Model-Based Auto-Tuning System Using Relay Feedback
Model-Based Auto-Tuning System Using Relay Feedback
Model-Based Auto-Tuning System Using Relay Feedback
Abstract: An on-line model based autotune system that employes conventional ATV test
is proposed. The ATV responses from normalized FOPDT and SOPDT processes are
grouped into two zones in a space, which has normalized amplitude and normalized period
as coordinates. In terms of the amplitude and the period of constant cycles of an ATV test,
model-based tuning rules are also prepared for two types of process, one for FOPDT in
one zone and one for under-damped SOPDT in the other zone. Thus, from an ATV test,
the amplitude and period of constant cycles are used in an identification step to select
tuning rules to be applied to a given process. Then, PID controller settings are computed
according to the selected tuning rules. The system can be inplemented as simple as the
conventional autotune system, and the resulting control performance is is compatible to
that from a model-based controller design.
Keywords: Relay Feedback, Inverse-based PID Controller, On-line Autotuning
1.INTRODUCTION
The PID auto-tuning has shorten the time to commission
control system, and facilitated control optimization through
regular retuning. The relay feedback auto-tuning method
proposed by Astrom and Hagglund was attractive owing to
its simplicity and robustness. The important ingredients in
the auto-tuning system are identification (parametric or nonparametric) and rules for controller tuning. Many researches
on these two aspects have been reported in recent years. For
examples, improvements on the accuracy and efficiency by
saturation relay feedback test (Yu, et al.,1995) or by reducing
high-order harmonic terms or using the Fourier analysis
(Lee, et al., 1995; Sung, et al., 1995; Wang, et al., 1997) have
been reported. On the other hand, extensive works on the
PID tuning formulae and refinement have been published.
Extensions of Auto-tuning system to other different cases,
such as: time varying delay (Leva,1993), cascade controllers
(Hang, et al.,1994), the Smith Preidictor (Plamor, et al.,1994)
and the FSA (finite spectrum assignment) controller (Wang,
et al.,1995) have also been found in literature. It used to
observe that use of model-based tuning rules results in
better control performance. But, the trade-off is lots of
efforts are required to identify an appropriate model to apply
these model-based tuning rules. As has been mentioned,
although methods of identification using relay or ATV test
has been extensively addressed in literature, the absence of
an model-based auto-tuning system as simple and robust as
the one of Astrom and Hagglund is a simple fact. In this
paper, we will reformulate the inverse-based tuning rules in
terms of ultimate gain and frequency so that can be easily
+
R -
e-
h
h
u-
Process G(s)
y-
y6
6
A
Pu
u6
FOPDT Model
h
6
h ?
6
?
G(s)
Kp es
s+1
G(s)
s
Kp e
s
+1
where s = s,
=
SOPDT Model
4h
A
2
Pu
(1)
(2)
Kp es
+ 2 s + 1
Gp (s)
2 s2
Gp (
s)
2 s2
Kp es
+ 2
s + 1
where s = s,
= .
For these two types of processes, extensive ATV tests have
been conducted over wide ranges of normalized parameters.
For example, for SOPDT process, ranges from 0.1 to 100
and from 0.1 to 100. The resulting normalized ultimate
gains and ultimate period are plotted and is as shown in
Figure(3).
= 1.0
102
101
10
100
100
= 0
1
A 10
kp h
102
0.1
1.0
103
10
104
100
105
1
10
100
Pu
3. TUNING RULES
An inverse-based design is used to synthesize PID controller
for autotune. The controller is synthesized so as to have a
loop transfer function (abbr. LTF) of two standard forms of
the following. That is:
Gloop (s) =
0.65 (1 + 0.4s es )
s(1 + f s)
(3)
0.4 es
s(1 + f s)
(4)
or,
Gloop (s) =
These loop transfer function can provide the system reasonable stability robustness and control performance. According
to these standard forms, the PID controller is sysnthesized for
FOPDT dynamic process and is given as follows:
Gc (s) = Kc (1 +
1 + D s
R s 1 + f s
)
(5)
where,
10
(Kc ) =
0.65
10
A/hKp
Zone II
(R ) =
(D ) =
0.4
SOPDT =0.7
Zone I
Gc (s) = Kc (1 +
FOPDT
2
0
10
10
Kp
On the other hand, the PID controller for SOPDT type dynamic process is:
10
10
10
Pu/d
Kc
(6)
2
0.4
Kp
2
2
2
where, Ku = kp kcu
2. For point located in underdamped SOPDT zone:
tan2 ()
2 u = Y = Ku
1 + tan2 ()
Y
u = X = 1 +
tan()
1
+ D s)(1 + f s)
R s
Kc
(R )ZN F1
(D )ZN F2
where,
F1 =
2 K2 1
Kcu
p
(7)
F2 =
1.6
1
tan1
2 K2 1
Kcu
p
+
R -
ue =
h u ?Process G(s)
y-
ZN
IB
kc
e-
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
10
ZN
IB
y6
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
0.5
ZN
IB
0.45
0.4
0.35
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
6
A
A1
?
