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ChE170 Lecture 9 (Control Tuning) PDF

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164 views27 pages

ChE170 Lecture 9 (Control Tuning) PDF

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Rowie
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© © All Rights Reserved
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ChE 170

Lecture 9
Controller tuning
Criteria for good control
• Most operators of processes know what they want in the form of a
response to a change in set point or load.
• For example, a response that gives minimum overshoot and ¼ decay ratio is
often considered as a satisfactory response.
• In many cases, tuning is done by trial and error until such a response is
obtained.
Performance Criteria for Closed-Loop Systems
1. The closed-loop system must be stable
2. The effects of disturbances are minimized, providing good disturbance
rejection
3. Rapid, smooth responses to set-point changes are obtained, that is, good
set-point tracking
4. Steady-state error (offset) is eliminated
5. Excessive control action is avoided.
6. The control system is robust, that is, insensitive to changes in process
conditions and to inaccuracies in the process model
Tradeoffs between Performance and Robustness

Balance Satisfactory
Rapid performance to wide
Smooth range of condition.
Performance Robustness
Little Conservative
oscillation controller settings.
Tradeoffs between set point tracking and disturbance
rejection
Balance
Excellent set point Excellent disturbance
tracking will provide Set point Disturbance rejection will produce
sluggish response to Tracking Rejection large overshoot in
disturbance set-point changes.
Performance Criteria
Quarter-Amplitude Decay
ØIf a loop is oscillating, each peak deviation should be only one-
fourth of the previous peak deviation on the same side of set
point.
ØAlso called “Quarter-wave decay”, “Quarter-wave damping”
Quarter-Amplitude Decay Response
Quarter-Amplitude Decay Response
Quarter-wave decay ratio response
•A control loop tuned to have a Quarter-wave
Amplitude decay response in a set point change
will show a sluggish response in a load
disturbance.
•A control loop tuned to have a Quarter-wave
Amplitude decay response in a load upset will
show a too oscillatory response in a set point
change.
Quarter-wave decay ratio response
• For many applications, the quarter-amplitude-decay criterion
provides acceptable damping of the oscillations that follow a set
point change. For other applications, quarter-amplitude decay
may be too oscillatory. A plant’s operations and engineering staff
may be willing to accept a more sluggish response to a load upset
in order to minimize the overshoot that follows a set point
change.
• Some operators prefer to see loops that are critically damped;
that is, they want the measurement to rise rapidly to the new set
point value and yet avoid overshoot.
Quarter-wave decay ratio response
• For many control loops, the set point is rarely changed. The
purpose of these loops is to minimize the effect of disturbances.
Even so, because set point changes are usually made more easily
than load changes, in actual practice many loops are tuned for a
suitable response to a set point change. Then, the resulting
response for a load upset is accepted even though it may not be
the best.
• A preferable tuning strategy would be to tune the controller for
best response to a load change, then use one of the set point
“softening” techniques to ameliorate the effect of occasional set
point changes.
Performance Criteria for Closed-Loop Systems
ØDecay ratio alone does not provide a complete performance
specification.
ØOther criteria that are sometimes used to specify, or measure,
control loop performance include:
§ Rise time—the time between a set point change and the first
crossing of the set point;
§ Overshoot ratio—the ratio of the magnitude of the first overshoot
above set point to the magnitude of the set point change itself;
§ Settling time—the time, following a set point change or
disturbance, that it takes for the oscillation to become so small
that the deviation does not exceed some specified amount.
ØIntegral Error Criteria
Integral Error Criteria
Ø based on minimizing the integral of some
function of the error.

Graphical interpretation of
IAE. The shaded area is the
IAE value.
Note: ! = ! # = $%& − $(
Integral Error Criteria

ØThe optimum settings minimize an integral error criterion.


