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Auto-tuning of PID controllers. Mini course at Danfoss A/S Henrik Rasmussen Department of Control Engineering Aalborg University. Content. The Satt Control auto-tuner in a distributed control system The Self-tuning Regulator concept PID-algorithm – textbook and modifications

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Auto tuning of pid controllers

Auto-tuning of PID controllers

Mini course at Danfoss A/S

Henrik Rasmussen

Department of Control Engineering

Aalborg University

Auto-tuning of PID controllers


Content
Content

  • The Satt Control auto-tuner in a distributed control system

  • The Self-tuning Regulator concept

  • PID-algorithm – textbook and modifications

  • Ziegler-Nichols frequency response method

  • Relay tuning in closed loop

  • Bump-less transfer and anti integrator windup

  • Gain scheduling

  • Choice of controller type

Auto-tuning of PID controllers


References
References

  • Automatic tuning of PID controllers, Åstrøm & Hägglund

  • Adaptive Control, Åstrøm & Wittenmark

  • Automatic tuning of PID-regulators, H. Rasmussen URL, http://www.control.auc.dk/~hr

Auto-tuning of PID controllers



Distributed control system
Distributed control system

Auto-tuning of PID controllers


Sattcontrol auto tuner
SattControl Auto-tuner

Auto-tuning of PID controllers


Self tuning regulator
Self Tuning Regulator

Auto-tuning of PID controllers


Textbook and modified pid algorithm
Textbook and modified PID-algorithm

The ''textbook'' version of the PID controller can be described by the

equation

Modification of ''textbook'' version

Auto-tuning of PID controllers


Controller parameters
Controller Parameters

Auto-tuning of PID controllers


Ziegler nichols ultimate period method
Ziegler-Nichols ultimate period method

Auto-tuning of PID controllers


Auto tuning based on relay feedback
Auto Tuning based on relay feedback

Auto-tuning of PID controllers


Nyquist plot
Nyquist plot

Auto-tuning of PID controllers


Phase and amplitude margin
Phase and amplitude margin

Auto-tuning of PID controllers


1 break
1. Break

Auto-tuning of PID controllers


Relay with hysteresis
Relay with hysteresis

Auto-tuning of PID controllers


Stable limit cycle
Stable limit cycle

Auto-tuning of PID controllers


Offset
Offset

Auto-tuning of PID controllers


Auto tuning of pid regulators
Auto tuning of PID regulators

Ziegler-Nichols tuning Spec. phase and amplitude margin

Auto-tuning of PID controllers


Actuator saturation
Actuator Saturation

Auto-tuning of PID controllers


Integrator windup
Integrator windup

Auto-tuning of PID controllers


Regulator modified to avoid windup
Regulator modified to avoid windup

Auto-tuning of PID controllers


Regulator modified to avoid windup1
Regulator modified to avoid windup

Auto-tuning of PID controllers


Anti windup for pid controller
Anti windup for PID controller

Auto-tuning of PID controllers


Discrete time pi controller
Discrete time PI controller

Auto-tuning of PID controllers


P and q operators
p and q operators

Auto-tuning of PID controllers


Discrete time pid controller
Discrete Time PID-controller

Auto-tuning of PID controllers


Integrator windup and bumpless transfer
Integrator windup and bumpless transfer

Auto-tuning of PID controllers


2 break
2. Break

Auto-tuning of PID controllers


Open loop step response
Open loop step response

Auto-tuning of PID controllers


Closed loop with pi control
Closed loop with PI control ?!?

Auto-tuning of PID controllers


Anti integrator windup
Anti integrator windup

Measured actuator output Estimated actuator output

Auto-tuning of PID controllers


Observer a 1 exp ts 0 1 ti
Observer: A=1-exp(-Ts/(0.1*Ti))

Auto-tuning of PID controllers


Observer a 1 exp ts ti
Observer: A=1-exp(-Ts/Ti))

Auto-tuning of PID controllers


Pi controller and a nonlinear valve
PI controller and a nonlinear valve

Auto-tuning of PID controllers


Step response for different levels
Step response for different levels

Auto-tuning of PID controllers


Pi controller with gain scheduling
PI controller with gain scheduling

Auto-tuning of PID controllers


Step response for different levels1
Step response for different levels

Auto-tuning of PID controllers


Gain scheduling principle
Gain scheduling principle

Auto-tuning of PID controllers


Bumpless transfer between controllers
Bumpless transfer between controllers

y

y

u

1

A1

ref

G

T1

A1-R1

-S1

1

A2

T2

A2-R2

-S2

Auto-tuning of PID controllers


Choice of controller
Choice of Controller

Auto-tuning of PID controllers


Conclusions
Conclusions

  • The Self-tuning Regulator concept

  • Relay experiment gives ultimate period and gain

  • Ziegler-Nichols tuning

  • Tuning based on phase and amplitude margin

  • Bump-less transfer and anti integrator windup

  • PID-algorithm – textbook and modifications

  • Gain scheduling

  • Choice of controller type

Auto-tuning of PID controllers


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