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Controller Tuning

Controller Tuning. Quarter Decay Ratio and Integral Error Tuning. Quarter Decay Ratio Response. Quarter Decay Response:. Quarter Decay Ratio Method. Field Tuning of a controller by Quarter Decay Ratio Method Uses field method to determine K cu and T u (Similar to Direct Substitution).

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Controller Tuning

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  1. BAE 3023 Controller Tuning Quarter Decay Ratio and Integral Error Tuning

  2. Quarter Decay Ratio Response BAE 3023 • Quarter Decay Response:

  3. Quarter Decay Ratio Method BAE 3023 Field Tuning of a controller by Quarter Decay Ratio Method Uses field method to determine Kcu and Tu (Similar to Direct Substitution) • Quarter Decay Ratio Field Method • Turn OFF integral and derivative controller action • Make sure controller is in closed loop mode • Increase Kc setting until controlled variable oscillates with steady amplitude • Gain setting Kc = Kcu • Measure period as Tu • Use table 7-1.1 to find controller settings (Ziegler-Nichols)

  4. Quarter Decay Tuning by Model BAE 3023 Quarter Decay Ratio Tuning by system model • Find a first order plus dead time model for the system • Use step test or First Principals Model • Use System ID methods described earlier • Note: • For higher order overdamped systems, if one of the time constants is much longer than the others, an effective model can be formed with the time constant of a first order model equal to the longest time constant and the dead time as the sum of the remaining time constants (and dead time) • Use table 7-2.1 to determine controller settings

  5. BAE 3023 • Controller performance specification criteria • Integral of resulting error is a criteria - lower = better • IAE - Integral of absolute error • ISE - Integral of square error (emphasizes large errors) • ITAE - Integral of absolute error * time (emphasizes time) • ITSE - Integral of square error * time (emphasizes time and large errors)

  6. Minimum Error Integral Tuning BAE 3023 • Minimum Error Integral Tuning Method • Find a first order plus dead time model for the system • Use previous note for higher order overdamped systems • Select integral error criteria • Determine if optimizing for load changes or set-point changes • Use table 7-2.2 to determine controller settings for loads • Use table 7-2.3 to determine controller settings for set-points

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