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1、DublinInstituteofTechnologyARROW@DITConferencepapersSchoolofElectricalEngineeringSystems1999-01-01PIandPIDcontrollertuningrulesfortimedelayprocesses:asummary.Part2:PIDcontrollertuningrulesAidanO'DwyerDublinInstituteofTechnology,aidan.odwyer@dit.ieRecommendedCitationO'Dwyer,Aidan:PIandPID
2、controllertuningrulesfortimedelayprocesses:asummary.Part2:PIDcontrollertuningrules.ProceedingsoftheIrishSignalsandSystemsConference,pp.339-346,NationalUniversityofIreland,Galway,June,1999.ThisConferencePaperisbroughttoyouforfreeandopenaccessbytheSchoolofElectricalEngineeringSystemsatARRO
3、W@DIT.IthasbeenacceptedforinclusioninConferencepapersbyanauthorizedadministratorofARROW@DIT.Formoreinformation,pleasecontactyvonne.desmond@dit.ie,arrow.admin@dit.ie.PIandPIDcontrollertuningrulesfortimedelayprocesses:asummary.Part2:PIDcontrollertuningrulesA.ODwyerSchoolofControlSystemsand
4、ElectricalEngineering,DublinInstituteofTechnology,KevinSt.,Dublin8.AbstractAsummaryoftuningrulesforthePIDcontrolofsingleinput,singleoutput(SISO)processeswithtimedelay,modeledinstablefirstorderlagplustimedelay(FOLPD)form,isprovidedinthispartofthepaper.Keywords:PID,tuningrules,timedelay.1.
5、IntroductionThispartofthepapersummarisesthemostdirectlyapplicabletuningrulesforPIDcontrollersthathavebeendevelopedtocompensatestableSISOprocesseswithtimedelay,modeledinFOLPDform.ThestructureofthispartofthepaperissimilartothatofPart1.TheidealcontinuoustimedomainPIDcontrollerforaSISOproces
6、sisexpressedintheLaplacedomainasfollows:U(s)=G(s)E(s)(1)c1withG(s)=K(1++Ts)(2)ccdTsiandwithK=proportionalgain,T=integraltimeconstantandT=derivativetimeconstant.AcidnumberofotherPIDcontrollerstructuresmaybedescribed.OnetypicalexampleofsuchastructureistheclassicalformofthePIDcontroller:æöæ
7、1öç1+Ts÷çd÷Gc(s)=Kcç1+÷(3)èTisøçç1+Tds÷÷èNøTuningrulesfortheseandothersuchPIDcontrollerstructuresareexplicitlyindicatedinthetable.AlistofsymbolsusedinthepaperisprovidedinAppendix1.2.PIDtuningrules-FOLPDmodelRuleKTTCommentcidæ1öIdealcontrollerGc(s)=Kcç1++Tds÷èTisøProcessre
