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Cliin.1
Yang Zhi
Dept. of Electrical and Information Engineering
Gansu University of Technology
Wang Jingling
Dept. of Electrical and Information Engineering Gansu University of Technology Lanzhou, 730050 China The intelligent relay oscillation self- tuning PID controller proposed by Astrom [4] is a kind of simple and applicable self-tuning controller, and is widely used in industry process at present, especially in temperature control.But it needs to produce continuous oscillation during the self-tuning process, which is not allowed in many industry process control. To this end, a new closedswitch step response method is presented in this paper to identify the character parameters of controlled process including equivalent delay time and mamum-various slope of the output step response, then use Z-N formulae to calculated PID parameters, so the self-tuning parameters of PID controller is completed.
1. 1
this paper to identify the character parameters of industry process , then calciilated the parameters of PID controller by the well-known Ziegler-Nichols fomulas. Therefore, selftuning of the closed-loop control systems can be implemented. The effectiveness of this method is proved by theory analysis and simulation test.
I. INTRODUCTION
The conventional PID controllers are widely used for their simple structure , the effectiveness of the PID is very obvious through theoretical research and long-term practice in process control [I]. However, there are still some
unsolved problems in practical applications.For example, the difficulty of debugging is focused on the tuning of the controllers parameters before the control system gets into operation. The tuning of the PID controllers mainly depends on the experience of expert operators and wellknown regular iules,such as Ziegler-Nichols formulas etc.But these methods are usually based on trial, depends on ability and experience of the operator. There is also some difficulty of tuning PID due to the time delay, &nlinearity and time-variation in the practical systemsSince 1084, Swedish scholar K.J.Astrom , etc.[2] presented a kind of intelligent relay oscillation selftuning of PID parameters, which focused pelple's attention again to control $theoryresearch and practical application. Later, a variety of commercialized intelligent PID selftuners and adaptive PID controllers were presented to realized the auto-indentification of the math model in indusfrical process and auto-tuning of PID controllers [3].
0-7503-4253-4/97/$10.00 0 1997 1EEE
It is necessary to know the mathematical models of controlled process when designing a controller, or character parameters.The most popular plant models in industry can be assumed to various forms,for instance: The first-order model with time delay
G(s)= Ts+ 1
The second-order or nth-order model with time delay
Ke-"
G(s) =
G(s) =
Ke-"
( T s + l)(T,s+l)
Ke-"
(Ts+ 1)"
The high-order system can usually be described by a first order model with time delay. Fig.1 shows the equivalent relation by a step response curve. Where K represents the static gain of the process, which isdirectly acquired through
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90 80
70
60
50
40
30
20
10
0
Time (I)
the follows: Ma ent at the infl time axis at point A and the static asymptote at point B nt time delay r and the inertia d. R is the slope of the ta tuning of the PID parameters is mainly dependent on this
Time
(5)
PID controllers.
- 780 -
TI
T d
-1-r _
y ( f )= K ( l - e
and
(TIf
<t*+r)
P
PI
IR L i
0.9R.L 3L
PID
12RL
2L
U2
t'= t * +z
and the smooth moving time L achieved through experiment is: L = t'-t* = (6) Equation (6) illustrates that smooth moving time L can be determined by simple closed-loop switch step response test in first-order equivalent time delay system of industrial process, or process character parameters which is represented by 1- , the slope R can also be easily achieved throuth the experiment.
111.
According to the above closed-loop step response, the character parameters of the controlled process,or equivalent time delay L and the maximum slopk R of the response curve can be estimated conveniently. In view of the well-
known Zieglar-Nichols tuning formula, we can derive the tuning parameters of the controller, see in table I. In conclusion, the self-tuning algorithm of PID parameters can be summarized as follows:
step I : under the auto-tuning pattern, measure the process variable (Py) through the closed-loop switch step response method and calculate the error e(t). When e(t)>O, manipulation variable MV becomes loo%, when e(t)<O, let MV=O;
A . Algorithm
step 2: record the smooth moving time L and slope R of output response at the rising inflection point; sfep 3: calculate the Kp, Ti and Td using Z-N tuning
formulas; step 4: switch to the PID process control pattern when the auto-tuning process is finished. IV. (7a) SIMULATION RESULTS
\
The control effect is usually dependent on the structure and parameters of the controller after the math model of controlled process is established, the algorithm is represented by the following non-interacting PID controller: e ( f )= S V - P V
MV = K,[(1
+ - )1e ( t )
I;s
-- V] Tds P
1 + aT,s
(7b)
The auto-tuning method described above has been tested on several process with different dynamic behavior. Simulation results are presented with the second-order processes with the Lapalace transfer function:
where SV is the setpoint variable, PV is process variable e(t) is the error signal, MV is manipulation variable, Kp, Ti and Td are the proportional gain, reset time and derivative time respectively. The parameter ci is the derivative coefficeent (0.05SaSO.3). We adopted ~ 0 . 1 when , simulation.
B. Self-Tuning Algorithm o PID Parameters f
process I: G(s) =
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