2009. 11. 8. 12:10
Embedded System/Software
Ziegler–Nichols method
From Wikipedia, the free encyclopedia
The Ziegler–Nichols tuning method is a heuristic method of tuning a PID controller. It was developed by John G. Ziegler and Nathaniel B. Nichols. It is performed by setting the I and D gains to zero. The "P" gain is then increased (from zero) until it reaches the ultimate gain Ku, at which the output of the control loop oscillates with a constant amplitude. Ku and the oscillation period Tu are used to set the P, I, and D gains depending on the type of controller used:
| Ziegler–Nichols method | ||||
| Control Type | Kp | Ki | Kd | |
| P | 0.5·Ku | - | - | |
| PI | 0.45·Ku | 1.2Kp / Tu | - | |
| PID | 0.6·Ku | 2Kp / Tu | KpTu / 8 | |
This type of tuning creates a "quarter wave decay". This is an acceptable result, but not optimal.
References
- Van, Doren, Vance J. (July 1, 2003). "Loop Tuning Fundamentals". Control Engineering (Red Business Information). http://www.controleng.com/article/CA307745.html. Retrieved 2007-06-24.
- Co, Tomas; Michigan Technological University (February 13, 2004). "Ziegler-Nichols Closed Loop Tuning". http://www.chem.mtu.edu/~tbco/cm416/zn.html. Retrieved 2007-06-24.
External links
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