Кибернетика, автоматика, протоколы

Ziegler Nichols tuning method: closed loop


Steps Place controller into automatic with low gain, no reset or derivative.

Gradually increase gain, making small changes in the setpoint, until oscillations start.

Adjust gain to make the oscillations continue with a constant amplitude.

Note the gain (Ultimate Gain, Gu,) and Period (Ultimate Period, Pu.)

The Ultimate Gain, Gu, is the gain at which the oscillations continue with a constant amplitude.





The gain, reset, and Derivative are calculated using:


 Gain Reset Derivative 
P 0.5 GU — — 
PI 0.45 GU 1.2/Pu — 
PID 0.6 GU 2/Pu Pu/8