Autotuning of PID Controllers: Relay Feedback Approach

235 Pages·1999·7.729 MB·English

by  Cheng-Ching Yu (auth.)

Advances in Industrial Control
Springer-Verlag Berlin Heidelberg GmbH
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Cheng-Ching Yu
Autotuning of
PID Controllers
Relay Feedback Approach
With 120 Figures
, Springer
Cheng-Ching Yu
Department of Chemical Engineering
National Taiwan University of Science & Technology
43 Keelung Road, Section 4
Taipei 106-07
Taiwan
ISBN 978-1-4471-3638-5
British Library Cataloguing in Publication Data
Yu, Cheng-Ching
Autotuning ofPID controllers : relay feedback approach.
(Advances in industrial control)
1. PID controllers
1. Title
629.8
ISBN 978-1-4471-3638-5
Library ofCongress Cataloging-in-Publication Data
Yu, Cheng-Ching. 1956-
Autotuning of PID controllers : relay feedback approach. / Cheng
-ChingYu.
p. cm. -- (Advances in industrial control)
Includes bibliographical references (p. ).
ISBN 978-1-4471-3638-5 ISBN 978-1-4471-3636-1 (eBook)
DOI 10.1007/978-1-4471-3636-1
1. PID controllers. 1. Title. II. Series.
TJ 22.P55Y8 1998 98-46726
629.8--dc21 CIP
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© Springer-Verlag Berlin Heidelberg 1999
Originally published by Springer-Verlag Berlin Heidelberg New York in 1999
Softcover reprint ofthe hardcover Ist edition 1999
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Advances in Industrial Control
Series Editors
Professor Michael J. Grimble, Professor ofIndustriai Systems and Director
Professor. Michael A. Johnson, Professor in Control Systems and Deputy Director
Industrial Control Centre
Department of Electronic and Electrical Engineering
University of Strathclyde
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To my parents for the love and support
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~~aft.J st:IV: - ~**- IF'"
SERIES EDITORS' FOREWORD
The series Advances in Industrial Control aims to report and encourage
technology transfer in control engineering. The rapid development of control
technology impacts all areas of the control discipline. New theory, new
controllers, actuators, sensors, new industrial processes, computer methods,
new applications, new philosophies ... , new challenges. Much of this
development work resides in industrial reports, feasibility study papers and the
reports of advanced collaborative projects. The series offers an opportunity for
researchers to present an extended exposition of such new work in all aspects of
industrial control for wider and rapid dissemination.
The appearance in the early 1980's of Hagglund and Astrom's patent
embodying the use of a relay experiment to provide PID controller tuning data
was seminal to the subsequent development of process control technology. This
simple and effective step also initiated an auto tune control research activity
associated with the names of H-P. Huang (Taiwan), e.C. Hang (Singapore), Q.
G. Wang (Singapore), T.S. Schei (Norway), I.-B. Lee (Korea) and D. Atherton
(UK) amongst others. Professor e.-e. Yu and his colleagues have also been
extremely active in this autotune research area. This monograph reports his
extensive research achievements over recent years.
One of the key ideas investigated was how to enhance the information
coming from the relay experiment by using "shaped" relays. Procedures are also
given for multivariable as well as single input-single output systems, and for the
presence ofload disturbances. Many specialised loops and plant-wide control
are also reported upon. The monograph gives an excellent indication of the
depth and breadth to which the autotune culture has developed.
Professor Yu closes his monograph with a very useful "guidelines" chapter
for the many process control situations which can arise. Engineers and
academics working in the process control or classical control area will find this
an invaluable sourcebook.
As one of the very first texts devoted exclusively to the autotune relay
method, it makes a very useful and practical addition to the Advances in
Industrial Control Monograph series.
M.J. Grimble and M.A. Johnson
Industrial Control Centre
Glasgow, Scotland, UK
CONTENTS
1 Introduction 1
1.1 PID Control. . . . . . . . . . 1
1.2 Relay Feedback Identification 4
1.3 Summary 5
1.4 References .......... . 5
2 Relay Feedback 7
2.1 Experimental Design ...... . 7
2.2 Direct Tuning Rules ...... . 10
2.3 Approximate Transfer Functions 12
2.3.1 Simple Approach ... 13
2.3.2 Improved Algorithm 15
2.3.3 Parameter Estimation 17
2.3.4 Examples 18
2.4 Conclusions 22
2.5 References .... 22
3 Improved Relay Feedback 25
3.1 Analysis ............... . 25
3.1.1 Ideal (on-off) relay feedback. 25
3.1.2 Saturation relay feedback 28
3.1.3 Potential problem ..... . 33
3.2 Improved Experimental Design .. . 35
3.2.1 Selection of the slope of saturation relay 35
3.2.2 Procedure 38
3.3 Applications. 39
3.4 Conclusions 47
3.5 References .. 47
4 Systems with Unstable Zeros or Poles 49
4.1 Problem Description . . 49
4.1.1 Examples .... 49
4.1.2 System Analyses 52
XII
4.1.2.1 Open-Loop Stable Systems .. 52
4.1.2.2 Open-Loop Unstable Systems 55
4.2 Frequency Domain Analyses. 60
4.3 Discussion. 63
4.4 Conclusions 66
4.5 References. 66
5 Multivariable Systems 67
5.1 Concept ...... . 67
5.1.1 SISO Autotuning . 67
5.1.2 MIMO Autotuning 68
5.2 Theory .......... . 71
5.2.1 Sequential Design. 71
5.2.2 Process Characteristics 74
5.2.3 Sequential Identification 78
5.3 Controller Tuning ....... . 81
5.3.1 Potential Problem in Z-N Tuning. 81
5.3.2 Modified Z-N Method ...... . 82
5.3.3 Performance Evaluation-Linear Model 84
5.4 Properties ....... . 87
5.4.1 Convergence ........ . 88
5.4.2 Tuning sequence ...... . 89
5.4.3 Problem of Variable Pairing . 92
5.4.4 Summary of Procedure .. 94
5.5 Applications ........... . 95
5.5.1 Moderate-Purity Column 95
5.5.2 High-Purity Column 98
5.5.3 T4 Column 100
5.6 Conclusion 103
5.7 References ... 103
6 Load Disturbance 109
6.1 Problems ...................... . 109
6.1.1 Step change versus continuous cycling .. . 109
6.1.2 Effect of load change on relay feedback test 111
6.2 Analyses.................. .. . 112
6.2.1 Causes of errors ............ . 112
6.2.2 Output-biased relay feedback system . 116
6.2.3 Derivation of bias value (6 117
0) •.•••.
6.2.3.1 Effect of load disturbance. . . . ... 117
6.2.3.2 Opposite effect from output-biased relay 120
6.3 Summary of Procedure. 122
6.4 Applications...... ...... . 123
6.4.1 Linear system ...... . 124
6.4.2 Binary distillation column . 126