.IndustrialControlSystems.Applications.ControlProblems.ATProcessControl

PI control of typical processes, with automatic tuning

Information

Description

In this examples the typical processes (contained in model TypicalTF ) are controlled with PI regulators with automatic tuning. The aim of this example is to show how the automatic tuning algorithm works with varius processes. For each trasfer function taken into account have been compared the parameter values before and after the tuning. Also the algorith parameters are listed too. It is possible to see that they have different values, depending on the considered example (e.g. the slope must be adapted in order to avoid big oscillations, the percentual tolerance have to be adapted if the period of the oscillation changes,...).
The example is made of three phases:



Process Trasfer function
Integrator 
  Y(s)     1
  ---- = -----
  U(s)     5s


Controller parameters
Parameter Before After AT
Kp 5 73.4625
Ti 1 0.273


Automatic Tuning algorithm parameters
Parameter Value
slope 1
PermOxPeriodPerc 5
pm 65
nOxMin 3





Process Trasfer function
Integrator + delay 
  Y(s)     1     -1s
  ---- = ----- e
  U(s)     5s


Controller parameters
Parameter Before After AT
Kp 5 1.067
Ti 30 26.54


Automatic Tuning algorithm parameters
Parameter Value
slope 0.01
PermOxPeriodPerc 30
pm 70
nOxMin 3





Process Trasfer function
First Order 
  Y(s)      1   
  ---- = -------- 
  U(s)    1 + 5s


Controller parameters
Parameter Before After AT
Kp 5 71.5948
Ti 1 0.1365


Automatic Tuning algorithm parameters
Parameter Value
slope 1
PermOxPeriodPerc 5
pm 65
nOxMin 3





Process Trasfer function
First Order + delay 
  Y(s)      1      -2s
  ---- = -------- e
  U(s)    1 + 5s


Controller parameters
Parameter Before After AT
Kp 1 2.11
Ti 4 5.1879


Automatic Tuning algorithm parameters
Parameter Value
slope 0.1
PermOxPeriodPerc 5
pm 65
nOxMin 3





Process Trasfer function
Fast Slow 
  Y(s)      1 + 5.8s  
  ---- = -------------- 
  U(s)    (1 + 6s)(1+s)


Controller parameters
Parameter Before After AT
Kp 5 14.056
Ti 1 0.1365


Automatic Tuning algorithm parameters
Parameter Value
slope 1
PermOxPeriodPerc 5
pm 65
nOxMin 3





Process Trasfer function
Overshooting 
  Y(s)      1 + 8s  
  ---- = --------------- 
  U(s)    (1 + 5s)(1+2s)


Controller parameters
Parameter Before After AT
Kp 5 17.3146
Ti 1 0.1365


Automatic Tuning algorithm parameters
Parameter Value
slope 1
PermOxPeriodPerc 5
pm 65
nOxMin 3





Process Trasfer function
Undershooting 
  Y(s)      1 - 5.5s  
  ---- = --------------- 
  U(s)    (1 + 5s)(1+2s)


Controller parameters
Parameter Before After AT
Kp 0.1 7.69
Ti 1 0.692


Automatic Tuning algorithm parameters
Parameter Value
slope 0.05
PermOxPeriodPerc 5
pm 45
nOxMin 3





Process Trasfer function
Complex Poles 
  Y(s)            1  
  ---- = -------------------- 
  U(s)    1 + 1.2 s + 0.025s


Controller parameters
Parameter Before After AT
Kp 1 0.548
Ti 5 4.3


Automatic Tuning algorithm parameters
Parameter Value
slope 0.1
PermOxPeriodPerc 5
pm 65
nOxMin 3



Revisions

Industrial Control Systems (v 1.0.0) : April-May 2012
List of revisions:
  • 11 May 2012 (author: Marco Bonvini)
Main Authors:
Marco Bonvini; <bonvini@elet.polimi.it>
Alberto Leva <leva@elet.polimi.it>
Politecnico di Milano
Dipartimento di Elettronica e Informazione
Via Ponzio 34/5
20133 Milano - ITALIA -
Copyright:
Copyright © 2010-2012, Marco Bonvini and Alberto Leva.
The IndustrialControlSystems package is free software; it can be redistributed and/or modified under the terms of the Modelica license.
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