0.6 factor the others are easily divisible. Very nice and helpful video indeed! Thank you!
Thank you for this quick presentation. There all we need.
I think there is an error for the Kp value of the PID in the second method: this should be Kp = 0.6*K_crit and not Kp = 0.6*P_crit to be coherent with what is above (and with physical units)
For the second method it should be 0.6*Kcrit and not 0.6*Pcrit in your table.
I have the same question
I think so
I'm so lost
#metoo
very clear , easier to understand compare to professor's one hour lecture. lol
You mean the lecture i gave you in semester was worthless .Then you join the faculty, schmuck
Enlighten me Einstein
You mean the lecture , i Provided to you on semestet was worthless .Then you scroundels join the faculty and show us your dumb skills
@@jonathanhoftstrater8223
wtf?
Instructor usually also covers how to relate tI or tD to these. I suspect that the bottom left corner is based on kcrit or ku not pcrit
Thank you so much that was very useful!!!
Thank you so much. What a nice and cool explanation which is understandable and straight to the point.
Thank you very much for the upload and recording!
How did you write that table? For P, Pi, PID?
Very well explained
I would like to suggest to define your response curve horizontal axis and vertical axis. The presentation will gain immensely in clarity.
Is the horizontal axis a representation of time and the vertical axis that of PV? or what is it?
@The Complete Guide to Everything
. I have an estimator chart from my tutor which states for Method 2, PID, Kp is 0.6KCrit, not 0.6Pcrit as per video. Is this correct?
was it? I have the same question
@@nickybutch3 Well I used my tutors estimator chart and wasn't deducted marks. I have had no feed back from the video creator.
@@champcv1 Mine is also Kcrit, not Pcrit. I think it's a simple typo by the author
hello
i have a question or you can say a statement about your first method. in your video at 0:35, you drew a feedback pid system and then you said that we need to apply a step input to the feedback system including the plant and pid controller with unity feedback. as far as i know, in this method we do not apply step input to the feedback system with pid controller in it because we have not decided the values of the 3 terms so far. the thing is we apply the step input to open loop plant without and controller and calculate what is called R and L. please correct me if i am wrong and vice versa
In the first method, does the TC not depend on the size of the step taken? Should the size of the step be included in the calculations somewhere?
What was the process behind filling in that table?
i think in the first method that your table is wrong
well not completely wrong but the values ain't for Ki and Kd
those r for Ti and Td
and to calculate Ki and Kd
u should use the formulas
Ki = Kp/Ti
Kd = Kp*Td
Is your formulas correct? Where is gradient (M)?
What is pkrit in terms of? Number of readings taken between those two points?
I assume the output of the formulas is on a scale of 0-100?
Excelent video, thanks a lot
how can I apply a step function to a ball, on an inclined axis, to use the ziegler-Nichols method?
apply unit step: closed loop? or open loop? with controller? or the plant only? You did not say.
+Volker Block everything included I guess.
+Volker Block for the first method a unit step is applied over the plant only at open loop (i agree with you that this is not clear from the video)
@@marcostoibero I think you are right. The first method is only applicable to some specific plants like a 1st order system with time delay.
At 1:00 he says to apply a unit step, will a value of 1 suffice?
How can we find L and T in question?
do i need to memorize this table ? can u do an example ?
how to find value of Pc ??
no , we have to apply this method in open loop not in closed loop
What is definition of L and T anyway?
How can I implement the Ziegler Nichols Method in arduino ? (in order to obtain Kp, Ki and Kd) and thanks :)
Hii
Can you please give some references papers for the same...?
2:50 "rest of the f'ing owl"
Hi! May I ask if those values are always the same in the table at 3:10 in the first method?
Thanks!
Différence between pcrit and kcrit ??
P is for period. K is for gain.
1. With Routh- Hurwitz stability criterion you find critical gain(Kcrit which is the maximum value of K).
2. When K=Kcrit, s=0+ jw, so you put it into the characteristic equation to find w.
3. From Pcrit= 2π/w you find Pcrit.
4. Put them into Ziegler- Nichols equation to find Gc(s).
@@coal2710 thanks bro, I was searching for these
Thank you
Samuel
please take this video down, it's wrong and it's misleading people researching the subject
brothr can u help me i am very much confused on how to do wut with this pid thing
ok
I hate this confusing bullshit, my pid loop wont work
It's not a rubbish drawing😂😂😊
يآلله🤍
SaMUEL
remove the wrong video plz...
So bad explained 👎🏽
This video is TOTALLY WRONG!
Samuel
SaMUEL