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    Lambda Tuning Equations PDF

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    GMCA
    This document discusses two types of self-regulating processes: integrating processes and near-integrating processes. It provides equations to calculate the process gain, controller gain, and controller integral time for tuning a PID controller for each type of process. Key parameters in the equations include the process time constant, dead time, and lambda factor.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Lambda Tuning Equations PDF

    Uploaded by

    GMCA
    68 views4 pages
    This document discusses two types of self-regulating processes: integrating processes and near-integrating processes. It provides equations to calculate the process gain, controller gain, and controller integral time for tuning a PID controller for each type of process. Key parameters in the equations include the process time constant, dead time, and lambda factor.

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    Lambda Tuning Equations.pdf

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    This document discusses two types of self-regulating processes: integrating processes and near-integrating processes. It provides equations to calculate the process gain, controller gain, and controller integral time for tuning a PID controller for each type of process. Key parameters in the equations include the process time constant, dead time, and lambda factor.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    68 views4 pages

    Lambda Tuning Equations PDF

    Uploaded by

    GMCA
    This document discusses two types of self-regulating processes: integrating processes and near-integrating processes. It provides equations to calculate the process gain, controller gain, and controller integral time for tuning a PID controller for each type of process. Key parameters in the equations include the process time constant, dead time, and lambda factor.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    Self-Regulating Process

    Process Variable or
    Controller Output (%)
    %PV
    Kp = ∆%PV / ∆%CO
    Self-regulating process gain (%/%)

    %CO

    ∆%PV

    0.63∗∆%PV
    ∆%CO

    θp τp Time (seconds)
    dead process
    time time constant

    Lambda (closed loop time constant) is defined in terms of a Lambda factor (λf):
    λ = λ f ∗τ p
    Self-Regulating Process

    Self-Regulation Process Gain:


    ∆ % PV
    Kp =
    ∆ %CO

    Controller Gain
    Ti
    Kc =
    K p ∗ (λ f ∗ τ p + θ p )

    Controller Integral Time


    Ti = τ p

    “Near Integrating” Gain Approximation


    Kp
    Ki =
    τp
    Integrating Process

    Process Variable or
    Controller Output (%)
    %PV
    Ki = { [ ∆%PV2 / ∆t2 ] − [ ∆%PV1 / ∆t1 ] } / ∆%CO

    Integrating process gain (%/sec/%)

    %CO

    ∆%CO

    ramp rate is ramp rate is


    ∆%PV1 / ∆t1 ∆%PV2 / ∆t2

    Time (seconds)
    θp
    dead
    time

    Lambda (closed loop arrest time) is defined in terms of a Lambda factor (λf):
    λ = λ f / Ki
    Integrating Process

    Integrating Process Gain:


    ∆ % PV2 / ∆t2 − ∆ % PV1 / ∆t1
    Ki =
    ∆ %CO

    Controller Gain
    Ti
    Kc =
    K i ∗ [(λ f / K i ) + θ p ]2

    Controller Integral Time


    Ti = 2 ∗ (λ f / K i ) + θ p

    The above tuning automatically insures the following inequality is satisfied


    to prevent slow rolling oscillations from too low of a gain or integral time.
    4
    K c ∗ Ti >
    Ki

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