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PID Control [electronic resource]: New Identification and Design Methods PDF

559 Pages·2005·5.2 MB·English
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MichaelA.Johnson MohammadH.Moradi PIDControl NewIdentificationandDesignMethods Michael A.Johnson and Mohammad H.Moradi (Editors) With J.Crowe,K.K.Tan,T.H.Lee,R.Ferdous,M.R.Katebi,H.-P.Huang, J.-C. Jeng,K.S.Tang,G.R.Chen,K.F.Man,S.Kwong,A.Sánchez, Q.-G. Wang,Yong Zhang,Yu Zhang,P.Martin,M.J.Grimble and D.R. Greenwood PID Control New Identification and Design Methods With285Figures 1 3 MichaelA.Johnson,PhD MohammadH.Moradi,PhD IndustrialControlCentre ElectricalEngineeringGroup UniversityofStrathclyde FacultyofEngineering GrahamHillsBuilding Bu-AliSinaUniversity 50GeorgeStreet Hamadan Glasgow Iran G11QE UK BritishLibraryCataloguinginPublicationData PIDcontrol:newidentificationanddesignmethods 1.PIDcontrollers I.Johnson,MichaelA.,1948- II.Moradi,MohammadH. (MohammadHassan),1967- 629.8 ISBN1852337028 LibraryofCongressCataloginginPublicationData PIDcontrol:newidentificationanddesignmethods/MichaelA.Johnson (editor),MohammedH.Moradi(editor);withJ.Crowe...[etal.] p. cm. Includesbibliographicalreferencesandindex. ISBN1-85233-702-8 1.PIDcontrollers–Designandconstruction.I.Johnson,MichaelA.,1948-II.Moradi, MohammadH.(MohammadHassan),1967-III.Crowe,J. TJ223.P55P532005 629.8--dc22 2004057797 Apartfromanyfairdealingforthepurposesofresearchorprivatestudy,orcriticismorreview,aspermittedunderthe Copyright,DesignsandPatentsAct1988,thispublicationmayonlybereproduced,storedortransmitted,inanyformorbyany means,withthepriorpermissioninwritingofthepublishers,orinthecaseofreprographicreproductioninaccordancewith thetermsoflicencesissuedbytheCopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethoseterms shouldbesenttothepublishers. ISBN-10:1-85233-702-8 ISBN-13:978-1-85233-702-5 SpringerScience+BusinessMedia springeronline.com ©Springer-VerlagLondonLimited2005 MATLAB®andSIMULINK®areregisteredtrademarksofTheMathworksInc.,3,AppleHillDrive,Natick,MA01760-2098,USA. http://www.mathworks.com/ LabVIEW™isaregisteredtrademarkofNationalInstrumentsCorporation,11500,N.MopacExpwy.,Austin,TX78759-3504, USA. SIMATIC®isaregisteredtrademarkofSiemensAG,Germany. DeltaV™isatrademarkofEmersonProcessManagement. Plantweb®isaregisteredtrademarkofEmersonProcessManagement. Theuseofregisterednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement, thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefreeforgeneraluse. Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformationcontainedinthis bookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissionsthatmaybemade. Typesetting:IanKingstonPublishingServices,Nottingham,UK PrintedintheUnitedStatesofAmerica 69/3830-543210 Printedonacid-freepaper SPIN10894354 For the gift ofloving parents and family and for my grandchildren,Ethan and Teigan MichaelA.Johnson To my wife,Mehri,and my sons,Arefand Ali,for their understanding and consideration;To my parents for their love over many years and to my family for their support. MohammadH.Moradi Preface Theindustrialevidenceisthatformanycontrolproblems,particularlythoseoftheprocessindustries, theProportional,IntegralandDerivative(PID)controlleristhemaincontroltoolbeingused.Forthese industrial problems,the PID control module is a building block which provides the regulation and disturbance rejection for single loop, cascade, multi-loop and multi-input multi-output control schemes. Over the decades, PID control technology has undergone many changes and today the controllermaybeastandardutilityroutinewithinthesupervisorysystemsoftware,adedicatedhard- ware process controller unit or an input–output module within a programmable electronic system whichcanbeusedforcontrolsystemconstruction. With such a well-developed industrial technology available it is not surprising that an academic colleagueonlearningthatweplannedabookonPIDcontrolexclaimed,“Surelynot!Isthereanything lefttobesaid?”.Ofcourse,theshortansweristhattechnologydoesnotstandstill:newsolutioncapabil- itiesarealwaysemergingandPIDcontrolwillevolvetoo.Indeed,theZiegler–Nicholsruleshavebeen famousforoversixtyyearsandtheÅströmandHägglundrelayexperimenthasbeenaroundfortwenty years,soitwouldbedisappointingifsomenewapproachestoPIDcontrolhadnotemergedinthemean- time.However,thatisnottoclaimthatallthemethodsdiscussedinthisbookwillreplaceexistingtech- nologies;noristhisbookadefinitivesurveyof allthathastakenplaceinthedevelopmentsof PID controlsince,say,1985.Thebookwasoriginallyconceivedasasetofchaptersaboutnewideasthatare beinginvestigatedinPIDcontrol;itmightbemoreaccuratelysubtitled“Somenewidentificationand designmethods”. Thefirstproposalsforthisbookwereconstructedusingaclassificationschemebasedontheextentto