and Tuning
Model-based design me
Controller tuning relatio
Direct Synthesis
DS Method
K mGcGvG p
Y
Ysp 1 Gc GvG p Gm
(12-1)
@
=GvG p Gm and assume that Gm = Km. Then
For simplicity, let G =
Eq. 12-1 reduces to
GcG
Y
(12-2)
Ysp 1 GcG
Rearranging and solving for Gc gives an expression for the
feedback controller:
1 Y / Ysp
Gc
G 1 Y / Ysp
(12-3a)
Y
/
Y
sp
1
d
Gc
G% 1 Y / Ysp
d
(12-3b)
term.
This feature is a distinguishing characteristic of
model-based control.
(12-4)
Ysp d c s 1
c is the desired closed-loop time constant
(12-5)
Y
sp
e s
c s 1
(12-6)
(12-7)
10
(12-8)
(12-9)
(12-12)
12
1
Gc K c 1
I s
D s
(12-13)
where:
1 1 2
Kc
,
K c
I 1 , 2
1 2
1 2
(12-14)
13
Example 12.1
Use the DS design method to calculate PID controller settings 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:
K% 2
K% 0.9
c 1
3.75
c 3
1.88
8.33
4.17
15
3.33
15
3.33
c 10
0.682
1.51
15
3.33
15
17
18
Figure 12.6.
Feedback control
strategies
Gc*
(12-16)
1 Gc*G%
(12-17)
21
Y Gc*GYsp 1 Gc*G D
(12-18)
(12-19)
where G%
contains any time delays and right-half plane
zeros.
In addition, G% is required to have a steady-state gain equal
22
f
%
G
(12-20)
c s 1
(12-21)
23
sp
(12-23)
Selection of c
The choice of design parameter c is a key decision in both the
DS and IMC design methods.
In general, increasing c produces a more conservative
controller because Kc decreases while I increases.
24
2.
3.
(Skogestad, 2003)
26
28
(12-34)
30
Example 12.4
Consider a lag-dominant model with / 0.01:
G% s
100 s
e
100 s 1
31
Kc
(a) IMC
(b) Integrator approximation
(c) Skogestad
0.5
0.556
0.5
(d) DS-d
0.551
I
100
5
8
4.91
32
33