pidTuner
Open PID Tuner for PID tuning
Syntax
pidTuner(sys,type)
pidTuner(sys,Cbase)
pidTuner(sys)
pidTuner
Description
pidTuner(
launches
the PID Tuner app and
designs a controller of type sys
,type
)type
for plant sys
.
pidTuner(
launches
PID Tuner with a baseline controller sys
,Cbase
)Cbase
so
that you can compare performance between the designed controller and
the baseline controller. If Cbase
is a pid
, pidstd
, pid2
or pidstd2
controller
object, PID Tuner designs a controller of the same form, type, and
discrete integrator formulas as Cbase
.
pidTuner(
designs
a parallel-form PI controller.sys
)
pidTuner
launches PID Tuner with default
plant of 1 and proportional (P) controller of 1.
Input Arguments
|
Plant model for controller design.
If the plant has unstable poles, and
then you must specify the number of unstable poles in the plant. To do this, after opening PID
Tuner, in the Plant menu, select
|
|
Controller type of the controller to design, specified as a
character vector. The term controller type refers
to which terms are present in the controller action. For example,
a PI controller has only a proportional and an integral term, while
a PIDF controller contains proportional, integrator, and filtered
derivative terms. 1-DOF Controllers
2-DOF Controllers
For more information about 2-DOF PID controllers generally, see Two-Degree-of-Freedom PID Controllers. 2-DOF Controllers with Fixed Setpoint Weights
For more detailed information about fixed-setpoint-weight 2-DOF PID controllers, see PID Controller Types for Tuning. Controller FormWhen you use the If
For more information about discrete integrator formulas,
see the |
|
A dynamic system representing a baseline controller, permitting
comparison of the performance of the designed controller to the performance
of If
If |
Examples
Interactive PID Tuning of Parallel-Form Controller
Launch PID Tuner to design a parallel-form PIDF controller for a discrete-time plant:
Gc = zpk([],[-1 -1 -1],1); Gd = c2d(Gc,0.1); % Create discrete-time plant pidTuner(Gd,'pidf') % Launch PID Tuner
Interactive PID Tuning of Standard-Form Controller Using Integrator Discretization Method
Design a standard-form PIDF controller using BackwardEuler
discrete
integrator formula:
Gc = zpk([],[-1 -1 -1],1); Gd = c2d(Gc,0.1); % Create discrete-time plant % Create baseline controller. Cbase = pidstd(1,2,3,4,'Ts',0.1,... 'IFormula','BackwardEuler','DFormula','BackwardEuler') pidTuner(Gd,Cbase) % Launch PID Tuner
PID Tuner designs a controller for Gd
having
the same form, type, and discrete integrator formulas as Cbase
.
For comparison, you can display the response plots of Cbase
with
the response plots of the designed controller by clicking the Show
baseline checkbox in PID Tuner.
Tips
If
type
orCbase
specifies a one-degree-of-freedom (1-DOF) PID controller, thenpidTuner
designs a controller for the unit feedback loop as illustrated:If
type
orCbase
specifies a two-degree-of-freedom (2-DOF) PID controller, thenpidTuner
designs a 2-DOF controller as in the feedback loop of this illustration:PID Tuner has a default target phase margin of 60 degrees and automatically tunes the PID gains to balance performance (response time) and robustness (stability margins). Use the Response time or Bandwidth and Phase Margin sliders to tune the controller's performance to your requirements. Increasing performance typically decreases robustness, and vice versa.
Select response plots from the Response menu to analyze the controller's performance.
If you provide
Cbase
, check Show baseline to display the response of the baseline controller.For more detailed information about using PID Tuner, see Designing PID Controllers with PID Tuner.
For interactive PID tuning in the Live Editor, see the Tune PID Controller Live Editor task. This task lets you interactively design a PID controller and automatically generates MATLAB® code for your live script.
Algorithms
For information about the MathWorks® PID tuning algorithm, see PID Tuning Algorithm.
Alternatives
You can open PID Tuner from the MATLAB desktop, in the Apps tab. When you do so, use the Plant menu in PID Tuner to specify your plant model.
For PID tuning at the command line, use pidtune
. The pidtune
command
can design a controller for multiple plants at once.
For interactive PID tuning in the Live Editor, see the Tune PID Controller Live Editor task. This task lets you interactively design a PID controller and automatically generates MATLAB code for your live script.
References
Åström, K. J. and Hägglund, T. Advanced PID Control, Research Triangle Park, NC: Instrumentation, Systems, and Automation Society, 2006.
Version History
Introduced in R2014b