pid controller

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1、PIDControllers:Theory,DesignandTuning28.1.2009Lecturecontent•Introduction•BasicsofPIDcontrollers•TuningofPIDcontrollers•OptimizationinMatlab•AutotuningTKK–Systeemitekniikanlaboratorio2VÄSY3-projekti/raekoko28.1.2009PID-controllers:introduction•Byfarthemostpo

2、pularcontroller•Inprocesscontrol>95controllersareofPI(D)-type•Goodforlinearprocesscontrol•Relativelyeasytounderstand(importantreasonforwidepopularity)•StillmanyofthePID-controlloopsarepoorlytuned...TKK–Systeemitekniikanlaboratorio3VÄSY3-projekti/raekoko28.1.

3、2009Typicalpapermill•Over2000-500controlloops•97%PI-controllers•Only20%ofPI-controllersworkwelldecreasingprocessvariability•Reasonforpoorperformance:–30%poortuning–30%valveproblems–20%varietyofproblems(e.gsensorproblems,badchoiceofsamplingrates...)TKK–Systee

4、mitekniikanlaboratorio4VÄSY3-projekti/raekoko28.1.2009PID-controller•TodaymostofthePIDcontrollersaremicroprocessorbased•DAMATROLMC100:digitalsingle-loopunitcontrollerwhichisused,forexample,asPIDcontroller,ratiocontrollerormanualcontrolstation.•OftenPIDcontro

5、llersareintegrateddirectlyintoactuators(e.gvalves,servos)TKK–Systeemitekniikanlaboratorio5VÄSY3-projekti/raekoko28.1.2009Simpleideaoffeedback...•Principleofnegativefeedback:”Increasethemanipulatedvariablewhenprocessvariableissmallerthanthesetpointanddecrease

6、themanipulatedvariablewhentheprocessvariableislargerthanthesetpoint”lnyspeuxyΣControllerΣProcessΣ-1TKK–Systeemitekniikanlaboratorio6VÄSY3-projekti/raekoko28.1.2009SimulinkmodelBand-LimitedloadWhiteNoiseScope1PIDy(s+1)(s+1)(s+1)refPIDControllerToWorkspaceZero

7、-PolertClockToWorkspace1ToWorkspace2TKK–Systeemitekniikanlaboratorio7VÄSY3-projekti/raekoko28.1.2009PIDcontrol•”textbook”versionofPID•Controlvariableuisasumof:–P-term(proportionaltoe)–I-term(proportionaltointegralofe)–D-term(proportionaltoderivaticeofe)•Cont

8、rollerparameters:–K=proportionalgain–Ti=integraltime–Td=derivativetimet⎛⎞1(det)ut()=+Ket⎜⎟()ed()ττ+T∫dTdt⎝⎠ioTKK–Systeemitekniikanlaboratorio8VÄSY3-projekti/raekoko28.1.2009Proportionalaction•Hi