PID CONTROLLER USING ZIEGLER

NICHOLS METHOD
PID Controller

Proportional-Integral-Derivative (PID) control is the three basic control

modes widely used in various applications nowadays especially in plants
and industrial processes. Examples of this type of processes are in
power plants, food and beverage, pharmaceutical, manufacturing and
packaging applications. The PID controller comprises three-term
controls: the proportional , the integral and the derivative values.
 Ziegler-Nichols Method
The Ziegler–Nichols tuning method is a method of tuning a PID controller. It is performed by setting the I
(integral) and D (derivative) gains to zero. The ”P” (proportional) gain, Kp= the controller path gain, it is
increased (from zero) until it reaches the ultimate gain (Ku), at which the output of the control loop has
stable and consistent oscillations, Ti= the controller’s integrator time constant. Ku and the oscillation period
Tu are used to set the P, I, and D gains depending on the type of controller shown in Fig. 3.1.

Figure 3.1 The oscillation period Tu are used to set the P, I, and D gains depending on the type of controller

The ultimate gain (Ku) is defined as 1/M, where M = the amplitude ratio, Ki = Kp/Ti and Kd = Kp*Td.
Therefore, the value of our simulation are Kp = 1.386, Ti = 0.386, Td= 0.787
System without PID Controller
System with PID Controller
Simulation Result

1. System without PIB controller 2. System with PIB controller

we can see from figure 1 that the output in system without PIB controller will have bigger transient response
before reaching steady state, and from the and also from the figure we can also see that the steady state
acquires at the 30s. And also from figure 2 the output will have a smaller transient response compare to the
system with PIB controller before reaching steady state, and also see that the steady state acquires at the 20s.
Conclusion
By using the PID Output, the oscillation displayed will be larger so that if
applied to the servo motor, the vibration that occurs is greater so it
takes time to return to stable conditions. without PID Oscillation Output
does not occur. The Ziegler-Nichols method only applies to certain
conditions, for example, when the method is inputted with an input
from a 12 v input without any resistor (current resistor) so
the Arduino will be damaged / harm full.

As for closed loop systems, it is a system that uses feedback to control,

while the open loop system is the system whose output is not compared
to input.