Abstract
The automatic tuning method proposed by Åström and Hägglund (1984) for PID controllers has been incorporated into an industrial autotuner. The tuning method is based on the precondition that a process connected in feedback with a relay will exhibit a stable limit cycle. The theoretical basis for the design of the autotuner is derived in this paper from the results of the describing function analysis coupled with phase and gain margin criteria. The design basis is then verified by applying the autotuner to an analog simulator where the process model is well known. Finally, the autotuner is tested on a pilot plant heat exchanger.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Abbreviations
- a:
-
amplitude of the process oscillation (%)
- d:
-
relay amplitude (%)
- G:
-
process transfer function
- K:
-
proportional gain (%)
- Na:
-
the describing function approximation
- s:
-
Laplace operator
- T:
-
period of process oscillation (sec)
- Ti :
-
integral time (sec)
- Td :
-
derivative time (sec)
- θ:
-
frequency of the oscillation (rad/sec)
- β:
-
gain ratio
- ε:
-
the hysteresis width (%)
10 References
Åström, K. J. and T. Hägglund (1983). Automatic Tuning of Simple Regulators for Phase and Amplitude Margins Specifications. Proceedings IFAC Adaptive Systems in Control and Signal Processing, San Francisco, 271–276.
Åström, K. J. and T. Hägglund (1984a). Automatic Tuning of Simple Regulators. Proceedings IFAC 9th World Congress, Budapest, 1867–1872.
Åström, K. J. and T. Hägglund (1984b). Automatic Tuning of Simple Regulators with Specifications on Phase and Amplitude Margins. Automatica, 20, 645–651.
Åström, K. J. and B. Wittenmark (1973). On Self-tuning Regulators. Automatica, 9, 185–199.
Clarke, D. W., C. Mohtadi and P. S. Tuffs (1987). Generalized Predictive Control-Part 1: The Basic Algorithm Automatica, 23, 137–148.
Gawthrop, P. J. (1985). Comparative Robustness of Non-adaptive and Adaptive Control. Proceedings of Control '85, Cambridge.
Goberdhansingh, E. (1988). Autotuning for PID and GMV controllers. MASc thesis, Department of Chemical Engineering, University of Toronto, Toronto, Canada.
Hamel, B. (1949). Contribution a l'etude mathematique des systems de reglage par tout-ou-rien. C.E.M.V. Service Technique Aeronautique 17.
Seborg, D. E., T. F. Edgar and S. L. Shah (1986). Adaptive Control Strategies for Process Control: A Survey. AIChE Journal, 32, 881–913.
Tsypkin, J. A. (1958). Theorie der relais systeme der automatischen regelung. R. Oldenburg, Munich.
Ziegler J. G. and N. B. Nichols (1942). Optimum Settings for Automatic Controllers. Trans A.S.M.E., 759–768.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1989 Springer-Verlag
About this paper
Cite this paper
Goberdhansingh, E., Cluett, W.R. (1989). Evaluation of an industrial pid autotuner. In: Shah, S.L., Dumont, G. (eds) Adaptive Control Strategies for Industrial Use. Lecture Notes in Control and Information Sciences, vol 137. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042941
Download citation
DOI: https://doi.org/10.1007/BFb0042941
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-51869-3
Online ISBN: 978-3-540-46833-2
eBook Packages: Springer Book Archive