ControlDesign - MapleSim Help

Online Help

All Products    Maple    MapleSim


Home : Support : Online Help : MapleSim Toolboxes : MapleSim Control Design Toolbox : ControlDesign Package : PID Tuning : ControlDesign/ZNTimeModified

ControlDesign

  

ZNTimeModified

  

PID tuning based on Ziegler-Nichols time domain (open-loop) methods

 

Calling Sequence

Parameters

Options

Description

Examples

References

Calling Sequence

ZNTimeModified(Kt, T, L, opts)

Parameters

Kt

-

algebraic or non-zero realcons; gain of the FOTD (First order with Time Delay) model

T

-

algebraic or positive realcons; time constant of the FOTD model

L

-

algebraic or positive realcons; time delay of the FOTD model

opts

-

(optional) equation(s) of the form option = value; specify options for the ZNTimeModified command

Options

• 

method = MZN or AMIGO

  

Specifies the tuning method. MZN uses a modified version of the open loop Ziegler-Nichols tuning method based on the FOTD model. The AMIGO method calculates the controller gains using the AMIGO tuning rule and does not apply to the P controller. The default is MZN.

• 

controller = P, PI or PID for the MZN method; PI or PID for the AMIGO method.

  

Specifies the controller type. The default value is PID.

• 

factored  = true or false

  

True means return the factored version of the controller gains (K=Kp, Ti=KpKi, Td=KdKp). False means return the controller gains (Kp, Ki, Kd). The default is false.

• 

returntype =  list or record or system

  

Specifies the returned type. If list (or record) is specified, a list (or record) containing the controller parameters is returned. If system is specified, a System (DynamicSystems system object) containing the transfer function of the specified controller type (P, PI, PID) is returned. The default value is list.

Description

• 

The ZNTimeModified command calculates the controller gains based on the Ziegler-Nichols time domain (open-loop) tuning methods as specified in the options, using the given  first order time delay model parameters.

• 

The ZNTimeModified command returns a list of controller gains Kp, Ki and Kd according to the selected controller type P, PI or PID, respectively, where Kp is the proportional gain, Ki is the integral gain, and Kd is the derivative gain.

• 

The controller transfer function is then obtained as:

– 

P: Cs=Kp 

– 

PI: Cs=Kp+Kis

– 

PID: Cs=Kp+Kis+Kds

Examples

withControlDesign:

withDynamicSystems:

sysNewSystem2.5s2+3s+5:

Identify the parameters [Kt, T, L] of sys

ParamsParameterIdentify:-TimeDomainsys

Params:=0.5000000000,0.2000000000,0.3645751311

(1)

Calculate the controller parameters using the MZN method

ZNTimeModifiedParams1,Params2,Params3,'method'=MZN,'controller'=P

1.097167540

(2)

ZNTimeModifiedParams1,Params2,Params3,'method'=MZN,'controller'=Π

0.9874507860,0.9028324590

(3)

pidZNTimeModifiedParams1,Params2,Params3,'method'=MZN,'controller'=PID,'factored'=true,'returntype'=record

pid:=RecordpackedK=1.316601048,Ti=0.7291502622,Td=0.1822875656

(4)

pidsysZNTimeModifiedParams1,Params2,Params3,'method'=MZN,'controller'=PID,'returntype'=system:

Warning, improper transfer-function, degree(num) > degree(den)

PrintSystempidsys

Transfer Functioncontinuous1 output(s); 1 input(s)inputvariable=u1soutputvariable=y1stf1,1=0.2399999999s2+1.316601048s+1.805664917s

(5)

Calculate the controller parameters using the AMIGO method

The AMIGO method does not apply to the P controller

ZNTimeModifiedParams1,Params2,Params3,'method'=AMIGO,'controller'=P

Error, (in ControlDesign:-ZNTimeModified) invalid controller type; the AMIGO method does not apply to the 'P' controller

PIparsZNTimeModifiedParams1,Params2,Params3,'method'=AMIGO,'controller'=Π,'returntype'=record

PIpars:=RecordpackedKp=0.4330243721,Ki=1.879995098

(6)

PIsysZNTimeModifiedParams1,Params2,Params3,'method'=AMIGO,'controller'=Π,'returntype'=system:

PrintSystemPIsys

Transfer Functioncontinuous1 output(s); 1 input(s)inputvariable=u1soutputvariable=y1stf1,1=0.4330243721s+1.879995098s

(7)

ZNTimeModifiedParams1,Params2,Params3,'method'=AMIGO,'controller'=PID

0.8937253934,3.082606536,0.1053196425

(8)

References

  

[1] K. J. Astrom and T. Hagglund, Advanced PID Control, ISA, 2006.

See Also

ControlDesign

ControlDesign[CohenCoon]

ControlDesign[ParameterIdentify][TimeDomain]

ControlDesign[ZNFreq]

 


Download Help Document

Was this information helpful?



Please add your Comment (Optional)
E-mail Address (Optional)
What is ? This question helps us to combat spam