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E-raamat: Model-Reference Robust Tuning of PID Controllers

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  • Formaat: PDF+DRM
  • Sari: Advances in Industrial Control
  • Ilmumisaeg: 16-Apr-2016
  • Kirjastus: Springer International Publishing AG
  • Keel: eng
  • ISBN-13: 9783319282138
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Model-Reference Robust Tuning of PID ControllersSuurem pilt
  • Formaat: PDF+DRM
  • Sari: Advances in Industrial Control
  • Ilmumisaeg: 16-Apr-2016
  • Kirjastus: Springer International Publishing AG
  • Keel: eng
  • ISBN-13: 9783319282138
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This book presents a unified methodology for the design of PID controllers that encompasses the wide range of different dynamics to be found in industry processes. This is extened to provide a coherent way of dealing with the tuning of PID controllers. The particular method at the core of the book is so-called model-reference robust tuning (MoReRT), developed by the authors. MoReRT constitutes a novel and powerful way of thinking of a robust design and also taking in to account the usual design trade-offs encountered in any control design problem. The book starts by presenting the different two-degree-of-freedom PID control algorithm variations and their conversion relations as well as the indexes used for performance, robustness and fragility evaluation, the bases of the proposed model. Secondly, the MoReRT design methodology and normalized controlled process models and controllers used in the design are described in order to facilitate the formulation of the different design pro

blems and subsequent derivation of tuning rules. In subsequent chapters the application of MoReRT to over-damped, inverse response, integrating and unstable processes is described. The book ends by presenting three possible extensions of the MoReRT methodology, thereby opening the door to new research developments. In this way, the book serves as a reference and source book for academic researchers who may also consider it as a stimulus for new ideas as well as for industrial practitioners and manufacturers of control systems who will find appropriate advanced solutions to many application problems.

