PIDController精品课件.pptVIP

PID Feedback Controllers Lei XIE Department of Control, Zhejiang University, Hangzhou, China 2012/2/28 Last Lecture Defined the types of processes: self-regulating and non-self-regulating processes, single- and multi-capacitance processes ; Discussed process characteristic parameters K, T, τ, and their obtaining methods from process data. Modeling Example #1 Material balance equation： Problem Discussion: How to build the controlled process with SimuLink? (\ProcessModel\ LevelProcess01.mdl) Relationship between flow and level： Modeling Example #2 Simulation ex.: \ProcessModel\ LevelProcess02.mdl State equation and linearization ? Material balance equation： Relationship between flow and level： Obtain the Dynamic Terms from the Step Response Curve Contents Selection of Valve Action (调节阀作用选择) Action of Feedback Controllers (反馈控制器的正反作用) Performance Criterion of Process Control Systems (过程控制系统的性能指标) Understand P, PI and PID Controllers Problem Discussion Control Valve Selection Examples Ex. 1 Ex. 2 Action of Control Valves Types of control valves (1) Fail-closed valve (气开阀): if no signal exists (or the input signal of valve is zero), the valve will be closed. (2) Fail-opened valve (气关阀): if no signal exists, the valve will be opened completely. Selection of valve type If one hope the valve closed when the power is off, he must select fail-closed valve; otherwise, he must select fail-opened valve. Types of Control Valves Fail-opened Valve (气关阀) Fail-closed Valve (气开阀) Control Valve Selection Examples Ex. 1 Ex. 2 Action of Controllers Direct Action (正作用) when the signal from the transmitter increases, the controller output also increases. Reverse Action (反作用) when the signal from the transmitter increases, the controller output decreases on the contrary. Note: The set point is not part of decision. Selection of Controller Action Principle: to construct a negative feedback loop ? Controller Action Selection Ex. 1 Considering the safety of the c