?
...............................................................................
?
6 - y
6
A2 6
t
A
?
?
Pu
u6
h
6
h ?
6
?
4. AUTOTUNE PROCEDURES
As has been methioned, when the values of kp and the apparent deadtime, , are available, the autotune procedure proceeds just like the conventional one, except that the selection
of tuning rules by locating (A/(kp h), Pu /) on Figure (4) is
required as a proceding step, and the tuning rules itself are
different.
In case of where kp and are not available, the ATV test has
to make a slightly modification. The excitation to the relay
feedback system is introduced through an external input at
the output of relay. As shown in Figure (6). The external input has to be small like up to 10% of h, the level of relay output. Nomenclatures for computing amplitudes and period are
given in Fighue (??). Then, kp is estimated by the following
equation:
t+P/2
y( )d
kp = tt+P/2
(8)
u(
)d
t
On the other hand, the apparent deadtime for applying the
identification zones in Figure (4) are estimated as an average
value of true deadtime detected at the very begining of the test
and q quater of period later at constant cycling, as shown in
Figure.(??). This is because the deadtime interms of SOPDT
dynamics is always lying between te two values aforementioned.
To calculte the amplitudes for identification, the centerline of
the cycling has to be updated to to the bias form the input to
a height of y = 0.5(A1 |A2 |).
..
.
Time
Fig 8: Estimation for Apparent Deadtime
5. SIMULATION RESULTS
Process
h
1.000
Kcu
1.9758
Ku
1.9758
a
0.6444
u
0.5689
0.5
proposed
ZN
0
Pu
11.0444
L
2.8337
D
1.500
proposed
0.2094
4.6926
5.3974
21.749
1.5
Z-N
0.7141
17.3900
4.3475
38.325
kc
I
D
IAE
50
100
150
d
2.0206
3
2.5
kc
I
D
IAE
1.5
1
0.5
proposed
0.3348
2.2904
1.4776
6.685
proposed
ZN
0
50
100
150
1.5
Process
1
es
(s2 + 0.6s + 1)
0.5
proposed
ZN
0
10
15
20
25
30
35
40
45
50
t
6
Kp
1.0000
a
1.727
h
1.000
Pu
5.4806
L
1.3609
Kcu
0.7373
Ku
0.7373
D
1.000
d
1.1805
u
1.1464
4
3
2
1
0
proposed
ZN
0
10
15
20
25
30
35
40
45
50
kc
I
D
IAE
Ex.2
Process
1.08
e10s
(s + 1)2 (2s + 1)3
Z-N
0.4337
2.7403
0.6851
7.3250
proposed
0.2128
0.6280
1.4044
4.0262
5. CONCLUSION
a
1.0487
Pu
34.78
h
1.000
L
11.2275
Kcu
1.2141
D
11
Ku
1.3144
d
11.1138
u
0.1807
Lee, J., S.W. Sung (1993), Comparison of two identification methods for pid controller tuning, AIChE J.,39,695697
1.5
0.5
0
proposed
ZN
0.5
20
40
60
80
100
120
140
160
180
200
Leva, A. (1993), PID auto-tuning algorithm based on relay feedback, IEE Proc. Pt. D., 140,328-338
1
proposed
ZN
0
20
40
60
80
100
120
140
160
180
200
Li, W., E. Eskinat and W.L. Luyben (1991), An improved autotune identification method, Ind. Eng. Chem.
Res.,20,1023-1042
Luyben, W.L. (1987),Derivation of transfer functions for
highly nonlinear distillation columns, Ind. Eng. Chem.
Res., 26,2490-2495
10
Ex.1
Ex.3
10
A/hKp
Ex.2
Shen, S.H., J.S. Wu and C.C. Yu (1996), Use of biased relay feedback for system identification, AIChE
J.,42,1174-1180
10
10
10
10
10
Pu/d
6. REFERENCE
Wang, Q.G., C.C. Huang and B. Zou (1997), A frequency response approach to auto-tuning of multivariable controllers, Chemical Engineering Research and
Design, 75,797-806
Huang C.C., A.P. Loh and V.U. Vasnani (1994), Relay feedback auto-tuning of cascade controllers, IEEE
Trans. Control System Tech., 2,42-45
Huang, H.P., M.W. Lee and I.L. Chien (2000),Identification of transfer function models from the relay feedback
test, Chem. Eng. Comm., 180,231-253
Huang, H.P., M.W. Lee and Y.T. Tang (2000), Identification of Wiener model using relay feedback test, J. of Ch.
E. Japan,31,604-612