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10 views17 pages

Control 6

Uploaded by

s3ad.fisal
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Sudan University of Sciences and

Technology
College of Engineering and Technology of
Industries
Department of Chemical Engineering

Process measurement
& Control II
Lecture 6

Lecturer: Arafa Ali 1


Controller Tuning
How do we choose the values of
controller parameters Kc , τI and τD?
They must be chosen to ensure that the
response of the controlled variable
remains stable and returns to its
steady-state value (disturbance
rejection)
or move to a new desired value (set
point tracking), quickly 2
Optimum
setting
techniques
Empirical Analogue
Methods Computer

Useful and powerful tool


Based on the transient in situations where the
response to a step change nature of the process can
be simulated
Reaction curve Loop tuning
method method

3
Loop tuning method or
Ziegler- Nichols method
In this method, the system (process
with controller) is brought to the edge
of instability under Proportional
control only.
Suitable values of parameters can then
be determined from proportional gain
Kc found at that condition.

4
The procedure is as follows:
1. Close the feedback loop.
2. Turn on proportional action only
(equivalent to setting τI = ∞, τD = 0)
for a controller).
3. Increase the controller gain, Kc ,
until the process starts to oscillate.

5
6
Continue and slowly increase the gain until
the cycles continue with constant amplitude.

7
8
Note the period of these cycles Pu
(distance in time between two
peaks) and the value of KC at which
they were obtained (called Ku)
 Determine the controller settings
according to the tuning (Ziegler-
Nichols) rules in table below

9
(Ziegler-Nichols) tuning parameters

10
 The settings obtained by this method are
good initial estimates but are not optimal
and some retuning may be necessary.
 Note that this method operates the system
at the brink of instability and if the
controller gain Kc is chosen too high during
the tuning procedure, the system will
become unstable.
 The method is therefore not recommended
for processes in which instability may lead
to dangerous situations (e.g. runway for a
reactor). 11
Process Reaction Curve Method (Cohen-
Coon Tuning):
For some processes, it may be difficult or
hazardous to operate with continuous
cycling, even for short periods.
The process reaction curve method
obtains settings based on the open-loop
response and thereby avoids the potential
problem of closed loop instability.

12
 The procedure is as follows:
 Disconnect the control loop between the
controller and the manipulated variable
(valve)

13
Make a step change in the
manipulated variable (valve opening)

Record the response of the process


14
 The tangent line is drawn as a tangent to
the point of inflection. The dead time τd and
process time τ are as shown in the figure

15
The parameter KU is defined as

K=
where M change in input at steady
state and B is the change in output
Δy is the final change in the output
(the controlled variable) and ΔC is
the initial change in the input (the
manipulated variable).
16
 Determine the controller setting according
to the tuning (Cohen-Coon) rules in table
below.

17

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