Autotuning of PID Controllers: A Relay Feedback Approach by Cheng-Ching Yu

By Cheng-Ching Yu

Recognising some great benefits of stronger regulate, the second one version of Autotuning of PID Controllers offers easy but powerful equipment for bettering PID controller functionality. the sensible problems with controller tuning are tested utilizing various labored examples and case experiences in organization with in particular written autotuning MATLABВ® courses to bridge the distance among traditional tuning perform and novel autotuning methods.

The widely revised moment variation expands and refines on very important paintings within the ubiquitous PID kind of keep an eye on with fabric covering:

  • Derivation of analytical expressions for relay suggestions responses with tabulated effects for simple reference.
  • The use of shapes of relay responses to generate info for greater closed-loop regulate and function overview.
  • The functions of autotuning to multiple-model-based instances for dealing with procedure nonlinearity.
  • The use of suggestions shapes to generate info for functionality review.
  • The influence of imperfect actuators on controller performance.

Autotuning of PID Controllers is greater than only a monograph, it really is an self sufficient studying instrument acceptable to the paintings of educational regulate engineers and in their opposite numbers in searching for better method regulate and automation.


Comments at the first edition:

This publication is written in a fashion which not just makes it effortless to appreciate yet can also be necessary to these attracted to or operating with PID controllers. Assembly Automation

The booklet can be necessary to brands and clients of keep watch over apparatus, and in addition to researchers within the box of computerized tuning. Automatica

Show description

Read Online or Download Autotuning of PID Controllers: A Relay Feedback Approach PDF

Best robotics & automation books

Stability and Stabilization of Time-Delay Systems

Time-delays are vital parts of many dynamical structures that describe coupling or interconnection among dynamics, propagation or delivery phenomena, and heredity and pageant in inhabitants dynamics. This monograph addresses the matter of balance research and the stabilization of dynamical platforms subjected to time-delays.

Adaptive Inverse Control, Reissue Edition: A Signal Processing Approach

A self-contained advent to adaptive inverse controlNow that includes a revised preface that emphasizes the assurance of either keep watch over structures and sign processing, this reissued version of Adaptive Inverse regulate takes a singular method that isn't to be had in the other publication. Written via pioneers within the box, Adaptive Inverse regulate provides tools of adaptive sign processing which are borrowed from the sphere of electronic sign processing to resolve difficulties in dynamic structures keep an eye on.

Industrial Process Identification and Control Design: Step-test and Relay-experiment-based Methods

Commercial strategy identity and regulate layout is dedicated to complex id and keep an eye on tools for the operation of continuous-time approaches either with and with out time hold up, in commercial and chemical engineering perform. the easy and functional step- or relay-feedback try is hired whilst using the proposed id thoughts, that are categorized by way of universal commercial technique variety: open-loop solid; integrating; and volatile, respectively.

Evolutionary Humanoid Robotics

This e-book examines how special strands of study on self sustaining robots, evolutionary robotics and humanoid robotic learn, are converging. The publication should be beneficial for researchers and postgraduate scholars operating within the parts of evolutionary robotics and bio-inspired computing.

Extra resources for Autotuning of PID Controllers: A Relay Feedback Approach

Example text

25) At the second instant, the time is reset to zero at the initial point. e. 22) t+D t +D ! t t       ! y2 = K p 1  a1e  1 + b1e  2 "  2 K p 1  a1e  1 + b1e  2 "  #  # Here, the first term represents the effect of the first step change (occurred at D time earlier) and the second term shows the effect of the second step input, switching to the opposite direction. 26)    & The relay response at the third interval is the result of three step changes, lags by an amount D + Pu / 2 from input.

However, as soon as the output comes down to the SP, you switch the input to the upper position. Consequently, a continuous cycling results, but the amplitude of oscillation is under your control (by adjusting h ). More importantly, in most cases, you obtain the information you need for tuning of the controller. Several characteristics can be seen from the relay feedback test. Consider the most common FOPDT systems. 3) where K p is the steady state gain, D is the dead time and  is the time constant.

This is the most complex model structure in our models, and it is often sufficient for process control applications. Let us use an FOPDT system to illustrate the parameter estimation procedure. 8s + 1 This is the transfer function between the top composition x D and the reflux flow R . 615 . 608 . e. 0009 s + 1) Despite varying in model parameters, all these four models have the same ultimate gain and ultimate frequency. That is, the models are correct around the ultimate 30 Autotuning of PID Controllers frequency, which is important for the controller design.

Download PDF sample

Rated 4.78 of 5 – based on 17 votes