Lecture14过程控制讲义14.pptVIP

PID Controller Design, Tuning, and Troubleshooting Process Reaction Curve Ziegler-Nichols Tuning for a 0.25 Decay Ratio Tuning Steps PID Examples PID Parameters 1.5 (0.5L) 6.0 (2L) 3.2 (1.2/RL) Z-N Step Test Method 3.33 15.00 1.88 Direct Synthesis (Tao_c=3) 1.85 (pu/6.3) 25.63 (2.2Pu) 3.55 (0.45Ku) Tyreus-Luybent Method 1.46 (Pu/8) 5.83 (Pu/2) 4.74 (0.6Ku) Z-N Continuously Cycling Method Methods UFB– Unity FeedBack, ZNCC– Z-N Continuously Cycling Method, TL--Tyreus-Luyben Method, ZNST—Z-N Step Test Method, DS--Direct Synthesis * Chapter 12 Performance Criteria For Closed-Loop Systems The function of a feedback control system is to ensure that the closed loop system has desirable dynamic and steady-state response characteristics. Ideally, we would like the closed-loop system to satisfy the following performance criteria: The closed-loop system must be stable. The effects of disturbances are minimized, providing good disturbance rejection. Rapid, smooth responses to set-point changes are obtained, that is, good set-point tracking. Steady-state error (offset) is eliminated. Excessive control action is avoided. The control system is robust, that is, insensitive to changes in process conditions and to inaccuracies in the process model. Direct Synthesis (DS) method Internal Model Control (IMC) method Controller tuning relations Frequency response techniques Computer simulation On-line tuning after the control system is installed. PID controller settings can be determined by a number of alternative techniques: Direct Synthesis Method In the Direct Synthesis (DS) method, the controller design is based on a process model and a desired closed-loop transfer function. The latter is usually specified for set-point changes, but responses to disturbances can also be utilized (Chen and Seborg, 2002). Although these feedback controllers do not always have a PID structure, the DS method does produce PI or PID controllers for common process models. As a starting point for t