Design of Practical PID Controller for First-Order Process with Time Delay Using Polynomial Approach
01 Jan 2021-pp 2313-2321
TL;DR: In this paper, a Proportional-Integrating-Derivative (PID) controller for a time delayed first-order process is proposed. But, the proposed controller is derived in its practical form, i.e., the derivative term is associated with the filter.
Abstract: The paper presents a procedure to design a Proportional-Integrating-Derivative (PID) controller for a time delayed first-order process. Polynomial approach in which both the process and controller are considered to be polynomials is employed. The gains of PID controller are derived mathematically by comparing the characteristic equation to a target polynomial. The remarkable feature of the proposed work is, the PID controller is derived in its practical form, i.e., the derivative term is associated with the filter. The filter coefficient is derived along with the PID controller gains. Set point filter is incorporated to mitigate overshoot in servo response. The proposed method is tested for both simulation and real-time applications. A real-time test is performed on a DC servo motor.
References
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TL;DR: In this paper, the three principal control effects found in present controllers are examined and practical names and units of measurement are proposed for each effect and corresponding units for a classification of industrial processes in terms of two principal characteristics affecting their controllability.
Abstract: In this paper, the three principal control effects found in present controllers are examined and practical names and units of measurement are proposed for each effect. Corresponding units are proposed for a classification of industrial processes in terms of the two principal characteristics affecting their controllability. Formulas are given which enable the controller settings to be determined from the experimental or calculated values of the lag and unit reaction rate of the process to be controlled
5,412 citations
01 Jan 1942
TL;DR: In this paper, the three principal control effects found in present controllers are examined and practical names and units of measurement are proposed for each effect.
3,869 citations
TL;DR: In this article, a design method for PID controllers based on the direct synthesis approach and specification of the desired closed-loop transfer function for disturbances is proposed, which results in very good control for a wide variety of processes including those with integrating and/or non-minimum phase characteristics.
Abstract: A design method for PID controllers based on the direct synthesis approach and specification of the desired closed-loop transfer function for disturbances is proposed. Analytical expressions for PID controllers are derived for several common types of process models, including first-order and second-order plus time delay models and an integrator plus time delay model. Although the controllers are designed for disturbance rejection, the set-point responses are usually satisfactory and can be tuned independently via a set-point weighting factor. Nine simulation examples demonstrate that the proposed design method results in very good control for a wide variety of processes including those with integrating and/or nonminimum phase characteristics. The simulations show that the proposed design method provides better disturbance rejection than the standard direct synthesis and internal model control methods when the controllers are tuned to have the same degree of robustness.
383 citations
TL;DR: In this paper, a modified IMC structure for unstable processes with time delays is proposed, where setpoint tracking and disturbance rejection can be designed separately, and a method is proposed to tune the modified structure with an emphasis on the robustness of the structure.
205 citations
TL;DR: A double-feedback loop/method is used to achieve stability and better performance of the process, the internal feedback is used for stabilizing the process and the outer loop is used in this paper for good setpoint tracking.
Abstract: A PID controller is widely used to control industrial processes that are mostly open loop stable or unstable. Selection of proper feedback structure and controller tuning helps to improve the performance of the loop. In this paper a double-feedback loop/method is used to achieve stability and better performance of the process. The internal feedback is used for stabilizing the process and the outer loop is used for good setpoint tracking. An internal model controller (IMC) based PID method is used for tuning the outer loop controller. Autotuning based on relay feedback or the Ziegler–Nichols method can be used for tuning an inner loop controller. A tuning parameter ( λ ) that is used to tune IMC-PID is used as a time constant of a setpoint filter that is used for reducing the peak overshoot. The method has been tested successfully on many low order processes.
99 citations