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Topic 8 - Performance Criteria and Controller Tuning

Performance Criteria and Controller Tuning

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12 views29 pages

Topic 8 - Performance Criteria and Controller Tuning

Performance Criteria and Controller Tuning

Uploaded by

thanh.nguyen892615
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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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PROCESS CONTROL

FUNDAMENTALS
CH3031
Performance Criteria
and Controller Tuning

1
Typical control system used to study the effect of
controller modes
PID

Typical control system response using various modes


of control
Design of controllers include:
1. Decision on which type of controller
(Qualitative/Quantitative) to be used
2. Performance Criteria
3. Controller tuning
1. Decision on which type of controller
• Qualitative:
– Depend on system to be controlled
– E.g. P controller sufficient for level system.
– PID controller more suitable for temperature
control system
• Quantitative :
– Decided through applying the performance
criteria (as next slide)
2. Performance Criteria
• Steady state criteria - offset
• Dynamic criteria :
(i) At certain times  Rise time, decay ratio,
overshoot
(ii) from t = 0 to final time  ISE, IAE, ITAE
Performance characteristics for the
step response of an under-damped process

7
1. Rise Time: is tthe
r time the process output takes to first reach the new steady-
state value.

2. Time to First Peak: is the time required for the output to reach its first
maximum value.
tp
3. Settling Time: is defined as the time required for the process output to reach and
remain inside a band whose width is equal to ±5% of the total change in y. The
term 95% response time sometimes is used to refer to this case. Also, values of
𝑡
±1% sometimes are used.
𝑠

8
4. Overshoot: OS = A/B (% overshoot is 100A/B).

5. Decay Ratio: DR = C/A (where C is the height of the second


peak).

6. Period of Oscillation: P is the time between two successive


peaks or two successive valleys of the response.

P (Radian frequency)

9
Under-damped Process: Performance response

10
Criteria for Good Control
• Integral of the square of the error (ISE)

• Integral of the absolute value of error (IAE)

• Integral of time-weighted absolute error (ITAE)

NOTE: where e is the usual error (i.e., set point – control variable).
For a stable system for which there is no offset [i.e., ]
• ISE will penalize the response that has large
errors, which usually occur at the beginning
of a response, because the error is squared.

• IAE will be less severe in penalizing a


response for large errors and treat all errors
(large and small) in a uniform manner.

• ITAE will penalize a response that has errors


that persist for a long time.
3. Controller tuning
Well-known controller tuning methods:
• Closed Loop Method (Ziegler-Nichols)
The Z-N method is based on the ultimate gain at the
crossover frequency, which is equivalent to knowing
one point on the open-loop frequency response
diagram.
• Open Loop Method (Cohen-Coon)
The C-C method requires the use of an open-loop
step response (process reaction curve).
Closed Loop Method (Ziegler-Nichols)
Ziegler-Nichols Method procedure:
1. Turn the controller to P-only mode, i.e. turn both the
Integral and Derivative modes off.

2. Increase the controller gain, Kc slowly until the loop


starts oscillating.

3. When a value of Kc results in a sustained periodic


oscillation in the output (or close to it), mark this
critical value of Kc as Ku, and the period of oscillation,
Pu, referred to as the ultimate period.
4. Using the values of the ultimate gain, Ku, and the

the following values for Kc, 𝝉I and tD, depending on


ultimate period, Pu, Ziegler and Nichols prescribes

which type of controller is desired


Open Loop Method (Cohen-Coon)
Cohen-Coon method can be summarized as follows:
1. After the process reaches steady state at the normal level of
operation, introduce a small step change in the controller output
that goes to the valve and record the transient, which is the
process reaction curve.

2. Draw a straight line tangent to the curve at the point of


inflection, as shown in Fig. The intersection of the tangent line
with the time axis is the apparent transport lag (Td), the apparent
first-order time constant (T) is obtained from

3. Where Bu is the ultimate value of B at large t and S is the slope of


the tangent line. The steady-state gain that relates B to M in Fig.
is given by
4. Using the values of Kp T, and Td from step 2 the
controller settings are
Example of Cohen-Coon and Zigler Nichols
method
Cohen-Coon method
Cohen-Coon method
Zigler Nichols method
Comparison of Cohen-Coon and Zigler
Nichols method Cont…
Process for Example 18.4

Q: Determine the controller settings for a PI


controller using the Z-N and C-C method?
Z-N method. We apply the Z-N method for a PI controller,
and we obtain the
following results: Kcu = 4, Pu = 2Kc = 1.8, and tauI = 5.23.
C-C method. Since the transfer function of the plant is
1
𝐺 𝑃 ( 𝑠) =
( 1+ 𝑠 )4
Thus, C-C method are as follows:
1) Reaction curve method, CC1
2) Curve fitting method, CC2 1
1) Reaction curve method, CC1
3
• Inverse Laplace the plant TF with unit
step input:

(
1 3 1 2
𝑐 (𝑡 )=1 − 𝑡 + 𝑡 + 𝑡 +1 𝑒− 𝑡
6 2 )
• Find t at the inflection point by using
2nd derivative equation equal to 0.
=0 ∴ 𝑡 =3
• Find S at the inflection point by using
1st derivative equation at time, t = 3.
1
˙𝑐 (𝑡 )= 𝑡 3 𝑒 −𝑡 ; 𝑐˙ ( 3 ) =𝑆=0.224
6
2
2) Curve fitting method, CC2

𝑲𝒑 −𝑻
( )
𝑮 𝒔= 𝒆❑ 𝒅

𝑻 𝒔+𝟏
Comparison of transients produced by different tuning
methods for Example 18.4
Comparison of transients produced by minimizing the
figures of merit for Example 18.4

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