Escolar Documentos
Profissional Documentos
Cultura Documentos
2002
Philadelphia, PA
Outline
Definitions
Philadelphia, PA
User Conference
2002
Philadelphia, PA
User Conference
2002
Philadelphia, PA
Philadelphia, PA
E
N
G
R
STEADY
STATE PV
CO OR SP
U
STEP CHANGE
N
I
T
S INITIAL PV
DEADTIME =
0.5 TIME UNIT
63.2% OF
STEADY
STATE PV
TIME UNITS
10
PROCESS
RESPONSE OR
REACTION CURVE PV RESPONSE TO
CO STEP CHANGE
ENGR UNITS
(% of range)
Philadelphia, PA
14
13
12
11
10
9
8
7
6
5
4
3
2
1
DEADTIME (min)
CTLR K
CTLR I (min/rpt)
CTLR D (min)
10
15
20
25
30
35
Philadelphia, PA
14
13
12
11
10
9
8
7
6
5
4
3
2
1
10 15 20 25 30 35 40 45 50 55 60
Philadelphia, PA
Self-Regulating Process
Runaway Process
Integrating Process
10
Advantages
Philadelphia, PA
Disadvantages
11
Advantages
Disadvantages
12
*Refer to References A.1, A.4, C.6, C.7, and C.8 for examples of
rule sets. Note that Reference C.6 cites a total of 453 rule sets for
PI/PID controllers!
Advantages
Some methods do not require the PV to be at a steadystate or lined out value (but with no load or other
disturbances occurring of course)
Unlike the closed loop method, does not require a
sustained controlled variable oscillation
Depending on the method used, can be effective for
integrating or ramp-type processes
Disadvantages
13
*Refer to References A.1, A.4, C.6, C.7, and C.8 for examples of
rule sets.
Advantages
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TUNING
RULES!
Disadvantages
14
If ExperTune is used:
And the process dynamics are Higher Order
Or the process type is not FOLPDT self-regulating
(integrating, inverse response, runaway, etc.)
Or performance is still unsatisfactory after a
properly conducted initial tuning exercise
(regardless of process type)
And there is an immediate payback for investing
additional testing and analysis time
Then use ExperTune to:
17
18
CTW
MAKE-UP
(DISTUR
BANCE)
PROCESS
HEAT LOAD
COOLING
TOWER
AC
LC
COOLING
TOWER
RESEVOIR
DOSING
TANK
ORP
AT
CT CIRC.
PUMP
19
WATER
QUALITY
CHEMICAL
TREATMENT
SYSTEM
DOSING
PUMP
PROCESS
RESPONSE OR
REACTION CURVE
ORP PROCESS
VAR.s RESPONSE
TO BELOW CO
STEP CHANGE
21
22
23
24
26
References
User Conference
2002
Philadelphia, PA
A.
References (Contd)
User Conference
2002
Philadelphia, PA
B.
28
References (Contd)
User Conference
2002
Philadelphia, PA
29
C. Relevant Articles
(1) How To Tune Feedback Controllers*, Armando B. Corripio, ISA
Press, 27 pp.
(2) Feedback Controllers*, Armando B. Corripio, ISA Press, 32 pp.
(3) Tuning Cascade Control Systems*, Armando B. Corripio, ISA
Press, 21 pp.
(4) Feedforward and Ratio Control*, Armando B. Corripio, ISA
Press, 27 pp.
(5) Adaptive and Self-Tuning Control*, Armando B. Corripio, ISA
Press, 26 pp.
(6) PI and PID Controller Tuning Rules for Time Delay Processes: a
Summary, Aidan ODwyer, School of Control Systems and Electrical
Engineering, Dublin Institute of Technology, May 2000, 205 pp.,
Website Download URL: http://citeseer.nj.nec.com/dwyer00pi.html
(7) PID Compensation of Time Delayed Processes: a Survey, Aidan
ODwyer, School of Control Systems and Electrical Engineering,
Dublin Institute of Technology, May 2000?, 9 pp., Website Download
URL: http://citeseer.nj.nec.com/398682.html
(8) Time Delayed Process Model Parameter Estimation: a
Classification of Techniques, Aidan ODwyer, School of Control
Systems and Electrical Engineering, Dublin Institute of Technology,
July 2000, 9 pp., Website Download URL:
http://citeseer.nj.nec.com/398869.html
(9) One Size Does Not Fit All: Tuning a Controller for Your Specific
Process*, George Buckbee, ISA Press, 9 pp.
*Note: can be purchased as an e-book in Adobe Acrobat Reader
(*.pdf) format from ISA
References (Contd)
User Conference
2002
Philadelphia, PA
30
Appendix 1
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2002
Philadelphia, PA
31
Appendix 2
User Conference
2002
Philadelphia, PA