Linear Control

5. Basic Regulatory Control

by Pascual Campoy Universidad Politcnica Madrid

Control de Procesos Industriales 1

Basic Regulatory Control

Feedback control structure Basic control actions PID controllers Close loop behaviour Controller tuning for 1st order systems Controller tuning for higher order systems

Control de Procesos Industriales

Feedback control structure

r(t) + (t) -

Control law

u(t) ym(t)

system
sensor

y(t)

how to evaluate u(t) depending on (t)?

U.P.M.-C.V.G. P. Campoy Linear Control 3

Basic Regulatory Control

Feedback control structure Basic control actions PID controllers Close loop behaviour Controller tuning for 1st order systems Controller tuning for higher order systems

Control de Procesos Industriales

Basic control actions: proportional action

Kc= 1, 2, 4, 8, 16, 32

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Linear Control

Basic control actions: proportional-derivative action

Kc= 16 Td= 0, 0.1, 0.2, 0.4, 0.8, 1.6

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Linear Control

Basic control actions: proportional-integral action

Kc= 16 1/Ti= 0, 0.1, 0.2, 0.4, 0.8

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Basic control actions: proportional-integral-derivative

P, Gc(s) = 16 PD, Gc(s) = 16 (1+0.4s) PI, Gc(s) = 16 (1+0.4/s) PID, Gc(s) = 16 (1+0.4s+0.4/s)

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Linear Control

Basic Regulatory Control

Feedback control structure Basic control actions PID controllers Close loop behaviour Controller tuning for 1st order systems Controller tuning for higher order systems

Control de Procesos Industriales

Parallel PID controller

R(s) + (s) U(s)

1/Tis Tds

Kc

system

Y(s)

Ym(s)

sensor

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Linear Control

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Serial PID controller

R(s) (s) Tds 1/Tis Kc U(s) Y(s)

+ -

system
sensor

Ym(s)

U(s) = Kc (1+1/Tis) (1+Tds) (s)

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Control de Procesos Industriales Linear Control

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Serial vs. Parallel controllers

Serial controller ( Parallel controller
Also known as clasical controller, easier for analog implementation (e.g. pneumatic, electrical, ) Also known as non interlaced controller, each parameter is associated to one control action

):

):

Parameter relationships:

same values when Td/Ti0

serial version only when Ti4Td parallel version is more general and allows complex ceros

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Linear Control

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Feasible PID controllers

Ideal PID controller:
parallel: serial:

Feasible PID controller :

parallel:

serial:

where is a fixed parameter for each controller, whose value is isually in the range 0.05 y 0.1

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Basic Regulatory Control

Feedback control structure Basic control actions PID controllers Close loop behaviour Controller tuning for 1st order systems Controller tuning for higher order systems

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Feedback transfer function

Yref(s) + (s) U(s) Gp(s) Gc(s) Dynamic:

Y(s)

Estatic when estable:

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Performance evaluation
Yref(s) + (s) U(s) Gp(s) Gc(s) Y(s)

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Linear Control

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Basic Regulatory Control

Feedback control structure Basic control actions PID controllers Close loop behaviour Controller tuning for 1st order systems Controller tuning for higher order systems

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PI tuning in 1st. order systems

Yref(s)

+ -

(s)

Kc(Tis+1) Tis

U(s)

Kp (tps+1)

Y(s)

when:

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Control de Procesos Industriales Linear Control

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Basic Regulatory Control

Feedback control structure Basic control actions PID controllers Close loop behaviour Controller tuning for 1st order systems Controller tuning for higher order systems

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PID empirical tuning: Ziegler Nichols based in open loop behaviour

Open loop step response: ue(t) y(t)
Kp td tc Kp
Controller

System

td
P PI PID

tc
Gain

Kc

Integral time

Ti

Derivative time

Td

1 tc K p td 0, 9 tc K p td 1, 2 tc K p td

3,33 td 2 td 0,5 td

Kptd tc

td tc

application range:

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PID empirical tuning: Ziegler-Nichols based in close loop behaviour

yr(t) + -

KC

system

y(t)

Controller

Gain

Kc

P PI PID

0,5 Ku 0,45 Ku 0,6 Ku

Integral time

Ti

Derivative time

Td

0,83 Tu 0,5 Tu

0,125 Tu

Tu
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Z-N parameters for which tipe of controller ?

1. Only PID controllers are different 2. It is not clear which controller Z-N used in their original work 3. The parallel version (with or without filter) is used in most of the cases. 4. Results are similar, slightly better when applied to parallel controllers
(calculating the parallel version in case they were the serial parameters, we obtain Kc=1.25Kc, Ti=1.25Ti, Td=0.8Td, that implies a more generic and overshooting response)
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Example 5.1
ue(t) y(t)
Kp 1
(s+1)(s+2)(s+3)

y(t)

Zigler-Nichols open loop tuning: KP=0.166 td=0.5 tc=2.1

td tc
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Kc=30 ti=1 td=0.25

example 5.1
r(t) + -

KC

1
(s+1)(s+2)(s+3)

y(t)

Ku=60

Zigler-Nichols close loop tuning: Kc=36 Ku=60 ti=1 Tu=2 td=0.25

Tu=2
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 example 5.1
Results for both controllers:
Kc=30, ti=1, td=0.25 Kc=36, ti=1, td=0.25

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Example 5.2
ue(t)

e-0.25s
1+s

y(t)

Zigler-Nichols open loop tuning: KP=1 td=0.25 tc=1

td tc

Kc=4.8 ti=0.5 td=0.125

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Linear Control

Control de Procesos Industriales 26

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 example 5.2
r(t) + -

KC

e-0.25s
1+s

y(t)

Ku=7.2

Zigler-Nichols close loop tuning: Ku=7.2 Tu=1 Kc=4.32 ti=0.5 td=0.125

Tu=1
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example 5.2
Results for both controllers:
Kc=4.8, ti=0.5, td=0.125 Kc=4.32, ti=0.5, td=0.125

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Exercise 5.1
En el sistema de la figura se desea controlar H2 mediante la entrada F1:
Parmetros: A1=A2=1, s10=s20=0.3 Punto equilibrio: f10=f20=f30=1, h10=h20=0.5669

a) b) c) d)

Disear en Simulink una estructura de CRB, usando un PID formado por sus bloques bsicos (P, I y D) (3 puntos) Calcular los valores del PID (3 puntos) Comprobar la variacin de la respuesta ante cambios en los 3 parmetros del PID (3 puntos) Modificar los parmetros del PID para minimizar la ICE ante Yref=0.6 (1 punto)
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