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    PC6 Controller Tunings

    Uploaded by

    Wai-Yen Chan
    1. The document describes level control and temperature control using a PI controller in a process control system. 2. For level control, it derives necessary and tuning conditions for stability that relate the process time constants, controller gains, and closed loop poles. Condition (e) provides a tuning formula relating the process and controller time constants. 3. For temperature control, it similarly derives necessary conditions and a tuning procedure relating the process parameters, controller gains, and closed loop poles to ensure stability. The procedure involves first selecting a damping factor and natural frequency, then calculating the other parameters.

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    © All Rights Reserved
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    PC6 Controller Tunings

    Uploaded by

    Wai-Yen Chan
    10 views3 pages
    1. The document describes level control and temperature control using a PI controller in a process control system. 2. For level control, it derives necessary and tuning conditions for stability that relate the process time constants, controller gains, and closed loop poles. Condition (e) provides a tuning formula relating the process and controller time constants. 3. For temperature control, it similarly derives necessary conditions and a tuning procedure relating the process parameters, controller gains, and closed loop poles to ensure stability. The procedure involves first selecting a damping factor and natural frequency, then calculating the other parameters.

    Original Description:

    ASE-1256

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    1. The document describes level control and temperature control using a PI controller in a process control system. 2. For level control, it derives necessary and tuning conditions for stability that relate the process time constants, controller gains, and closed loop poles. Condition (e) provides a tuning formula relating the process and controller time constants. 3. For temperature control, it similarly derives necessary conditions and a tuning procedure relating the process parameters, controller gains, and closed loop poles to ensure stability. The procedure involves first selecting a damping factor and natural frequency, then calculating the other parameters.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    10 views3 pages

    PC6 Controller Tunings

    Uploaded by

    Wai-Yen Chan
    1. The document describes level control and temperature control using a PI controller in a process control system. 2. For level control, it derives necessary and tuning conditions for stability that relate the process time constants, controller gains, and closed loop poles. Condition (e) provides a tuning formula relating the process and controller time constants. 3. For temperature control, it similarly derives necessary conditions and a tuning procedure relating the process parameters, controller gains, and closed loop poles to ensure stability. The procedure involves first selecting a damping factor and natural frequency, then calculating the other parameters.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 3

    Level Control in PC6

    Denote a

    with b . The closed loop tf Qh (s ) is

    1 s Ta 1 b
    1 s Tb s s
    1 s Ta 1 b
    1 K
    1 s Tb s s
    K

    Qh ( s )

    K (1 sTa ) b
    (1 s Tb ) s 2 K (1 s Ta ) b

    bKTa s bK
    Tb s s 2 bKTa s bK

    Qh ( s )

    bKTa
    bK
    s
    Tb
    Tb
    1 2 bKTa
    s
    s
    Tb
    Tb

    s3

    bK
    Tb

    The charpo supplied (available) is

    bKTa
    s
    Tb

    1 2
    s
    Tb

    ( s) 1 s 3

    bK
    Tb

    (supply)

    This monic 3rd order polynomial has three roots. For stability each of them should have a
    negative real part. Of the roots either a root is a real number or all three are real numbers.
    Nevertheless, let a real root be the negative number 1 / T2 due a positive time constant T2 .
    The two other roots are either two real numbers or two non-real complex conjugate numbers
    due to real values of the polynomial coefficients. Present them indirectly through a positive
    damping factor
    and a positive natural angular frequency n . Here stability requires

    0 and considering negative values of

    consider a positive
    positive
    d

    would be redundant. Hence we should

    only. Then a necessary and sufficient condition for stability is a

    . We may write the monic charpo requested or demanded as

    ( s ) 1 ( s 1 / T2 ) ( s 2

    with T2

    0 ,

    (2

    2
    n

    (demand)

    0 . Expanding this yields

    0 and

    ( s) 1 s 3

    1 / T2 ) s 2

    2
    n

    2
    n

    / T2 ) s

    / T2

    (demand)

    The monic supply s meets the monic demand d if and only if the corresponding
    coefficients of them for each power match with each other. Since the polynomials are monic
    this occurs automatically for the 3rd power while for lower powers we present requests (a),
    (b) and (c) shown below:

    s 2 : 1 / Tb

    s0 :

    s1 :

    bK
    Tb

    bKTa
    Tb

    1 / T2

    2
    n

    Tb

    T2

    1
    2

    1 / T2

    2
    Tb
    n
    b T2

    T2
    1 2 n T2

    1
    b 1 2

    2 / T2 )

    2
    n

    (a)

    (b)

    n 2

    (c)
    1

    Condition (c) can be found an equivalent due to Condition (b),

    Ta

    2
    n
    n

    T2

    2 / T2 )

    (d)

    Condition (d) implies the tuning formula (e),

    Ta

    T2

    2 /

    (e)

    Use (a), (b) and (e) for tuning.


    Temperature control in PC6
    The process tf is here of the form

    GT ( s )

    (f)

    a1 s a 2

    The charpo of the closed loop system supplied due to use of an ideal sensor and PI
    controller is
    s

    ( s) 1 s 3

    a1 s 2

    (a2

    c KP ) s

    c KI

    (g)

    Denote a real stable root of this by ( p ) due to a positive parameter p . Present the two
    other roots, either two real numbers or two non-real complex conjugate numbers, again
    indirectly through a positive damping factor
    and a positive natural angular frequency n .
    Reasoning like above for level controller yields here the conditions and the results shown
    below:

    a1

    a2

    2
    n

    cK P

    cK I
    Here

    2
    n

    and

    KI

    2
    n

    (h)

    p a2

    c
    (a1

    KI

    2
    2
    n

    KP

    a1

    2
    n

    (i)
    (j)

    must be chosen first and to imply a positive p . This occurs if and only if

    a1
    2

    (k)

    The tuning procedure might be:


    1. Select a positive damping factor

    2. Select a positive natural angular frequency

    such that

    a1
    2

    (2)

    3. Calculate p from (h).


    4. Calculate K P from (i).
    5. Calculate K I from (j).

    Remark. For 0

    1 the two roots specified together by


    and
    conjugate roots with the common real part (
    n ) which then satisfies
    a1
    2

    are complex

    (l)

    This means the two roots must be right enough.

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