Chapter 9 PID Controller Tuning

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Chapter 9 PID Controller Tuning

• ? Control performance by three goals
• Controlled-variable performance ? Minimize the
  IAE of controlled variable
• Model error?Robustness
• Manipulated-variable behavior?Excessive variation

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Typical feedback control loop
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Where the combination
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Base value of process
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IAE vs. controller gain (P)
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IAE vs. PI control
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IAE vs. PID control
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Tuning correlations ? Time fraction e.g.
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• Ciancone correlations (pp.280)
• PID tuning constants
• PI tuning constants

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(1) PID tuning constants
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(2) PI tuning constants
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Ex. 9.1
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S1. Model building
S2. Tuning constants by using Ciancone
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S3. Responses
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• Ciancone correlations vs. Lopez correlations
• Disturbance rejection

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2. Robustness
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• Other tuning procedures

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Table 9.1
Table 9.2
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Ex. 9.2
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P1. Based on Z-N tuning method
P2. Based on T-L tuning method
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1. Tuning rules for FOPDT model

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Homework 2 Q8.15 Q9.4 Q9.14