Introduction.- Two-Degree-of-Freedom Controller Structures.- Control System Evaluation Metrics.- Model-Reference Robust Tuning Design Methodology.- Normalize Controlled Process Models and Controllers.- MoReRT Control of Over-Damped Processes.- MoReRT Control of Inverse-Response Processes.- MoReRT Control of Integrating Processes.- MoReRT Control of Unstable Processes.- MoReRT Design Methodology Extensions.
1 Introduction
1(6)
References
4(3)
2 Two-Degree-of-Freedom PID Controllers Structures
7(14)
2.1 Proportional Integral Derivative Control Algorithm
8(1)
2.2 Two-Degree-of-Freedom (2DoF) PID Control Algorithms
9(3)
2.3 PID Control Algorithms Conversion Relations
12(4)
2.4 PID Controller with Two Input Filters
16(5)
References
18(3)
3 Control System Evaluation Metrics
21(8)
3.1 Closed-Loop Control System
22(1)
3.2 Control System Performance Evaluation
22(1)
3.3 Control Effort Use Evaluation
23(1)
3.4 Control System Robustness Evaluation
23(1)
3.5 Controller Fragility Evaluation
24(3)
3.6 Evaluation Metrics Summary
27(2)
References
28(1)
4 Model-Reference Robust Tuning Design Methodology
29(6)
4.1 Introduction
30(1)
4.2 Optimization Cost Functionals
31(2)
4.3 Closed-Loop Reference Models
33(2)
References
34(1)
5 Normalized Controlled Process Models and Controllers
35(6)
5.1 Timescaling and Consistent Controller Design
35(1)
5.2 Controlled Process Normalized Parameters Models
36(2)
5.3 Normalized Controllers Parameters
38(3)
References
40(1)
6 MoReRT Control of Overdamped Processes
41(24)
6.1 Introduction
41(1)
6.2 Proportional Integral Control
42(13)
6.2.1 Control System Framework
42(1)
6.2.2 PI Tuning for Overdamped Closed-Loop Response Target
43(9)
6.2.3 PI Tuning for Under-Damped Closed-Loop Response Target
52(3)
6.3 Proportional Integral Derivative Control
55(10)
6.3.1 2DoF Ideal PID with Filter
55(3)
6.3.2 2DoF Ideal Parallel PID with Two Input Filters
58(3)
6.3.3 Evaluation of MoReRT Controllers
61(3)
References
64(1)
7 MoReRT Control of Inverse Response Processes
65(14)
7.1 Introduction
65(1)
7.2 Proportional Integral Control
66(4)
7.3 Proportional Integral Derivative Control
70(9)
7.3.1 2DoF Ideal PID with Filter
70(5)
7.3.2 2DoF Ideal PID with Two Input Filters
75(2)
References
77(2)
8 MoReRT Control of Integrating Processes
79(14)
8.1 Introduction
79(1)
8.2 Integrating Second-Order Plus Dead-Time Models
80(4)
8.2.1 2DoF Proportional Integral Control
80(3)
8.2.2 2DoF PI Controller with Two Input Filters
83(1)
8.3 Integrating Plus Dead-Time Models
84(3)
8.3.1 Proportional Integral Control
84(2)
8.3.2 2DoF PID Controllers with Two Input Filters
86(1)
8.4 Analysis of MoReRT Controllers
87(6)
8.4.1 PID2if Comparison for Integrating First-Order Process
87(1)
8.4.2 Control of an Integrating Third-Order Process
88(3)
References
91(2)
9 MoReRT Control of Unstable Processes
93(12)
9.1 Introduction
93(1)
9.2 2DoF Proportional Integral Control
93(2)
9.3 2DoF PID Controller with Filter
95(3)
9.4 2DoF PID Controllers with Two Input Filters
98(2)
9.5 Analysis of MoReRT Controllers
100(5)
9.5.1 PI2 Controller
100(1)
9.5.2 PID2IF Controller
100(3)
References
103(2)
10 MoReRT Design Methodology Extensions
105(24)
10.1 MoReRT Design with Control Effort Specifications
106(6)
10.2 Use of a Different Load Disturbance Path
112(7)
10.3 Robust Tuning of Two-Degree-of-Freedom Dead-Time Compensating Controllers
119(10)
References
126(3)
11 MoReRT Practical Application
129(40)
11.1 Commercial Two-Degree-of-Freedom PID Controllers
130(10)
11.1.1 ABB Control Technologies
130(2)
11.1.2 Emerson Process Management
132(1)
11.1.3 Mitsubishi Electric
133(2)
11.1.4 National Instruments
135(1)
11.1.5 OMRON
136(1)
11.1.6 REX Controls
137(1)
11.1.7 Siemens AG
137(1)
11.1.8 Toshiba Corporation
138(2)
11.1.9 Main Characteristics and Limitations
140(1)
11.2 MoReRT Controllers Design Implementation
140(9)
11.2.1 MoReRT Tuning Rules
141(4)
11.2.2 MoReRT Controllers Design Procedure Outline
145(4)
11.3 Case Study
149(16)
11.3.1 Control of a Continuous Stirred-Tank Heater
149(16)
11.4
Chapter Remarks
165(4)
References
166(3)
Appendix A MoReRT Controllers Design Demo Software 169(22)
Index 191
Víctor M. Alfaro received his B.Sc. in Electrical Engineering from University of Costa Rica, San José, Costa Rica in 1972, carried out postgraduate studies in Automatic Control at Universidad de Chile, Santiago, Chile, received his M.Sc. in Electrical Engineering (Digital Systems) from Universidad de Costa Rica in 2006, and his Ph.D. in Telecommunication and Systems Engineering from Universitat Autònoma de Barcelona, Spain in 2012. He is Professor at the Department of Automation, School of Electrical Engineering of Universidad de Costa Rica. He gained industrial experience by working in the fertilizer industry, and crude oil and refined products pipeline industry, and as consulting engineer in industrial processes control. He has acted as a referee for several international journals and IEEE and IFAC conferences. He is coauthor of several book chapters and over 70 refereed journal and conference papers. His main research interests are robust two-degree-of-freedon PI(D) controllers, controller fragility, process control, and heterogeneous dynamic systems modelling and control with Modelica . He is a registered electrical engineer in Costa Rica and a Senior member of ISA. Ramon Vilanova received the degree in Computer Science from the Universitat Autonoma de Barcelona, Spain in 1991. The M.Sc. and Ph.D. degrees followed also at the Universitat Autonoma de Barcelona in 1993 and 1996 respectively. His Ph.D. dissertation was on Two-Degree-of-Freedom control system analysis for robust tracking properties. From 1992 to 1996 he has been assistant lecturer and from 2006 onwards he is Professor for technical studies of Automatic Control and Systems Engineering at the Department of Telecommunications and Systems Engineering, Universitat Autònoma de Barcelona, Spain. He has participated in several European projects as well as research projects funded by the Spanish national government. His teaching activity is centred on Systems Engineering, Industrial ProcessControl and Automation Systems. His main research interests are on controller design for systems with uncertainty, industrial process control with a strong emphasis on PID control, and control theory applications. Recently he focused his research interest on the application of process control techniques to wastewater treatment systems. Acting as a referee for several international journals and conferences, he is co-author of several contributed book chapters and about 100 refereed International Journal/ Conference papers. He is a member of CEA, IEEE and IFAC.
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