Chapter 12
Chapter 12
K mGc s Gv s G p s
1 Gc s Gv s G p s Gm s
Gm s Y s
Ysp s
K mGc s Gv s G p s Gm s
1 Gc s Gv s G p s Gm s
Gd s
D s
1 Gc s Gv s G p s Gm s
Ysp s
Gd s Gm s
D s
1 Gc s Gv s G p s Gm s
let
G1 s Gv s G p s Gm s
G2 s Gd s Gm s
B s
Gc s G1 s %
G2 s
Ysp s
D s
1 Gc s G1 s
1 Gc s G1 s
Y%
sp s
P(s)
G1 s Gv s G p s Gm s
G2 s Gd s Gm s
B(s)
Example
1
G1 s Gv s G p s Gm s
e 4 s
20 s 1
G2 s Gd s Gm s 1
1
Gc s K c 1
I s
1
D s
s
Chapter 12
Example 12.1
Chapter 12
Chapter 12
Chapter 12
Direct Synthesis
K mGc Gv G p
Y
Ysp 1 GcGvG p Gm
Let G Gv G p Gm and Gm K m
GC G
Y
Ysp 1 GC G
1 Y / Ysp
Gc
G 1 Y / Ysp
Let
G G% assumed process model
Y Y
desired closed-loop transfer function
Ysp Ysp
d
1 Y / Ysp d
Gc
%
G 1 Y / Ysp
d
Y
This is impossible since 1- 0
Y
sp
d
Y
Kc
Case 2:
, i.e., an offset is allowed
Y
1
K
c
sp
d
Gc
Ex. G%
Kc
G%
K
1s 1 2 s 1
Gc
Kc
1 2 s 2 ( 1 2 ) s 1
K
cs 1
Ysp
d
1
1 cs 1
1 1
Gc s
G%1 1
G% c s
cs 1
1 1
%
Ex 1: G K Gc s
(pure integral controller)
K c s
Example
K
%
G s
s 1
1 1 s 1 1
Gc s %
G cs
K cs
1
K c
s
PI controller: K c
, I
K c
Example
G% s
K
1s 1 2 s 1
1 2 s 2 1 2 s 1 1
Gc s
K
cs
1 2
Gc s
K c
1 2
1
1
1 2 s 1 2
1 2
; I 1 2 ; D 1 2
K c
1 2
1
1
Gc s
1 2 s 1
K c
1s
Series PID controller:
K c 1 ; I 1 ; D 2 ; =0
K c
e
; c
Y
cs 1
sp
d
Let c
s
1
e
1
1
%
Gc s %
%
s
s
%
G s cs 1 e
e
G s c
1
2
1 s s L 1 s
2!
s
1
e
Gc s
G% c s 1 1 s
1
1
%
G% c s
Example 1
K s
%
s
%
%
G s G s e
e
s 1
s 1
1
Gc s
K c s K c
1
1
s
PI controller: K c
, I
K c
Example 2
%
G% s G% s e s
Gc s
K
e s
1s 1 2 s 1
1s 1 2 s 1
1 2
K c
1
c s
1
1 2
1
1 2 s 1 2
Kc 1 2 ; I 1 2 ; D 1 2
K c
1 2
Pade Approximation
e
1 / 2 s
1 / 2 s
1
e s
Gc s
1 / 2 s
G%
cs 1
1 / 2 s
e s 1 / 2 s
1
G% 1 / 2 s c s 1 1 / 2 s
1 / 2 s
1
%
G% 1 / 2 s c s 1 1 / 2 s
Example
K s
%
G% s G% s e s
e
s 1
1 / 2 s
s 1
Gc s
K 1 / 2 s c s 1 1 / 2 s
1
K c
s
1 / 2 s
c
s 1
2c
1
1 D s
Series PID controller: Gc s K c 1
I
D 1
c
Kc
, I , D ,
K c
2
c
Chapter 12
Example 12.1
Use the DS design method to calculate PID controller settings for
the process:
2e s
G
10s 1 5s 1
Chapter 12
s
0.9
e
G%
10s 1 5s 1
K% 2
K% 0.9
c 1
c 3
c 10
3.75
1.88
0.682
8.33
4.17
1.51
15
3.33
15
3.33
15
3.33
Chapter 12
Figure 12.3 Simulation results for Example 12.1 (a): correct
model gain.
Chapter 12
Gc*G
1 G Gc G%
*
c
Ysp
1 Gc*G%
Gc*
G
* %
1 Gc G
1
Y
Y
D
sp
*
*
Gc
Gc
1
G
1
G
* %
* %
1 Gc G
1 Gc G
Gc*
Gc
1 Gc*G%
1 G Gc G%
*
c
%%
G%
G / G
Note that
G% | 1 steady-state gain
s 0
where
f
c s 1
G
Gc
1 G G%
Chapter 12
Example
K s
G% s
e
s 1
1/1 Pade approximation
s
K
2
G% s
s 11 s
2
1
% s K
G%
s
s
;
G
2
s 1 1 s
2
1
1
Gc* s
f
K
1
Select f
1
cs 1
1
1
1
2
K
c s 1
Gc*
Gc
* %
1 Gc G
1
1
1 K 1 s
2
1
K
c s 1 s 1 1 s
1
1 1
2
s
1
K
s 2
c
2
2
1
2 ; ;
Kc
I
D
K
2
2
c
2
Approach (a)
Based on settling time, % overshoot, rise time,
decay ratio (Fig. 5.10 can be viewed as closedloop response).
Several methods based on 1/4 decay ratio have
been proposed, e.g., Cohen-Coon and ZieglerNichols.
2
1
Decay Ratio exp
2
4
1
1
Overshoot exp
2
1 2
0.2
Chapter 12
Chapter 12
Ke s
Based on assumed open-loop model: GOL ( s)
1 s
(FOPDT)
IAE e(t ) dt
0
ISE e(t ) dt
2
ITAE t e(t ) dt
0
Chapter 12
Chapter 12
Example 1
10 s
%
G s
e Design a PI controller for load change
2s 1
Use ITAE criterion
10 K c 0.859
0.674
I
0.977
1.69
K c 0.169
0.680
1.08
I 1.85
Example 1
Kc
ITAE
0.169
1.85
IAE
0.195
2.02
ISE
0.245
2.44
Example 2
G% s
4 3.5 s
e
7s 1
Chapter 12
Chapter 12
Chapter 12
Example 12.4
Chapter 12
100 s
e
100 s 1
Chapter 12
Solution
The PI controller settings are:
Controller
Kc
(a) IMC
0.5
100
0.556
(c) Skogestad
0.5
(d) DS-d
0.551
4.91
Chapter 12
Chapter 12
Chapter 12
Chapter 12
Ziegler-Nichols Rules:
Chapter 12
Kc
0.5 KCU
0.45 KCU
PU/1.2
0.6 KCU
PU/2
D
PU/8
Chapter 12
controller
Kc
original
Some overshoot
No overshoot
0.6 KCU
PU/2
PU/8
0.33 KCU
PU/2
PU/3
0.2 KCU
PU/3
PU/2
Chapter 12
K CU
4d
Chapter 12
Chapter 12
Figure 12.15 Typical process reaction curves: (a) non-selfregulating process, (b) self-regulating process.
Chapter 12
Figure 12.16 Process reaction curve for Example 12.8.
Chapter 12
Figure 12.17 Block diagram for Example 12.8.
Chapter 12