Chapter 9 PID Controller Tuning

※ Control performance by three goals

1. Controlled-variable performance ― Minimize the IAE of controlled variable

2. Model error―Robustness

3. Manipulated-variable behavior―Excessive variation

＊ Typical feedback control loop

Where the combination

＊ Base value of process

＊ IAE vs. controller gain (P)

＊ IAE vs. PI control

＊ IAE vs. PID control

＊ Tuning correlations

◎ Time fractione.g.

＊ Ciancone correlations (pp.280)

(1) PID tuning constants(2) PI tuning constants

(1) PID tuning constants

(2) PI tuning constants

Ex. 9.1

S1. Model building

S2. Tuning constants by using Ciancone

S3. Responses

＊ Ciancone correlations vs. Lopez correlations

1. Disturbance rejection

2. Robustness

＊ Other tuning procedures

1.

Table 9.2

Table 9.1

Ex. 9.2

P1. Based on Z-N tuning method

P2. Based on T-L tuning method

2. Tuning rules for FOPDT model

Homework #2:Q8.15Q9.4Q9.14 ＊