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DIRAC:
DIRect Adaptive Control
Application to PID AUTO-TUNING
Robin DE KEYSER
Ghent University, BELGIUM
Email: rdk@autoctrl.rug.ac.be
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 1
Implementation of PID controllers
w e u y
PID PROCESS
+- e(t)
e(t)==w(t)
w(t)--y(t)
y(t)
1 t de(t )
u (t ) = K p e(t ) +
Ti
e( s )ds + Td
dt
Tuning of parameters: Kp , Ti , Td
K p : Gain ( 100% / Kp = proportional band )
Ti : Integration time ( reset time )
T :
d Differentiation time
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 2
Implementation of PID controllers
1 t de(t )
u (t ) = K p e(t ) +
Ti
e( s )ds + Td
dt
d t 1
Transfer Function:
dt
s
s
1
U ( s ) = K p 1 + + Td s . E ( s )
Ti s
U ( s) C ( s)
= with C ( s) = c0 + c1 s + c2 s 2
E ( s) s
Kp
= + K p s + K p Td s 2
Ti
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 3
DIRAC = DIRect Adaptive Control
General principle of a direct auto-tuner:
Estimated regulator parameters
Parameter
estimator
output
setpoint u( t )
Process
w( t ) +-
Regulator
input y( t )
R r( t )
w( t ) e( t ) u( t )
y( t )
1
C P
+- s
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 4
DIRAC = DIRect Adaptive Control
Stepreponse of R(s) for tau=1 (fas
Structure of: 1
0.9
0.7
0.5
e d s 0.4
R( s) = (1 + s) n 0.3
0.2
C( s ) P( s )
Closed-loop transfer function: y(t ) = w( t )
s + C( s ) P( s )
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 5
DIRAC = DIRect Adaptive Control
CP
We want y(t) to follow r(t) as close as possible: R
s + CP
CP sR + CPR
C(1 R ) P = sR C ?
C ( s ) [1 R ( s )] P( s ) u (t ) s R( s ) u (t )
EUREKA!
C ( s ) [1 R( s )] y (t ) s R( s ) u (t )
y f ( t ) = y ( t ) R( s ) y ( t )
Define the filtered signals:
u f ( t ) = sR( s )u( t )
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 6
Implementation Block Scheme
uf Identify C yf
s=
d +
dt
K p , Ti , Td -
R R
Process
u y
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 7
Example: Gain Scheduling
Vd
C in (t-)
C in (t)
Q
Vm
C C(t)
Flow Q Setpoint C w
2.0 1
1.5
1.0
Time 0
Time
0.5
0 40 80 120 0 40 80 120
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 8
Gain Scheduling with DIRAC
1.5 1.5
1 1
0.5 0.5
0 0
-0.5 -0.5
0 200 400 600 800 1000 1200 0 200 400 600
GAIN-SCHEDULING FIXED-PARAMETER
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 9
Comparison DIRAC - ZN
1.5 1.5
1 1
0.5 0.5
0 0
-0.5 -0.5
0 200 400 600 800 1000 1200 0 200 400 600
n 2 1 1
( )
P s = K. 2 R ( s) =
s + 2n s + n 2 (1 + s)(1 + s) 2
1 2 (1 + s)
cl
4
0.2
0.4
0.6
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 11
Example 2. Process with high-order dynamics
and pure integrator
( )
n 2 1 1 + 4 cl s
P s = K. 2
s + 2n s + n 2 (1 + s)(1 + s) 3 s R ( s) =
1 2 (1 + s)
cl
4
0.5
1.0
1.5
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 12
Example 3. Process with time delay
e d s e2s
P ( s) = R( s) =
(1 + s ) (1+ s) cl
4
0.5
0.4
0.3
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 13
Example 4. Nonminimum-phase process
1 + 1s e s
P ( s) = K R( s) =
(1 + s)(1 + s)
2 3 (1+ s)cl
4
0.5
0.4
0.3
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 14
Example 5. Process highly oscillatory (low
damping factor)
n 2 1
R( s) =
1
( )
P s = K. 2
s + 2n s + n 2 (1 + s) 2 (1+ s)
cl
4
5
10
15
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 15
Advantages
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 16
Nonlinear controllers
uf Parameter yf
estimator
NN
+
s
-
R R
Process
u y
Estimate the weights of a neural network.
Then use the NN as nonlinear controller.
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 17
Nonlinear reference model
Reference r( t )
model NN
w( t ) e( t ) u( t ) y( t )
Controller Process
+ -
Prof. Dr. ir. Robin DE KEYSER, Ghent University / Belgium, Department of Control Engineering and Automation 18
Conclusions
Simple method for automatic tuning of PID controllers.