Chapter 9 PID Controller Tuning - PowerPoint PPT Presentation

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Chapter 9 PID Controller Tuning
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Chapter 9 PID Controller Tuning

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  1. Chapter 9 PID Controller Tuning • ※ Control performance by three goals • Controlled-variable performance ― Minimize the IAE of controlled variable • Model error―Robustness • Manipulated-variable behavior―Excessive variation

  2. * Typical feedback control loop

  3. Where the combination

  4. * Base value of process

  5. * IAE vs. controller gain (P)

  6. * IAE vs. PI control

  7. * IAE vs. PID control

  8. * Tuning correlations ◎ Time fraction e.g.

  9. * Ciancone correlations (pp.280) • PID tuning constants • PI tuning constants

  10. (1) PID tuning constants

  11. (2) PI tuning constants

  12. Ex. 9.1

  13. S1. Model building S2. Tuning constants by using Ciancone

  14. S3. Responses

  15. * Ciancone correlations vs. Lopez correlations • Disturbance rejection

  16. 2. Robustness

  17. * Other tuning procedures

  18. Table 9.1 Table 9.2

  19. Ex. 9.2

  20. P1. Based on Z-N tuning method P2. Based on T-L tuning method

  21. Tuning rules for FOPDT model

  22. Homework #2: Q8.15 Q9.4 Q9.14*