Note: ! = ! # = $%& − $(
Techniques for determine controller settings
1. Direct Synthesis (DS) method
2. Internal Model Control (IMC)
3. Controller tuning relations
4. Frequency response techniques
5. Computer Simulation
6. On-line tuning after the control system is installed
Note:
Techniques 1 – 5 are based on process models, however, initial controller
setting are typically adjusted after the control system is installed. Techniques 1
– 5 provide a good initial controller setting for the subsequent on-line tuning.
On-line tuning after the control system is
installed
ØOn-site tuning
ØField tuning
ØController tuning
ØIf preliminary settings are not satisfactory, alternative settings
are obtained from simple experimental tests. And if necessary,
the settings are fine-tuned by a modest trial-and-error
Øi.e. Continuous Cycling Method
Continuous Cycling Method:
• Refers to sustained oscillation with a constant amplitude
• Closed-loop tuning method (automatic mode)
• Determined empirically to provide closed-loop response that
have a ¼ decay ratio
• !"# (ultimate gain) and $# (ultimate period) be obtained from a
closed-loop test of the actual process.
• Example:
• Ziegler-Nichols (Z-N) controller settings
• Tyreus-Luyben controller settings
Experimental determination of the ultimate gain !"#
Controller setting based on continuous cycling method

The ultimate period Pu is defined as the period of the sustained cycling that would occur
if a proportional controller with gain Kcu were used.

!"# = %&'((')*& +&*,-*.%/, '& (-(123.*4 '(%355213'.


Continuous Cycling Method Steps
Step 1. After the process has reached steady state (at least approximately),
eliminate the integral and derivative control action by setting !" to zero
and !# to the largest possible value.
Step 2. Set Kc equal to a small value (e.g., 0.5) and place the controller in
the automatic mode.
Step 3. Introduce a small, momentary set-point change so that the
controlled variable moves away from the set point. Gradually increase Kc
in small increments until continuous cycling occurs. The numerical value
of Kc that produces continuous cycling (for proportional-only control) is
called the ultimate gain, Kcu. The period of the corresponding sustained
oscillation is referred to as the ultimate period, Pu.
Continuous Cycling Method
Step 4. Calculate the PID controller settings using the Ziegler-Nichols (Z-N)
tuning relations
Step 5. Evaluate the Z-N controller settings by introducing a small set-point
change and observing the closed-loop response. Fine-tune the settings, if
necessary.
Disadvantages of Continuous Cycling Method
• Time-consuming if several trials are required and the process dynamics are
slow. The long experimental tests may result in reduced production or poor
product quality.
• In many applications, continuous cycling is objectionable because the process
is pushed to the stability limits.
• Not applicable to integrating or open-loop unstable processes because their
control loops typically are unstable at both high and low values of Kc, while
being stable for intermediate values.
• For first-order and second-order models without time delays, the ultimate
gain does not exist because the closed-loop system is stable for all values of
Kc, providing that its sign is correct. However, in practice, it is unusual for a
control loop not to have an ultimate gain.
Internal Model Control (IMC)
• A more comprehensive model-based design method, Internal Model Control
(IMC), was developed by Morari and coworkers (Garcia and Morari, 1982;
Rivera et al., 1986).
• The IMC method, like the DS method, is based on an assumed process
model and leads to analytical expressions for the controller settings.
• These two design methods are closely related and produce identical
controllers if the design parameters are specified in a consistent manner.
• Current modern technique in design controller
Table 12.1 IMC-Based PID Controller Settings for Gc(s) (Chien and
Fruehauf, 1990). Continuation to next slide.
Table 12.1 IMC-Based PID Controller Settings for Gc(s) (Chien and
Fruehauf, 1990). See the text for the rest of this table.
Selection of #$
• The choice of design parameter !" is a key decision in both the DS
and IMC design methods.
• In general, increasing !" produces a more conservative controller
because Kc decreases while !% increases.

• Several IMC guidelines for !" have been published for the model in Eq.
12-10:
#$
> 0.8 and !+ > 0.1! Rivera et al., 1986
&
! > !+ > - Chien and Fruehauf, 1990
!+ = - (Skogestad, 2003)
Other tuning relation

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