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Guy A. Dumont
UBC EECE
January 2011
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Contents
Introduction
Control Specifications
Model-Based Methods
The Dahlin Controller
-Tuning
Haalmans Method
Internal Model Control
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Introduction
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Control Specifications
Control Specifications
For response to step setpoint changes, the criteria below have been often
used
Z
ITAE =
t|e(t)|dt;
0
ITE =
te(t)dt;
0
ITSE =
te2 (t)dt
Rise time
Settling time
Decay ratio
Overshoot ratio
Steady-state error
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Control Specifications
Control Specifications
For attenuation of load disturbances
Z
IAE =
|e(t)|dt;
IE =
e(t)dt;
ISE =
e2 (t)dt
Ti
Kc
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Control Specifications
Control Specifications
Gain (or amplitude margin)
Am =
1
|G0 C(iu )|
1
| = max |S(i)|
1 + G0 (i)C(i)
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Control Specifications
Control Specifications
1/Ms is the stability margin
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Control Specifications
Control Specifications
A number of optimization-based techniques use Ms to perform the tuning
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Ziegler-Nichols
Set the true plant under proportional control, with a very small gain.
Increase the gain until the loop starts oscillating. Note that linear
oscillation is required and that it should be detected at the controller
output.
Record the controller critical gain Kp = Kc and the oscillation period of
the controller output, Pc .
Adjust the controller parameters according to the Table 6.1 on next slide.
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Ziegler-Nichols
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Ziegler-Nichols
K0 es0
0 s + 1
where
0 > 0
Response is very sensitive to the ratio between the delay and the time
constant
Guy A. Dumont (UBC EECE)
January 2011
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Ziegler-Nichols
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Ziegler-Nichols
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Ziegler-Nichols
D
D+T
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Ziegler-Nichols
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Cohen-Coon Method
Cohen-Coon Method
A simple model G0 (s) =
1
K0 es0
0 s+1
With the plant in open loop, take the plant manually to a normal operating
point. The plant at y(t) = y0 for a constant u(t) = u0 .
At an initial time, t0 , apply a step change to the plant input, from u0 to u
(this should be in the range of 10 to 20% of full scale).
Record the plant output until it settles to the new operating point. Assume
you obtain the curve shown below (m.s.t. stands for maximum slope
tangent. This curve is known as the process reaction curve.
y y0
;
u u0
0 = t1 t0 ;
0 = t2 t1
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Cohen-Coon Method
Cohen-Coon Method
Consider again a plant of the form
G0 (s) =
K0 es0
0 s + 1
where
0 > 0
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Cohen-Coon Method
Cohen-Coon Method
Response is still quite sensitive to the ratio between the delay and the
time constant
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Model-Based Methods
Dahlin Controller
Developed in 1968 by Dahlin and Higham
Used extensively in industry in its digital form, particularly in paper
machine control systems
Consider a feedback control loop with a process P(s) and controller
C(s). the closed-loop system can be written as:
Y(s) =
P(s)C(s)
1
Ysp (s) +
W(s)
1 + P(s)C(s)
1 + P(s)C(s)
P(s)C(s)
1 + P(s)C(s)
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Model-Based Methods
Dahlin Controller
The process transfer function P can be factored into two parts:
PN which contains the dead time and the right-half plane or poorly
damped zeros, i.e. elements which cannot be cancelled by the controller
PM which contains the minimum phase elements that can be cancelled by
the controller
Thus D(s) = PN (s)D (s) where D (s) is the arbitrary portion of the
desired closed-loop transfer function and is usually chosen as
D (s) =
1
1+s
1
D (s)
PM (s) 1 PN (s)D (s)
EECE 460 PID Tuning
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Model-Based Methods
Predictive PI Control
Consider the process
Kp sL
e
1 + Ts
The desired closed-loop transfer function is
P(s) =
D(s) =
esL
1+s
1 + sT
Kp (1 + s esL )
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Model-Based Methods
-Tuning
1 + sT
Kp ( + L)s
and
Kc =
T
Kp ( + L)
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Model-Based Methods
-Tuning
1 sL/2
1 + sL/2
(1 + sL/2)(1 + sT)
Kp s(L + + s L/2)
(1 + sL/2)(1 + sT)
Kp s(L + )
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Model-Based Methods
-Tuning
1 N.J.
Sell (Ed.), Process Control Fundamentals for the Pulp & Paper Industry, Tappi Press
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Model-Based Methods
Haalmans Method
Haalmans Method
2 sL
e
3Ls
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Model-Based Methods
Haalmans Method
Haalmans Method
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Model-Based Methods
Haalmans Method
Haalmans Method
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Model-Based Methods
Haalmans Method
Haalmans Method
A problem with Haalman method is that it cancels all the poles and
zeros. Cancelling all poles and zeros may be bad.
Consider the plant G(s) = esL /(1 + sT) with the PI controller
C(s) = K(1 + sT)/sT, then we can write
dy(t)
1
= (u(t L) y(t))
dt
T
dy(t) y(t)
K
du(t)
= K
+
= u(t L)
dt
dt
T
T
With initial conditions y(0) = 1 and u(t) = 0 for L < t < 0 the
open-loop response is yo (t) = et/T
In closed-loop, equations above show that u(t) = 0, hence ycl = yol
The controller does nothing to reduce the error! We will discuss this
phenomenon in more details when presenting the Q-design
This is a problem for all design methods that cancel all process poles.
Guy A. Dumont (UBC EECE)
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Model-Based Methods
Haalmans Method
Haalman Method
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Model-Based Methods
1
F(s) Ga (s)
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Model-Based Methods
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Model-Based Methods
Summary
Limit PID to control of low-order systems and systems with small delay
Model-based tuning methods are preferrable to empirical ones
Dahlin control design, Haalmans method and IMC are simple to use but
cancel all process poles
These are special cases of more general design techniques
Pole placement
Q-design
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