Transcription of Chapter 12
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Chapter 12
1 Chapter 12 Fig. Unit-step disturbance responses for the candidate controllers (FOPTD Model: K = 1, 4, 20).==Controller Tuning: A Motivational Example2 Chapter 12 PID Controller Design, Tuning, and TroubleshootingPerformance Criteria For Closed-Loop Systems The function of a feedback control system is to ensure that the closed loop system has desirable dynamic and steady-state response characteristics. Ideally, we would like the closed-loop system to satisfy the following performance closed-loop system must be effects of disturbances are minimized, providing good disturbance , smooth responses to set-point changes are obtained, that is, good set-point error (offset) is control action is control system is robust, that is, insensitive to changes in process conditions and to inaccuracies in the process controller settings can be determined by a number o
• The IMC and DS methods provide satisfactory set-point responses, but very slow disturbance responses, because the value of is very large. • Fortunately, this problem can be solved in three different ways. Method 1: Integrator Approximation τI ()θ/τ 1 * Approximate ( ) by ( ) 1 where * / . Ke s K e s Gs Gs s s KK −θ−θ == τ+ τ
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