Dipl.-Phys. Ing. Gordon Taft

Dipl.-Phys. Ing. Gordon Taft

PID Autotuning

K

T_i

T_d

K·e^-sL
FOPDT G_m(s) = ---------------
1 + s·T

1.2T
---------
K·L

2.0·L

0.5·L

PI Autotuning Parameter

Ziegler and Nichols (1942)

Popular Methods

0.6T
---------
K·L

T

0.5·L

CHR 0% Overshoot (set-point tracking)

0.95T
---------
K·L

1.4·T

0.47·L

CHR 20% Overshoot (set-point tracking)

0.95T
---------
K·L

2.38·L

0.42·L

Chien Regulator 0% Overshoot (1952)

1.2T
---------
K·L

2.0·L

0.42·L

Chien Regulator 20% Overshoot(1952)

0.6T
---------
K·L

T

0.5·L

Chien Servo 0% Overshoot (1952)

0.95T
---------
K·L

1.36·T

0.47·L

Chien Servo 20% Overshoot(1952)

0.95T
---------
K·L

2.4·L

0.42·L

CHR 0% Overshoot (disturbance rejection)

1.2T
---------
K·L

2·L

0.42·L

CHR 20% Overshoot (disturbance rejection)

0.94T
---------
K·L

2.0·L

0.5·L

Astrom and Hagglund (1995)

L
0.11 < --- < 1.0
T

L
0.11 < --- < 1.0
T

1.25T
---------
K·L

2.5·L

0.4·L

Parr (1989)