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CHE3007s - Process Control - Lecture 10 - Controller Tuning

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17 views12 pages

CHE3007s - Process Control - Lecture 10 - Controller Tuning

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khmern002
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHE3007S Block3

Lecture 10
Controller Tuning
Overview
• What is Controller tuning?
• How can we tune a controller?
Additional Reading / Learning
Sections of textbook by Seborg et al. to study:
• Chapter 11 – 3rd Edition
• Chapter 12 – 4th Edition

Glossary:
• Tuning, Direct Synthesis, Ziegler-Nichols tuning,
What is Controller tuning?
When using a PID controller we have a choice in:
• 𝐾𝑝 - the proportional gain
• 𝜏𝑝 - integration time constant
• 𝜏𝐼 - derivative time constant

Changing these constants can either stabilize or destabilize a system


• Recall closed loop stability
Feedback control loop stability
Controller Plant

𝑌𝑆𝑃 + GC GP 𝑌
-

𝑌 𝐺𝐶 𝐺𝑃
=
𝑌𝑆𝑃 1 + 𝐺𝐶 𝐺𝑃

How do I change 𝐺𝐶 such that 1 + 𝐺𝐶 𝐺𝑃 is a stable system while


meeting my control criteria?
XCOS Definitions
Xcos allows you to specify three controller constants:

• Proportional control constant: 𝐾𝑝

𝐾𝑝
• Integration control time:
𝜏𝐼

• Differential control constant: 𝐾𝑝 𝜏𝐷


How can we tune a controller?
Theoretical methods
• Direct Synthesis method (DS)
• Internal Mode Control method (IMC)
• Controller tuning relations
• Frequency response techniques
• Computer simulation

Empirical methods (See Control Prac)


• On-line tuning after the control system has been installed
Direct Synthesis Method
We choose how we want our system to response:

𝑌 𝐺𝐶 𝐺𝑃
=
𝑌𝑆𝑃 1 + 𝐺𝐶 𝐺𝑃

Rearrange to formulate Gc for a desired response:

𝑌ൗ
1 𝑌𝑠𝑝
𝐺𝑐 = ( )
𝑌
𝐺𝑝 1 − ൗ
𝑌𝑠𝑝
Direct Synthesis Method Example
We choose how we want our system to respond:
𝑌 1
=
𝑌𝑆𝑃 𝜏𝑐 𝑠 + 1

The overall transfer function of our plant is:


𝐾
𝐺𝑃 =
(𝜏𝑃 𝑠 + 1)
The controller then has the form:

𝑌ൗ 1
1 𝑌𝑠𝑝 𝜏𝑃 𝑠 + 1 𝜏𝑐 𝑠 + 1
𝐺𝑐 = =
𝐺𝑝 1 − 𝑌ൗ𝑌 𝐾 1−
1
𝑠𝑝 𝜏𝑐 𝑠 + 1

𝜏𝑃 𝑠 + 1 1 𝜏𝑃 1
𝐺𝑐 = = + Integral
𝐾 𝜏𝑐 𝑠 𝐾𝜏𝑐 𝐾𝜏𝑐 𝑠

Proportional
Typical responses
Undamped Under damped Over damped

Critically damped Unstable


Ziegler-Nichols tuning
P I D

P 𝐾𝑐ൗ
2
PI 𝐾𝑐ൗ 𝑃𝑐ൗ
2.2 1.2
PID 𝐾𝑐ൗ 𝑃𝑐ൗ 𝑃𝑐ൗ
1.7 2 8

• The ultimate gain (𝐾𝑐 ) and ultimate period (𝑃𝑐 ) needs to be determined

• It is tuned for a quarter wave decay underdamped response

• It is a heuristic and further tuning may be required


Ziegler-Nichols tuning
To get the ultimate Gain and Ultimate period:
• Set the controller to proportional control only

• Increase the proportional gain till the response starts oscilating

• Find the undamped response


• continuous oscillation that does not shrink or grow

• The amplitude of this oscillation is KC

• The period of this oscillation is PC

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