To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （I...To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.展开更多
The motivation of this work is to obtain single PI/PID tuning formula for different types of processes with enhanced disturbance rejection performance. The proposed tuning formula consistently gives better performance...The motivation of this work is to obtain single PI/PID tuning formula for different types of processes with enhanced disturbance rejection performance. The proposed tuning formula consistently gives better performance in comparison to several well-known methods at the same degree of robustness for stable, integrating and unstable processes. For the selection of the closed-loop time constant(τc), a guideline is provided over a broad range of time-delay/time-constant ratios on the basis of the peak of maximum sensitivity(Ms). An analysis has been performed for the uncertainty margin with the different process parameters for the robust controller design. It gives the guideline of the Ms-value settings for the PI controller designs based on the process parameters uncertainty. Furthermore, a relationship has been developed between Ms-value and uncertainty margin with the different process parameters(k, τ and θ). Simulation study has been conducted for the broad class of processes and the controllers are tuned to have the same degree of robustness by measuring the maximum sensitivity, Ms, in order to obtain a reasonable comparison.展开更多
The predictive model is built according to the characteristics of the impulse response of integrating process. In order to eliminate the permanent offset between the setpoint and the process output in the presence of ...The predictive model is built according to the characteristics of the impulse response of integrating process. In order to eliminate the permanent offset between the setpoint and the process output in the presence of the load disturbance, a novel error compensation method is proposed. Then predictive functional control of integrating process is designed. The method given generates a simple control structure, which can significandy reduce online computation. Furthermore, the tuning of the controller is fairly straightforward. Simulation results indicate that the designed control system is relatively robust to the parameters variation of the process.展开更多
基金Project(2007011049) supported by the Natural Science Foundation of Shanxi Province,China
文摘To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.
基金the support provided by King Abdulaziz City for Science and Technology (KACST) through the "KACST Annual Program" at King Fahd University of Petroleum & Minerals (KFUPM) for funding this work through project number AT-32-41
文摘The motivation of this work is to obtain single PI/PID tuning formula for different types of processes with enhanced disturbance rejection performance. The proposed tuning formula consistently gives better performance in comparison to several well-known methods at the same degree of robustness for stable, integrating and unstable processes. For the selection of the closed-loop time constant(τc), a guideline is provided over a broad range of time-delay/time-constant ratios on the basis of the peak of maximum sensitivity(Ms). An analysis has been performed for the uncertainty margin with the different process parameters for the robust controller design. It gives the guideline of the Ms-value settings for the PI controller designs based on the process parameters uncertainty. Furthermore, a relationship has been developed between Ms-value and uncertainty margin with the different process parameters(k, τ and θ). Simulation study has been conducted for the broad class of processes and the controllers are tuned to have the same degree of robustness by measuring the maximum sensitivity, Ms, in order to obtain a reasonable comparison.
基金This work was supported by National Science Fundation of China (No.60274032)Specialized Research Fund for the Doctoral Program of Higher Education (SRFDP) (No.20030248040)and Alexander von Humboldt Research Fellowship
文摘The predictive model is built according to the characteristics of the impulse response of integrating process. In order to eliminate the permanent offset between the setpoint and the process output in the presence of the load disturbance, a novel error compensation method is proposed. Then predictive functional control of integrating process is designed. The method given generates a simple control structure, which can significandy reduce online computation. Furthermore, the tuning of the controller is fairly straightforward. Simulation results indicate that the designed control system is relatively robust to the parameters variation of the process.
