A specifications based PID autotuner

This paper presents the development and validation of a specifications based PID autotuner. The performance of the autotuned PID is compared to that of a PID controller which is designed using a computer-assisted design tool assuming the availability of a full process model. An illustrative example in simulation of a high-order system, for which a simple PID controller may not be an optimal choice, proves that the proposed algorithm works well. Additionally, the algorithm has been tested on three real-life setups: a coupled water tank process, a poorly damped electromechanical system and a variable time delay thermal process. Again, the autotuned PID performed equally well as the model based PID.

[1]  Magda Osman,et al.  Control Systems Engineering , 2010 .

[2]  D Patranabis,et al.  A new autotuning algorithm for PID controllers using dead-beat format. , 2001, ISA transactions.

[3]  Robain De Keyser,et al.  The Next Generation of Relay-Based PID Autotuners (PART 1): Some Insights on the Performance of Simple Relay-Based PID Autotuners , 2012 .

[4]  Robin De Keyser,et al.  FRtool: A frequency response tool for CACSD in Matlab® , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[5]  Weng Khuen Ho,et al.  Relay auto-tuning of PID controllers using iterative feedback tuning , 2003, Autom..

[6]  Tore Hägglund,et al.  Automatic tuning of simple regulators with specifications on phase and amplitude margins , 1984, Autom..

[7]  D.S. Bernstein,et al.  The history of control: from idea to technology , 2002, IEEE Control Systems.

[8]  Karl Johan Åström,et al.  PID Controllers: Theory, Design, and Tuning , 1995 .

[9]  Claudio Scali,et al.  Relay with Additional Delay for Identification and Autotuning of Completely Unknown Processes , 1999 .

[10]  Chang Chieh Hang,et al.  Towards intelligent PID control , 1989, Autom..

[11]  Tor Steinar Schei,et al.  Automatic tuning of PID controllers based on transfer function estimation , 1994, Autom..

[12]  Chanchal Dey,et al.  An improved auto-tuning scheme for PID controllers. , 2009, ISA transactions.

[13]  C. Hang,et al.  Refinements of the Ziegler-Nichols tuning formula , 1991 .

[14]  J. G. Ziegler,et al.  Optimum Settings for Automatic Controllers , 1942, Journal of Fluids Engineering.

[15]  Rey-Chue Hwang,et al.  A multivariable on-line adaptive PID controller using auto-tuning neurons , 2003 .

[16]  António E. Ruano,et al.  Hands-on PID autotuning: a guide to better utilisation , 2002 .