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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
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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 fractione.g.
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* Ciancone correlations (pp.280)
(1) PID tuning constants(2) 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
1. Disturbance rejection
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2. Robustness
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* Other tuning procedures
1.
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Table 9.2
Table 9.1
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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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2. Tuning rules for FOPDT model
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Homework #2:Q8.15Q9.4Q9.14 *