Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable

Abstract

This paper deals with the design of a DC motor speed control implemented by an embedded controller. The design is simple and brings some important changes to the traditional Ziegler–Nichols tuning. The design also includes a novel anti-windup implementation of the controller and an integrated noise-reduction filter design. The proposed tuning method considers all important aspects of the control, such as pre-processing of the measured signals and filtering (to attenuate the measurement noise), time delays of the process, modeling and identification of the process, and constraints on the control signal. Three important aspects of designing PI and PID controllers for processes with noisy output on Arduino-type embedded computers are considered. First, it deals with the integrated design of the input filter and the controller parameters, since both are interdependent. Secondly, the method of setting the controllers from step responses by Ziegler and Nichols is modified for the case of digital signal processing (without drawing the tangent), while it recommends the suitability of its modification in terms of the use of both integral and static models. Third, the most suitable anti-windup solution for the given controller structure is proposed. In summary, the paper shows that an appropriate design of the embedded controller can achieve excellent closed-loop performance even in a noisy process environment with limited control signals.

Performance Portrait Method: An Intelligent PID Controller Design Based on a Database of Relevant Systems Behaviors

“…In the design, we try to approximate the practically unlimited range of various dynamical systems using suitably selected mathematical models, for which we implement the design of optional parameters of the controller. From the point of view of the universal applicability of the results achieved by means of individual models, ultra-local integral models [ 38 , 56 ] have proved to be important since the first known method [ 57 ] for setting controllers. Although over time it has become possible to achieve a significant improvement in the dynamic properties of the circuit with more complex structures (as, for example, [ 58 ]), due to their simplicity, PID controllers still maintain an exceptional place in practice.…”

The Fuzzy Logic in the Problems of Test Control of a Bypass Turbojet Engine Gas Generator

“…Thus, notwithstanding that in automatic control theory the synthesis of a controller using conventional methods is performed in a strictly formal way, in practice, such synthesis largely depends both on the properties of the control object and on the experience of the designer. This has been confirmed by a large number of publications devoted to the synthesis of such controllers [20][21][22][23][24][25]. Therefore, it can be assumed that if the synthesis and adjustment of the controller coefficients is a formalized procedure and not a creative process, then such a number of publications would be unjustified.…”

“…An overview is provided in [20] of the various types of PID controllers that are commonly used in industrial automation, and their advantages and disadvantages were considered. The study by [21] presented the setting of the speed controller of a DC motor based on the modified Ziegler-Nichols method, and [22] investigated a modification of the Ziegler-Nichols method to set a digital PID controller.…”

Computational Validation of the Best Tuning Method for a Vehicle-Integrated PID Controller

“…Ziegler-Nichols Method. The adjustment method for the PID controller proposed by Ziegler and Nichols [14] is mainly used in industries. This is a manual mode process based on an open-loop step response from a system, and it is indicated for a first-order plant model plus the dead time represented by…”