pid_tuning - PID Controller Tuning 1. Introduction 2....

Info iconThis preview shows pages 1–7. Sign up to view the full content.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: PID Controller Tuning 1. Introduction 2. Model-based PID tuning methods 3. Two degree of freedom controllers 4. On-line PID controller tuning 5. PID tuning guidelines and troubleshooting 6. Simulink example Introduction ● PID control law ● Transfer function ● Controller tuning » Need to select PID parameters ( K c , τ I , τ D ) that yield “good” closed-loop response to disturbances and setpoint changes » Only know: KK c > 0, τ I > 0, τ D >0 » Trial-and-error tuning difficult and time consuming » Need methods to determine good initial parameter values » Refine parameter values by trial-and error fine tuning + + + = ∫ t D I c dt t de dt t e t e K p t p * * ) ( ) ( 1 ) ( ) ( τ τ + + = = s s K s G s E s P D I c c τ τ 1 1 ) ( ) ( ) ( ' Impact of Controller Tuning 1 20 ) ( ) ( 4 + = =- s e s G s G s d p Closed-Loop Performance Criteria 1. Stability of closed-loop system 2. Minimization of disturbance effects 3. Rapid, smooth tracking of setpoint changes 4. Elimination of steady-state offset 5. Avoidance of excessive control action 6. Robustness to changes in process conditions 7. Robustness to errors in process model Model-Based PID Controller Tuning ● Typically based on first-order- plus-time-delay model ● Integral error criteria 1 ) ( ) ( ) ( + = =- s Ke s G s U s Y s τ θ ∫ ∫ ∫ ∞ ∞ ∞ = = = 2 | ) ( | error absolute weighted time of Integral ) ( error squared of Integral | ) ( | error absolute of Integral dt t e t ITAE dt t e ISE dt t e IAE ITAE Tuning Rules General Tuning Rules...
View Full Document

This document was uploaded on 02/04/2012.

Page1 / 19

pid_tuning - PID Controller Tuning 1. Introduction 2....

This preview shows document pages 1 - 7. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online