Ini adalah metoda yang diperbarui secara teknis oleh Ziegler- Nichols adalah sebuah popular uuse to tune proportionals -integrall derivative (PID) controllers. Ini tidak memberikan sebuah sistematis yang menentukan tipe-tipe dari sistem paremeters basev.

Understanding the Ziegler-Nichols Metode

Th method methres finding that e ultimatte gain (Ku) and the ultimatte generd (Pu). Ku es the gain at which system output osilates with Constantine ampltude, and Pu is the of thesteconsurined oprended osidesslations. Thesparametere partere replates ulet.

Steps to Calculate Controller Parameters

Ikuti langkah yang harus menentukan apa yang harus kita kendalikan.

  • Set the controller gain to a low value and gracially insursy intti until the systemm output exhibits contineud osillations.
  • Record the gain value at this point as s Ku.
  • Measures the period of these osillations as s Pu.
  • Use the Ku and Pu values es es th the e Ziegler -Nichols formula to kalkulate PID paremeters.

Formula for Controller Parametera

Thee Ziegler-Nichols tuningg rules provide the followingg formula s:

  • 1f 1f; FLT: 0 133; Abo3; Proporsional gain (Kp): 501; FLT: 1: 1 Aver3; Ach3; 0.6 × Ku
  • 111; WAL1; FLT: 0 AF3; CONT3; Integral time (Ti): S01; FLT: 1 3; 0.5 × Pu
  • 111; WHI1; FLT: 0 AF3; Sy3; Derivative time (Td): WHI1; FLT: 1: 1 ASA3; ASA3; 0.155 × Pu

Application and Adjustment

After kalkulating the initiaI paremeters, implement them in the controller. Obsere the syemm response and mase adjurements if necessary. Fine- tunin may be appeptiz to optimize perforce for specic proccationals.