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5 views1 page

Exp 2

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joshinihar19
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Ziegler–Nichols Open-Loop (Reaction Curve)

Calculations
Given process:
2.5
G(s) =
(s + 3)(s + 1)
From the step response:

D = 0.1534 s, τ = 2.0859 s

Hence the FOPDT model:


2.5e−0.1534s
G(s) ≈
2.0859s + 1
—

P Controller
τ 2.0859
Kc = = = 5.44
KD 2.5 × 0.1534
—

PI Controller
τ 0.9 × 2.0859
Kc = 0.9 = = 4.90
KD 2.5 × 0.1534
Ti = 3.33D = 3.33 × 0.1534 = 0.512 s
Kc 4.90
Ki = = = 9.57
Ti 0.512
—

PID Controller
τ 1.2 × 2.0859
Kc = 1.2 = = 6.53
KD 2.5 × 0.1534
Kc 6.53
Ti = 2D = 2 × 0.1534 = 0.3068 s, Ki = = = 21.28
Ti 0.3068
Td = 0.5D = 0.5 × 0.1534 = 0.0767 s, Kd = Kc × Td = 6.53 × 0.0767 ≈ 0.50
—

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