whichamethodusedamodel,thenwhattypeofmodelandthenwhetherthemethodusedoptimisation principlesornot;averyacademicapproach.Suchaschemedoeswork,but,asonereviewerremarked,it isperhapsunnecessarilyrigid.However,anotherobjectiveoftheEditorswastoincorporateintothetext asetofcontributionsfrominternationalauthors,andthisismoredifficulttoachievewithaverystrict classificationframework.Consequently,thefinishedbookhasamorerelaxedstructurebutretainsan inherentmethodologicalagenda. ThebookopenswithtwobasicchaptersaboutPIDcontrollers.Industrialtechnologyisexamined using discussions,examples and pictures in Chapter 1.Two interesting industrial product reviews significantlyaddtothevalueofthischapter.Chapter2isconstructedaroundasetofusefulconcepts whichsaymoreaboutthePIDnotationandconventionsthananythingelse.Thematerialinthesetwo openingchaptersisdescriptiveandinformative;someofitistheory,butitisselective.Itisdesignedto bepartlyarepositoryofexistingtechnologyandexpertiseandpartlyanintroductiontosomeofthe terminologyandconceptsthatwillbeusedinsubsequentchapters.Thesectionsinthesetwochapters viii Preface arewrittenwithsomerepetitionofmaterialtoenableindividualsectionstobereadinisolationwhen usingthetextinreferencemode. Thisisfollowedby11chaptersthatmakedifferentcontributionstoideasforidentificationforPID control,andtothetuningofPIDcontrollers.Almostallofthecontributionsarisefromproblemsand researchissueswhichhaveintriguedthevariousauthors,andthechaptersdescribesomeanswersto theseproblems.Thisisnotjusttheleaveningofasetofthevariousauthors’publishedpapersbutafully explainedpresentationoftheinvestigativedirectionsbeingfollowedbythecontributors.TheEditors hopethatthereaderwillfindthepresentationsquitereadableandbeabletofollowuptheresearch literaturedirectly. Theunderlyingcontinuityinthebookisthat,asthechaptersfolloweachother,thequalityofmodel informationusedbytheproblemformulationandsolutionincreases.ThisagendastartsatChapter3, wherethemethodsassumenomodelinformationatall.Thenextgroupofchapters,numbers4to7,use nonparametric models. Because the reaction curve method is historically associated with nonparametricmethods,Chapter8onextensionstothereactioncurvemethodisplacednext.Inthegap betweennonparametricandparametricmodel-basedmethods,Chapters9and10reportonthegenetic algorithmsandfuzzymodelapproachandonaso-calledsubspaceidentificationmethod,respectively. Finally,methodsbasedonparametricmodelstakethestageinthefinalthreechaptersofthebook.The lastofthesechapterslooksattheideaofpredictivePIDcontrol. The emphasis within each chapter varies depending on what is important to the method being described.Forexample,achaptermightdescribehowtoobtaintheappropriatemodelinformationfora PIDcontroldesignmethod,orhowtousetheappropriatemodelinformationinPIDcontroldesign algorithm;sometimesbothaspectsofidentificationanddesignaretreated.Atnopointcanitbeclaimed thatexistingPIDtuningmethodsaretreatedsystematically;rather,thebookhassomechaptersthat explainsomenewideas,whilstinotherchaptersexistingtechniquesaregivenandthenextended,rein- terpretedandrenovated.ThebookismostcertainlynotacookbookforPIDcontroltuningrecipes,and toreturntoourcolleague’ssurprised,“Isthereanythinglefttobesaid?”,thebooknowwrittenshows clearlythatthePIDcontrolstillhasmanyavenuestobeexplored. Thisisalsotheplacetogivethankstovariouspeoplewhohavebeensohelpfulinthecompilation, constructionandproductionofthebook.Allthecontributorsareverygratefullythankedforagreeing toparticipateandfortheirpatienceduringtheeditorialperiod.Itwasanextraordinarypleasureto meetsomeofthemattheirhomeinstitutionsinSingaporeandTaipei,Taiwan,in2000,andothersat variousrecentinternationalcontrolconferences. ProfessorM.J.GrimbleisgratefullythankedforallowingEmeritusProfessorM.A.Johnsontheuseof facilitiesattheIndustrialControlCentre,UniversityofStrathclydeinGlasgow,duringthewritingof thisbook. Finally,theEditorswouldliketothankthepublishingstaffatSpringer-VerlagLondon,OliverJackson andAnthonyDoyle,andatSpringerVerlag’sNewYorkoffices,JennyWolkowicki,fortheirkindencour- agement,andpatienceduringthegestationperiodofthebook.Alsothecopyeditorandtypesetter,Ian Kingston,isthankedforhisthoroughnesswiththemanuscriptandfortheexcellentmoderntypograph- icalinterpretationofthetext. MichaelA.JohnsonandMohammadH.Moradi December2004 How to Use This Book Inmanycasestheproductionofacontributedbookleadstoanopuswhichlookslikesetofcollected papersfromtheauthors.Inthecaseof thisbook,carehasbeentakentohavesufficientexplanation introducedsothatthebookmightalsobeusedconstructively.Withthisagenda,thetypicalstructure forachapteris: (cid:1) Learningobjectives (cid:1) Introductorymaterial (cid:1) Mainalgorithmsdescribed (cid:1) Workedexamplesandcasestudies (cid:1) Conclusionsanddiscussion (cid:1) Referencesandbibliography