Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
1
Model-Based Controller Design Controller Tuning
PID controller settings can be determined by a number of
alternative techniques:
2
Model-Based Controller Design
Direct Synthesis Method
3
As a starting point for the analysis, consider the block diagram
of a feedback control system in Figure 12.2. The closed-loop
Model-Based Controller Design
transfer function for set-point changes was derived in Section
11.2:
Y Gc GvG p
= (12-1)
Ysp 1 + GcGv G p Gm
Y Gc G
= (12-2)
Ysp 1 + GcG
Rearranging and solving for Gc gives an expression for the
feedback controller:
1 Y / Ysp
Gc = (12-3a)
G 1 Y / Ysp
5
A practical design equation can be derived by replacing the
unknown G by G , and Y/Ysp by a desired closed-loop transfer
Model-Based Controller Design
function, (Y/Ysp)d:
(
1 Y / Ysp d )
Gc = (12-3b)
(
G 1 Y / Ysp
d
)
6
Desired Closed-Loop Transfer Function
For processes without time delays, the first-order model in
Model-Based Controller Design
Eq. 12-4 is a reasonable choice,
Y 1
= (12-4)
Ysp d c s + 1
The model has a settling time of ~ 5c, as shown in
Section 5. 2.
Because the steady-state gain is one, no offset occurs for
set-point changes.
By substituting (12-4) into (12-3b) and solving for Gc, the
controller design equation becomes:
1 1
Gc = (12-5)
G c s
7
The 1/ c s term provides integral control action and thus
eliminates offset.
Model-Based Controller Design
8
If the time delay is unknown, must be replaced by an
Model-Based Controller Design estimate.
Combining Eqs. 12-6 and 12-3b gives:
1 e s
Gc = (12-7)
G c s + 1 e s
1 e s
Gc = (12-9)
G ( c + ) s
10
First-Order-plus-Time-Delay (FOPTD) Model
Consider the standard FOPTD model,
Model-Based Controller Design
s
Ke
G ( s ) = (12-10)
s + 1
11
Second-Order-plus-Time-Delay (SOPTD) Model
Consider a SOPTD model,
Model-Based Controller Design
s
Ke
G ( s ) = (12-12)
( 1s + 1)( 2 s + 1)
Substitution into Eq. 12-9 and rearrangement gives a PID
controller in parallel form,
1
Gc = K c 1 + + Ds (12-13)
I s
where:
1 1 + 2 1 2
Kc = , I = 1 + 2 , D = (12-14)
K c + 1 + 2
12
Example 12.1
Use the DS design method to calculate PID controller settings
Model-Based Controller Design
for the process:
2e s
G=
(10s + 1)( 5s + 1)
Consider three values of the desired closed-loop time constant:
c = 1, 3, and 10. Evaluate the controllers for unit step changes
in both the set point and the disturbance, assuming that Gd = G.
Repeat the evaluation for two cases:
13
The controller settings for this example are:
c = 1 c = 3 c = 10
Model-Based Controller Design
(
K c K = 2) 3.75 1.88 0.682
c(
K K = 0.9 ) 8.33 4.17 1.51
I 15 15 15
D 3.33 3.33 3.33
14
Model-Based Controller Design
Figure 12.3 Simulation results for Example 12.1 (a): correct model gain.
15
Model-Based Controller Design
Fig. 12.4 Simulation results for Example 12.1 (b): incorrect model gain.
16
DS - Remark
The specification of the desired closed-loop transfer
Model-Based Controller Design
17
Internal Model Control (IMC)
A more comprehensive model-based design method, Internal
Model-Based Controller Design
18
Model-Based Controller Design
Figure 12.6.
Feedback control
strategies
Gc*
Gc = (12-16)
1 Gc*G
Gc*G 1 Gc*G
Y= Ysp + D (12-17)
1 + Gc* ( G G ) 1 + Gc* ( G G )
20
For the special case of a perfect model, G = G , (12-17) reduces to
Model-Based Controller Design
(
Y = Gc*GYsp + 1 Gc*G D ) (12-18)
G = G + G (12-19)
21
Step 2. The controller is specified as
1
Gc* = f (12-20)
Model-Based Controller Design
G
22
(
For the ideal situation where the process model is perfect G = G ,)
substituting Eq. 12-20 into (12-18) gives the closed-loop
Model-Based Controller Design
expression
+ sp (
Y = G fY + 1 fG D
+ ) (12-22)
23
Example 12.2
Use the IMC design method to design two controllers for the
Model-Based Controller Design
FOPDT model. Consider two approximations for the time delay
term:
s 1 0.5 s
(a) 1/1 Pade approximation: e
1 + 0.5 s
(b) 1st-order Taylor series approximation: e s 1 s
Solution:
K (1 0.5 s )
(a) G =
(1 + 0.5 s )( s + 1)
Factor this model as G = G + G where
G = (1 0.5 s )
+
K
G =
(1 + 0.5 s )( s + 1)
24
Setting r = 1 gives
Gc* =
(1 + 0.5 s )( s + 1)
Model-Based Controller Design
K ( c s + 1)
The equivalent controller Gc can be obtained from Eq. 12-16
Gc =
(1 + 0.5 s )( s + 1)
K ( c + 0.5 ) s
And rearranged into the PID controller of (12-13) with:
2 +1
1
Kc = , I = + , D =
K c 2
2 +1 2 +1
(b) The IMC controller is identical to the DS controller for a
FOPTD model
25
Selection of c
The choice of design parameter c is a key decision in both the
Model-Based Controller Design
26
IMC Tuning Relations
The IMC method can be used to derive PID controller settings
Model-Based Controller Design
27
Model-Based Controller Design Table 12.1 (Continued).
28
Model-Based Controller Design
29
Tuning for Lag-Dominant Models
First- or second-order models with relatively small time delays
( / 1) are referred to as lag-dominant models.
Model-Based Controller Design
100 s
G ( s ) = e
100 s + 1
Design four PI controllers:
a) IMC ( c = 1)
b) IMC ( c = 2 ) based on the integrator approximation
c) IMC ( c = 1) with Skogestads modification (Eq. 12-34)
d) Direct Synthesis method for disturbance rejection (Chen and
Seborg, 2002): The controller settings are Kc = 0.551 and
I = 4.91.
32
Evaluate the four controllers by comparing their performance for
unit step changes in both set point and disturbance. Assume that
the model is perfect and that Gd(s) = G(s).
Model-Based Controller Design
Solution
The PI controller settings are:
Controller Kc I
(a) IMC 0.5 100
(b) Integrator approximation 0.556 5
(c) Skogestad 0.5 8
(d) DS-d 0.551 4.91
33
Model-Based Controller Design
34
Controllers With Two Degrees of Freedom
The specification of controller settings for a standard PID
Model-Based Controller Design
38
A more general control law modification consists of
Model-Based Controller Design
p ( t ) = ps + K c ysp ( t ) ym ( t )
1 t ysp ( t ) ym ( t )
( )
d
+ K c e t * dt * + D
I 0 dt
39