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.


Show description

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

Similar robotics & automation books

Flexible Robot Manipulators: Modelling, simulation and control

This booklet studies fresh and new advancements in modeling, simulation and keep an eye on of versatile robotic manipulators. the cloth is gifted in 4 designated elements: various modeling ways together with classical concepts in line with the Lagrange equation formula, parametric techniques in keeping with linear input/output versions utilizing method id suggestions and neuro-modeling techniques; numerical modeling/simulation thoughts for dynamic characterization of versatile manipulators utilizing the finite distinction, finite point, symbolic manipulation and customised software program strategies; quite a number open-loop and closed-loop regulate options in keeping with classical and glossy clever keep an eye on tools together with soft-computing and clever buildings for versatile manipulators; and software program environments for research, layout, simulation and keep watch over of versatile manipulators.

Design Of Nonlinear Control Systems With The Highest Derivative In Feedback

This specific ebook offers an analytical uniform layout method of continuous-time or discrete-time nonlinear regulate method layout which promises wanted brief performances within the presence of plant parameter adaptations and unknown exterior disturbances. All effects are illustrated with numerical simulations, their sensible value is highlighted, they usually can be utilized for real-time keep an eye on approach layout in robotics, mechatronics, chemical reactors, electric and electro-mechanical structures in addition to airplane keep watch over structures.

Intelligent Control Systems with an Introduction to System of Systems Engineering

From aeronautics and production to healthcare and catastrophe administration, structures engineering (SE) now specializes in designing purposes that be certain functionality optimization, robustness, and reliability whereas combining an rising team of heterogeneous structures to achieve a typical aim. Use SoS to Revolutionize administration of enormous enterprises, Factories, and structures clever regulate structures with an advent to approach of structures Engineering integrates the basics of synthetic intelligence and structures keep watch over in a framework acceptable to either easy dynamic structures and large-scale approach of structures (SoS).

Regelungstechnik 1: Systemtheoretische Grundlagen, Analyse und Entwurf einschleifiger Regelungen

Das Lehrbuch zielt auf ein tiefgr? ndiges Verst? ndnis dynamischer Systeme und Regelungsvorg? nge. Dabei beginnt der Autor mit Zeitbereichsbetrachtungen im Zustandsraum und geht erst danach zur Frequenzbereichsdarstellung ? ber. Praktische Beispiele u. a. aus Elektrotechnik und Maschinenbau illustrieren die Anwendung der behandelten Methoden.

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.

Download PDF sample

Rated 4.59 of 5 – based on 23 votes