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Auto-tuning of PID controllers

Auto-tuning of PID controllers. Mini course at Danfoss A/S Henrik Rasmussen Department of Control Engineering Aalborg University. Content. The Satt Control auto-tuner in a distributed control system The Self-tuning Regulator concept PID-algorithm – textbook and modifications

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Auto-tuning of PID controllers

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  1. Auto-tuning of PID controllers Mini course at Danfoss A/S Henrik Rasmussen Department of Control Engineering Aalborg University Auto-tuning of PID controllers

  2. Content • The Satt Control auto-tuner in a distributed control system • The Self-tuning Regulator concept • PID-algorithm – textbook and modifications • Ziegler-Nichols frequency response method • Relay tuning in closed loop • Bump-less transfer and anti integrator windup • Gain scheduling • Choice of controller type Auto-tuning of PID controllers

  3. References • Automatic tuning of PID controllers, Åstrøm & Hägglund • Adaptive Control, Åstrøm & Wittenmark • Automatic tuning of PID-regulators, H. Rasmussen URL, http://www.control.auc.dk/~hr Auto-tuning of PID controllers

  4. Auto-tuning of PID controllers

  5. Distributed control system Auto-tuning of PID controllers

  6. SattControl Auto-tuner Auto-tuning of PID controllers

  7. Self Tuning Regulator Auto-tuning of PID controllers

  8. Textbook and modified PID-algorithm The ''textbook'' version of the PID controller can be described by the equation Modification of ''textbook'' version Auto-tuning of PID controllers

  9. Controller Parameters Auto-tuning of PID controllers

  10. Ziegler-Nichols ultimate period method Auto-tuning of PID controllers

  11. Auto Tuning based on relay feedback Auto-tuning of PID controllers

  12. Nyquist plot Auto-tuning of PID controllers

  13. Phase and amplitude margin Auto-tuning of PID controllers

  14. 1. Break Auto-tuning of PID controllers

  15. Relay with hysteresis Auto-tuning of PID controllers

  16. Stable limit cycle Auto-tuning of PID controllers

  17. Offset Auto-tuning of PID controllers

  18. Auto tuning of PID regulators Ziegler-Nichols tuning Spec. phase and amplitude margin Auto-tuning of PID controllers

  19. Actuator Saturation Auto-tuning of PID controllers

  20. Integrator windup Auto-tuning of PID controllers

  21. Regulator modified to avoid windup Auto-tuning of PID controllers

  22. Regulator modified to avoid windup Auto-tuning of PID controllers

  23. Anti windup for PID controller Auto-tuning of PID controllers

  24. Discrete time PI controller Auto-tuning of PID controllers

  25. p and q operators Auto-tuning of PID controllers

  26. Discrete Time PID-controller Auto-tuning of PID controllers

  27. Integrator windup and bumpless transfer Auto-tuning of PID controllers

  28. 2. Break Auto-tuning of PID controllers

  29. Open loop step response Auto-tuning of PID controllers

  30. Closed loop with PI control ?!? Auto-tuning of PID controllers

  31. Anti integrator windup Measured actuator output Estimated actuator output Auto-tuning of PID controllers

  32. Observer: A=1-exp(-Ts/(0.1*Ti)) Auto-tuning of PID controllers

  33. Observer: A=1-exp(-Ts/Ti)) Auto-tuning of PID controllers

  34. PI controller and a nonlinear valve Auto-tuning of PID controllers

  35. Step response for different levels Auto-tuning of PID controllers

  36. PI controller with gain scheduling Auto-tuning of PID controllers

  37. Step response for different levels Auto-tuning of PID controllers

  38. Gain scheduling principle Auto-tuning of PID controllers

  39. Bumpless transfer between controllers y y u 1 A1 ref G T1 A1-R1 -S1 1 A2 T2 A2-R2 -S2 Auto-tuning of PID controllers

  40. Choice of Controller Auto-tuning of PID controllers

  41. Conclusions • The Self-tuning Regulator concept • Relay experiment gives ultimate period and gain • Ziegler-Nichols tuning • Tuning based on phase and amplitude margin • Bump-less transfer and anti integrator windup • PID-algorithm – textbook and modifications • Gain scheduling • Choice of controller type Auto-tuning of PID controllers

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