tuning PID controller in simulink with actual hardware equipments

Hello all,

I am working on a project in which i am using pid controllers to tune the gains. My system/controller is multiple input (2) and multiple output (2) type system. The controller is controlling the speed of two motors on an actual hardware. I am NOT writing the transfer function of the plant/motor/system, I am directly using a feedback control loop by acquiring the data from the sensors/encoders, and sending the desired signal to the system/motors for corrective actions. I am using simulink for this purpose.

I just want to know the way of tuning the gains of my controllers by running it in an actual hardware, without writing the transfer function of the plant/system.

Answer 1

[Sam Chak]

Hi @aakash dewangan

If the transfer function is unknown, and the system is relatively simple, perhap the model-free extremum-seeking-like approach can be used to tune the gains.

https://www.mathworks.com/help/slcontrol/ug/extremum-seeking-control.html

[aakash dewangan]

Hi Sam,

Thank you so much for response:)

My system is MIMO (multiple input multiple output, 2x2) system. Could you please let me know if I can use the above mentioned approach with MIMO (2x2) actual hardware system, without any knowledge of plant transfer function??

Looking forward for your response:)

[Sam Chak]

Hi @aakash dewangan

If there is no coupling between the states or the coupling effect is relatively weak, then the tuning should work. Another popular PID tuning method is called the Relay method.

You can search and find many articles on the Relay-based PID Tuning method.