On the Auto-Tuning of a Discrete PID Controller Based on the Ziegler and Nichols's Method

Ziegler-Nichols 방법을 이용한 이산형 PID제어기의 자동동조

  • 이영일 (서울대 대학원 제어계측공학과) ;
  • 권욱현 (서울대 공대 제어계측공학과)
  • Published : 1991.08.01

Abstract

This paper proposes an auto-tuning method of a discrete -PIC controllers which is based on the Ziegler and Nichols's PID Tuning Rule. This tunign rule is derived using the Pade's first order approximation and it prevents the performance degradation caused by the time-delay effect of zero order holder when the Ziegler-Nichols tuning rule is applied to a discrete PID controller. A simple and practical auto-tuning method is proposed through combining this discrete tuning rule with the relay control. The auto-tuning scheme is implemented on a microprocessor based system and is applied to a position control system to show the effectiveness of the discrete tuning rule.

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