Article: TheGoodGainmethodforPI(D) controllertuning

Article: The Good Gain methodfor PI(D)controller tuningFinn HaugenTechTeach( )19. July 20101 IntroductionThe Good Gain method1is a simple, experimental method which can beused on a real process (without any knowledge about the process to becontrolled), or simulated system (in this case you need a mathematicalmodel of the process, of course), see Figure (ID)u0 AutoManualFigure 1:The Good Gain method for PID tuning is applied to the establishedcontrol Good Gain method aims at giving the control loop better stabilitythan what the famous Ziegler-Nichols methods the Closed-loop methodand the Open-loop method [3] gives. The Ziegler-Nichols methods aredesigned to give an amplitude ratio between subsequent oscillations after astep change of the setpoin equal to 1/4 ( one-quarter decay ratio ). Thisis often regarded as poor stability. The Good Gain method gives betterstability. Furthermore, the Good Gain method does not require the control1 The method is developed by the to get into oscillations during the tuning, which is another benefitcompared with the Ziegler-Nichols Tuning procedureThe procedure described below assumes a PI controller, which is the mostcommonly used controller function.

looptogetintooscillationsduringthetuning,whichisanotherbenefit comparedwiththeZiegler-Nichols’methods. 2 Tuningprocedure ...

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