教程成果控制基础pid control.pptx

2865: PID Control Instructor: Dr. Qiwen YangOffice: Rm 1111Tel:QQ: 290790687 Jan. 2014 College of Internet of Things EngineeringPre-reading materialsStuart Bennett , The past of PID controllers , Annual Reviews in Control 25 (2001) 43-53.K.J. Astrom, T.H.agglund, The future of PID control, Control Engineering Practice 9 (2001) 1163–1175.Karl J. ?str?m, P.R. Kuma, Control: A perspective, Automatica, 2013 College of Internet of Things EngineeringOutline1The model of PID controller2System Identification3PID in single loop4PID in multiple loops5Several controlled plants College of Internet of Things Engineering§1. The Model of PID controller1The continuous-time model2The discrete model College of Internet of Things Engineering§1. The model of PID controllerThe ability of proportional integral (PI) and proportional integral derivative (PID) controllers to compensate most practical industrial processes has led to their wide acceptance in industrial applications. It has been stated that 98% of control loops in the pulp and paper industries are controlled by SISO PI controllers and that in process control applications, more than 95% of the controllers are of PID type. College of Internet of Things Engineering§1.1 The continuous-time model Differential equationwhere kp, ki, and kd are proportional gain, integral gain and derivative gain, respectively, and Ti is called integral time and Td derivative time College of Internet of Things Engineering§1.1 The continuous-time model Transfer function College of Internet of Things Engineering§1.1 The continuous-time model PID controller with a filtered derivativeA drawback with derivative action is that an ideal derivative has very high gain for high frequency signals. This means that high frequency measurement noise will generate large variations of the control signal. College of Internet of Things Engineering§1.2 The discrete modelwhere College of Internet of Things Engineering§2. System Identificati