PID tuning rules for SOPDT systems Review and some new results

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1、ISATRANSACTIONS®ISATransactions43~2004!283±295PIDtuningrulesforSOPDTsystems:ReviewandsomenewresultsRamesC.Panda,Cheng-ChingYu,*Hsiao-PingHuangDepartmentofChemicalEngineering,NationalTaiwanUniversity,Taipei106-17,Taiwan~Received23November2002;accepted17August2003!AbstractP

2、IDcontrollersarewidelyusedinindustriesandsomanytuningruleshavebeenproposedoverthepast50yearsthatusersareoftenlostinthejungleoftuningformulas.Moreover,unlikePIcontrol,differentcontrollawsandstructuresofimplementationfurthercomplicatetheuseofthePIDcontroller.Inthiswork,®ved

3、ifferenttuningrulesaretakenforstudytocontrolsecond-orderplusdeadtimesystemswithwiderangesofdampingcoef®cientsanddeadtimetotimeconstantratios(D/t).FourofthemarebasedonIMCdesignwithdifferenttypesofapproximationsondeadtimeandtheotherondesiredclosed-loopspeci®cations~i.e.,spe

4、ci®edforwardtransferfunction!.ThemethodofhandlingdeadtimeintheIMCtypeofdesignisimportantespeciallyforsystemswithlargeD/tratios.Asystematicapproachwasfollowedtoevaluatetheperformanceofcontrollers.Theregionsofapplicabilityofsuitabletuningrulesarehighlightedandrecommendation

5、sarealsogiven.ItturnsoutthatIMCdesignedwiththeMaclaurinseriesexpan-siontypePIDisabetterchoiceforbothsetpointandloadchangesforsystemswithD/tgreaterthan1.ForsystemswithD/tlessthan1,thedesiredclosed-loopspeci®cationapproachisfavored.©2004ISAÐTheInstrumentation,Systems,andAut

6、omationSociety.Keywords:PIDcontrol;Controllertuning;Maclaurinseries;Internalmodelcontrol;Second-orderplusdeadtimeprocess1.IntroductiontegraltimeconstanttI).TheidealcontinuoustimedomainPIcontrollerhasthefollowingstruc-Inspiteofinnovationsinpredictiveandad-ture:vancedcontro

7、ltechniques,mostofthechemical1industriesuntiltodayusePIDloops.InprocessK5PI5KcS11D.controlapplicationsmorethan95%ofthecontrol-tislersareofPIDtype.Themaintenanceandopera-TherearemanytuningformulasavailableforPItionofPIDcontrollersareeasyandalsotheyarecontrollersinthelitera

8、ture.ZieglerandNicholsrobustinnature.Ithasbeenmentionedthatmore@1#,AstromandHagglund@2#,Cohenand