Robotics Automation

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

By Cheng-Ching Yu

Recognising the advantages of more desirable keep an eye on, the second one variation of Autotuning of PID Controllers presents easy but potent tools for bettering PID controller functionality. the sensible problems with controller tuning are tested utilizing various labored examples and case reviews in organization with in particular written autotuning MATLAB® courses to bridge the distance among traditional tuning perform and novel autotuning methods.

The generally revised moment variation covers:

• Derivation of analytical expressions for relay suggestions responses.

• Shapes of relay responses and greater closed-loop keep an eye on and function overview.

• Autotuning for dealing with procedure nonlinearity in multiple-model-based situations.

• The impression of imperfect actuators on controller functionality.

This ebook is greater than only a monograph, it really is an self sustaining studying instrument appropriate to the paintings of educational keep watch over engineers and in their opposite numbers in searching for more desirable approach keep watch over and automation.

 

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Extra resources for Autotuning of PID Controllers: Relay Feedback Approach

Sample text

1 1 provides the fundamentals for the saturation relay and in-depth analysis is given. 2 discusses the experimental design and a procedure is given. 3. 1 Analysis IDEAL (ON-OFF) RELAY FEEDBACK Autotuning based on relay feedback can be analyzed via a block diagram. 1) where G(s) is a linear transfer function and N is a nonlinear element. -C. Yu, Autotuning of PID Controllers © Springer-Verlag Berlin Heidelberg 1999 26 y,et~,---N----,py G(S)I -r--". 1. Nonlinear feedback system. (A) Ideal Relay output h 1--- ----1---- input (B) Input-Output responses e InPi1\ ~ L\.

Since the higher order terms (Eq. 5B). 3A). In this case, a becomes zero (Eq. 12), , is zero (Eq. 2). The coefficients (Bn) of Fourier expansion can be derived from Eq. 22. _1_ (sin(l - nh _ sin(l + 7r sm, 1- n 1+n ")'--+0 -~ (cosn(7r -,) 14h n 7r ,n= and cos,)] 1,3,5, ... 24) , n = 2,4,6, ... 25) Since the principal harmonic (Bd is employed in the describing function analysis, N(a) become: N(a) . -2h 11m a--+O 7r (1. 26) Again, the principal harmonic approximation cannot describe true output response.

Yu, C. C. "Derivation of Transfer Function from Relay Feedback Systems". Ind. Eng. Chern. Res. 1992, 31, 855. ; Luyben, W. L. "An Improved Autotune Identification Method". Ind. Eng. Chern. Res. 1991, 30, 1530. [4] Luyben, W. 1. "Derivation of Transfer Functions for Highly Nonlinear Distillation Columns". Ind. Eng. Chern. Res. 1987, 26, 2490. [5] Papastathopoulou, H. ; Luyben, W. L. "Tuning Controllers on Distillation Columns with The Distillate-Bottoms Structure". Ind. Eng. Chern. Res. 1990, 29, 1859.

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