Configuring Open-Loop PID Autotuner Block
After properly connecting the Open-Loop PID Autotuner block with the plant model and
PID block, open the block dialog and specify tuning and experiment settings.
There are two main tuning settings in the "Tuning" tab:
- Target bandwidth: Determines how fast you want the controller to respond. In this
example, choose 2 rad/sec because the desired rise time is 1 sec. - Target phase margin: Determines how robust you want the controller to be. In this
example, choose the default value of 60 degrees that leads to about 5% overshoot in
general.
There are two main experiment settings in the "Experiment" tab:
- Sine Amplitudes: Specifies amplitudes of the injected sine waves. In this example,
choose 0.1 for all four sine waves, a fraction of the nominal plant input of 9. During
the tuning process, the plant output varies between 1900 and 2100 rpm, which is
about +/- 5% of the nominal plant output of 2000. The goal is to keep the plant
operating near the nominal operating point to avoid exciting nonlinear plant behavior.
Tune PID Controller in Real Time Using Open-Loop PID Autotuner Block