Thusitishopedthatthisbookcanbeusedfor: (cid:1) Supportmaterialforpossibleadvancedcoursestudy (cid:1) Selfstudybyindustrialandacademiccontrolengineers (cid:1) Asourceforfutureresearchideasandprojects (cid:1) Areferenceresourceandasourceofreferences (cid:1) ContactingresearchersworkingonparticularPIDcontroltopics Toassistthereaderinnavigatingthevariousapproachesandmethodsitisusefultohaveamapofthe book.Firstly,thedesignapproachesaregivenbroaddefinitions,andatreediagramofthebookstruc- turefollows.Thebroadclassificationschemethathasbeenusedtoorganisethisbookisbasedonthe qualityandtypeoftheprocessmodelinformationusedandthenwhetherornotoptimisationconcepts havebeenusedtogeneratethePIDcontrollertunings.Abriefdescriptionofthemaincategoriesfollows next. (cid:1) Model-freemethods:themethoddoesnotusetheexplicitidentificationofsignificantmodelpointsor aparametricmodelperse. (cid:1) Nonparametric model methods: the method uses the explicit identification of significant model pointsoranonparametricmodel,butdoesnotuseaparametricmodelperse. x HowtoUseThisBook (cid:1) Data-intensive methods: these methods are halfway between the nonparametric and parametric model-basedmethods.Theyarecharacterisedbytheuseofprocessdata,asinthesubspacemethod, orgreyknowledge,asinthecaseoffuzzy-logicmethods. (cid:1) Parametricmodelmethods:themethodstraightforwardlydependsontheuseofaparametricmodel; usuallyatransferfunctionmodel. Thesecondcategorisationdependsonwhetherthetuningmethodusesoptimisationconcepts.Asan example,manyoptimisation-basedmethodsusetheappropriateclassiclinearquadraticcostfunction overadeterministicorstochasticproblemformulation.Figure1showsthetreediagrammapof the bookchapters. PIDtuningmethods Basicmaterial:Chapters1and2 Model-free Non-parametric Data-intensive Parametric methods methods methods methods Optimal Non-optimal Non- Optimal Non- Optimal methods methods optimal methods optimal methods methods methods Chapter3 Chapters4,5,6,7 Chapter Chapters Chapter9 10 Chapters 12,13 4,8,11, Figure1 Bookchapters:treediagrammap. Contents EditorialResponsibilities · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · xix Notation · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · xxv 1 PIDControlTechnology · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 1 LearningObjectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 BasicIndustrialControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.1.1 ProcessLoopIssues–aSummaryChecklist . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.2 Three-TermControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.2.1 ParallelPIDControllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.2.2 ConversiontoTimeconstantPIDForms . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.2.3 SeriesPIDControllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.2.4 SimplePIDTuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.3 PIDControllerImplementationIssues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 1.3.1 Bandwidth-LimitedDerivativeControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.3.2 ProportionalKick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 1.3.3 DerivativeKick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 1.3.4 IntegralAnti-WindupCircuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 1.3.5 Reverse-ActingControllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.4 IndustrialPIDControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.4.1 TraditionalIndustrialPIDTerms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 1.4.2 IndustrialPIDStructuresandNomenclature . . . . . . . . . . . . . . . . . . . . . . . . . 32 1.4.3 TheProcessControllerUnit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 1.4.4 SupervisoryControlandtheSCADAPIDController . . . . . . . . . . . . . . . . . . . . 35 Acknowledgements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 2 SomePIDControlFundamentals · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 47 LearningObjectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 2.1 ProcessSystemModels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 2.1.1 StateSpaceModels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 2.1.2 ConvolutionIntegralProcessModels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 2.1.3 LaplaceTransferFunctionModels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

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The robustness and simplicity of proportional-integral-derivative (PID) controllers has ensured their continued and widespread use in industry. New techniques have been developed to allow PID controllers to match the performance of more advanced controller designs where the advanced training and com
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