PId调节回路设定详解.pptVIP

Turning of PID controllersPID控制器的参数整定 Typical Control Loop 常见的现场执行机构 常用的工业PID控制器 比例(Proportional)控制器 OP=Kc*E(%)=100%/PB *E (%) Kc is dimentionless The unit of PB is % E(%)=[(PV-SP)/SP] * 100% 积分(Integral)控制器 OP = Kc/Ti∫Edt PI 微分(Derivative)控制器 OP = Kc*Td*(dE/dt) PID控制器 Target of controlling The controlled error is mine or can be received 最小的控制誤差 System stability is better than manual operation Unite can safely running Tuning ruler 注意事項 工艺特性 (self-regulated or integrator) 技巧 Notice Make sure it is appropriate time Do not tune at first,check what is the problem. The four elements of a control loop Look for disturbances Check “ Filtering” always at the beginning Record every everything you observe and what you have done Write down existing tuning constant Ask operator join,but you don’t have to listen too much Not just focus at the tuning loop but whole process Make some protections for the new tuning loop Make a SP change Control performance acceptably ? Check on performance for the next few weeks -- self regulated vs integrator You can obtain a level model w/o plant test Tight : Stay on set point Most pressures,some levels Loose : Smooth out flows Most levels,some pressures For most of level loops use P only 調諧技巧 Select proper PID algorithm Do not use Td for most of case If possible,conduct a plant test Be careful for an integrator loop Dead time is the most important concern DT/ τ 2 ,PID is bad. Try other control design. Response pattern tuning (trail error) From PV-SP error From OP : if MV moves excessively -- increase Ti Change size -- Half and double Try tuning software package Response Pattern Tuning The effect of PID for performance of control loopPID参数对控制性能的影响 工业PID控制器的选择 PID工程整定法1－－经验法 针对被控变量类型的不同，选择不同的PID参数初始值，投运后再作调整。尽管简单，但即使对于同一类型的被控变量，如温度系统，其控制通道的动态特性差别可能很大，因而经验法属最为“粗糙”的整定法。 工程整定法2－－临界比例度法 步骤： （1）先将切除PID控制器中的积分与微分作用，取比例增益KC较小值，并投入闭环运行； （2）将KC由小到大变化，对应于某一KC值作小幅度的设定值阶跃响应，直至产生等幅振荡； （3）设等幅振荡时所对应的振荡周期为Tcr、控制器增益Kcr