Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable
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-...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-09-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/21/18/6157 |
| _version_ | 1797517199031664640 |
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| author | Mikulas Huba Stefan Chamraz Pavol Bistak Damir Vrancic |
| author_facet | Mikulas Huba Stefan Chamraz Pavol Bistak Damir Vrancic |
| author_sort | Mikulas Huba |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T07:13:26Z |
| format | Article |
| id | doaj.art-59ed5b6273e245cdbfab3d655914ece1 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T07:13:26Z |
| publishDate | 2021-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-59ed5b6273e245cdbfab3d655914ece12023-11-22T15:12:32ZengMDPI AGSensors1424-82202021-09-012118615710.3390/s21186157Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and ReliableMikulas Huba0Stefan Chamraz1Pavol Bistak2Damir Vrancic3Institute of Automotive Mechatronics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, 812 19 Bratislava, SlovakiaInstitute of Automotive Mechatronics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, 812 19 Bratislava, SlovakiaInstitute of Automotive Mechatronics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, 812 19 Bratislava, SlovakiaDepartment of Systems and Control, Jožef Stefan Institute, Jamova Cesta 39, 1000 Ljubljana, SloveniaThis 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.https://www.mdpi.com/1424-8220/21/18/6157filtrationmultiple real dominant pole methodPI and PID controlderivative actionanti-windupdigitization |
| spellingShingle | Mikulas Huba Stefan Chamraz Pavol Bistak Damir Vrancic Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable Sensors filtration multiple real dominant pole method PI and PID control derivative action anti-windup digitization |
| title | Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable |
| title_full | Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable |
| title_fullStr | Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable |
| title_full_unstemmed | Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable |
| title_short | Making the PI and PID Controller Tuning Inspired by Ziegler and Nichols Precise and Reliable |
| title_sort | making the pi and pid controller tuning inspired by ziegler and nichols precise and reliable |
| topic | filtration multiple real dominant pole method PI and PID control derivative action anti-windup digitization |
| url | https://www.mdpi.com/1424-8220/21/18/6157 |
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