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Lambda Tuning Equations

This document discusses two types of self-regulating processes: integrating processes and near-integrating processes. It provides equations to calculate the process gain, controller gain, and controller integral time for tuning controllers for each type of process. Key parameters in the equations include the process time constant, dead time, and a lambda factor used to define the closed loop time constant.

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hdmi3
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281 views4 pages

Lambda Tuning Equations

This document discusses two types of self-regulating processes: integrating processes and near-integrating processes. It provides equations to calculate the process gain, controller gain, and controller integral time for tuning controllers for each type of process. Key parameters in the equations include the process time constant, dead time, and a lambda factor used to define the closed loop time constant.

Uploaded by

hdmi3
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Self-Regulating Process

Process Variable or
Controller Output (%)
%PV
Kp = %PV / %CO
Self-regulating process gain (%/%)

%CO

%PV

0.63%PV
%CO

p p Time (seconds)
dead process
time time constant

Lambda (closed loop time constant) is defined in terms of a Lambda factor (f):
= f p
Self-Regulating Process

Self-Regulation Process Gain:


% PV
Kp =
%CO

Controller Gain
Ti
Kc =
K p ( f p + p )

Controller Integral Time


Ti = p

Near Integrating Gain Approximation


Kp
Ki =
p
Integrating Process

Process Variable or
Controller Output (%)
%PV
Ki = { [ %PV2 / t2 ] [ %PV1 / t1 ] } / %CO

Integrating process gain (%/sec/%)

%CO

%CO

ramp rate is ramp rate is


%PV1 / t1 %PV2 / t2

Time (seconds)
p
dead
time

Lambda (closed loop arrest time) is defined in terms of a Lambda factor (f):
= f / Ki
Integrating Process

Integrating Process Gain:


% PV2 / t2 % PV1 / t1
Ki =
%CO

Controller Gain
Ti
Kc =
K i [( f / K i ) + p ]2

Controller Integral Time


Ti = 2 ( f / K i ) + p

The above tuning automatically insures the following inequality is satisfied


to prevent slow rolling oscillations from too low of a gain or integral time.
4
K c Ti >
Ki

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