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pid_tuning - PID Controller Tuning 1 2 3 4 5 Introduction...

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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
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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 0 * * ) ( ) ( 1 ) ( ) ( τ τ + + = = s s K s G s E s P D I c c τ τ 1 1 ) ( ) ( ) ( '
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Impact of Controller Tuning 1 20 ) ( ) ( 4 + = = - s e s G s G s d p
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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
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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 = = = 0 0 2 0 | ) ( | 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
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ITAE Tuning Rules
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General Tuning Rules The controller gain ( K c
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