DIRAC: Direct Adaptive Control

DIRAC:
DIRect Adaptive Control
Application to PID AUTO-TUNING

Robin DE KEYSER
Ghent University, BELGIUM
Email: rdk@autoctrl.rug.ac.be

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 1
 Implementation of PID controllers

w e u y
PID PROCESS
+- e(t)
e(t)==w(t)
w(t)--y(t)
y(t)

1 t de(t )
u (t ) = K p e(t ) +
Ti

e( s )ds + Td
dt


Tuning of parameters: Kp , Ti , Td
K p : Gain ( 100% / Kp = proportional band )

Ti : Integration time ( reset time )
T :
d Differentiation time
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 2
 Implementation of PID controllers

1 t de(t )
u (t ) = K p e(t ) +
Ti

e( s )ds + Td
dt


d t 1
Transfer Function:
dt
s
s
1
U ( s ) = K p 1 + + Td s . E ( s )
Ti s
U ( s) C ( s)
= with C ( s) = c0 + c1 s + c2 s 2
E ( s) s
Kp
= + K p s + K p Td s 2
Ti
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 3
 DIRAC = DIRect Adaptive Control
General principle of a direct auto-tuner:
Estimated regulator parameters
Parameter
estimator

output
setpoint u( t )
Process
w( t ) +-
Regulator
input y( t )

Process, Controller and Reference models:

R r( t )

w( t ) e( t ) u( t )
y( t )
1
C P
+- s

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 4
 DIRAC = DIRect Adaptive Control
Stepreponse of R(s) for tau=1 (fas
Structure of: 1

0.9

Process model P(s): not further specified 0.8

0.7

Controller: parameter vector =[c0 c1 c2] 0.6

0.5

e d s 0.4

R( s) = (1 + s) n 0.3

0.2

Reference model: n = 2 4 0.1

= process dead - time 0

0 5 10
d
= design parameter (speed)

C( s ) P( s )
Closed-loop transfer function: y(t ) = w( t )
s + C( s ) P( s )

Reference output: r ( t ) = R( s )w( t )

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 5
 DIRAC = DIRect Adaptive Control
CP
We want y(t) to follow r(t) as close as possible: R
s + CP
CP sR + CPR
C(1 R ) P = sR C ?
C ( s ) [1 R ( s )] P( s ) u (t ) s R( s ) u (t )
EUREKA!
C ( s ) [1 R( s )] y (t ) s R( s ) u (t )
y f ( t ) = y ( t ) R( s ) y ( t )
Define the filtered signals:
u f ( t ) = sR( s )u( t )

Identify from: u f (t ) = C ( s ) y f (t ) + (t ) (ref. LS : Ay = Bu + )

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 6
 Implementation Block Scheme

uf Identify C yf
s=
d +
dt
K p , Ti , Td -

R R

Process
u y

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 7
 Example: Gain Scheduling

Vd
C in (t-)
C in (t)
Q

Vm

C C(t)
Flow Q Setpoint C w
2.0 1

1.5

1.0
Time 0
Time
0.5
0 40 80 120 0 40 80 120
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 8
 Gain Scheduling with DIRAC

1.5 1.5

1 1

0.5 0.5

0 0

-0.5 -0.5
0 200 400 600 800 1000 1200 0 200 400 600

GAIN-SCHEDULING FIXED-PARAMETER

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 9
 Comparison DIRAC - ZN

1.5 1.5

1 1

0.5 0.5

0 0

-0.5 -0.5
0 200 400 600 800 1000 1200 0 200 400 600

DIRAC RELAY (ZN)

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 10
 Example 1. Process with high-order dynamics

n 2 1 1
( )
P s = K. 2 R ( s) =
s + 2n s + n 2 (1 + s)(1 + s) 2
1 2 (1 + s)
cl
4

K=10; n=4; =0.2; 1=2; 2=0.5 Ts=0.1 cl=0.2; 0.4; 0.6

0.2

0.4
0.6

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 11
 Example 2. Process with high-order dynamics
and pure integrator

( )
n 2 1 1 + 4 cl s
P s = K. 2
s + 2n s + n 2 (1 + s)(1 + s) 3 s R ( s) =
1 2 (1 + s)
cl
4

K=2; n=2; =0.7; 1=1; 2=0.1 Ts=0.1 cl=0.5; 1.0; 1.5

0.5

1.0

1.5

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 12
 Example 3. Process with time delay

e d s e2s
P ( s) = R( s) =
(1 + s ) (1+ s) cl
4

=d=2 Ts=0.1 cl=0.3; 0.4; 0.5

0.5
0.4

0.3

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 13
 Example 4. Nonminimum-phase process

1 + 1s e s
P ( s) = K R( s) =
(1 + s)(1 + s)
2 3 (1+ s)cl
4

K=0.7; 1=-0.7; 2=1; 3=2 Ts=0.1 cl=0.3; 0.4; 0.5

0.5

0.4

0.3

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 14
 Example 5. Process highly oscillatory (low
damping factor)

n 2 1
R( s) =
1
( )
P s = K. 2
s + 2n s + n 2 (1 + s) 2 (1+ s)
cl
4

K=0.3; n=0.04; =0.1; =5 Ts=3 cl=5; 10; 15

5
10

15

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 15
 Advantages

Easy to understand and simple to apply.

Method does not require identification of the system.

Interesting if process cannot be described by a transfer
function (nonlinear system).

DIRAC can be used either in closed-loop or in open-

loop, off-line (auto-tuning) or on-line (adaptive).

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 16
 Nonlinear controllers

uf Parameter yf
estimator
NN
+
s
-

R R

Process
u y
Estimate the weights of a neural network.
Then use the NN as nonlinear controller.

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 17
 Nonlinear reference model

Reference r( t )
model NN

w( t ) e( t ) u( t ) y( t )
Controller Process
+ -

Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 18
 Conclusions
Simple method for automatic tuning of PID controllers.

Direct estimation of controller parameters

No process identification required.

Can be applied on-line in adaptive control strategy.

Algorithm simple to understand and easy to implement

Has potential for further extension to more advanced

structures than PID (nonlinear control, neural nets,...)

Good ratio control performance/design effort makes it

attractive for industrial applications.
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 19