Chapter 9 PID Controller Tuning ※ Control performance by three goals 1.Controlled-variable performance ― Minimize the IAE of controlled variable 2.Model.

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Presentation transcript:

Chapter 9 PID Controller Tuning ※ Control performance by three goals 1.Controlled-variable performance ― Minimize the IAE of controlled variable 2.Model error―Robustness 3.Manipulated-variable behavior―Excessive variation

＊ Typical feedback control loop

Where the combination

＊ Base value of process

＊ IAE vs. controller gain (P)

＊ IAE vs. PI control

＊ IAE vs. PID control

＊ Tuning correlations ◎ Time fraction e.g.

＊ Ciancone correlations (pp.280) (1)PID tuning constants (2)PI tuning constants

(1) PID tuning constants

(2) PI tuning constants

Ex. 9.1

S1. Model building S2. Tuning constants by using Ciancone

S3. Responses

＊ Ciancone correlations vs. Lopez correlations 1.Disturbance rejection

2. Robustness

＊ Other tuning procedures 1.

Table 9.2 Table 9.1

Ex. 9.2

P1. Based on Z-N tuning method P2. Based on T-L tuning method

2.Tuning rules for FOPDT model

Homework #2: Q8.15 Q9.4 Q9.14 ＊

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