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1、481TUNINGPIDCONTROLLERSWITHINTEGRALPERFORMANCECRITERIAMZhuangDPAthertonUniversityofSussex,UKINTRODUCTIONCOMPUTATIONALGORITHMSProportional-Integral-Derivative(PID)controllers,Useofanintegralperformancecriterionoftenre-alsocalledthree-termcontrollers,arestillused
2、ex-sultsinabetterclosed-loopresponseofacontroltensivelyintheprocessindustriesbecauseoftheirsystemthanheuristictuningmethodssincetherobustperformanceandsimplicity.Threeparame-methodtakesintoaccountthewholetransientre-tersofaPIDcontrollermustbedeterminedtotunespo
3、nseofthesystem.Inthissectionmethodstotheprocesstoobtainasatisfactoryclosed-loopper-tunePIDcontrollersusinginteralperformancecri-formance.Thusmethodstotunetheparametersofteriaarediscussedandanew%signmethodisde-PIDcontrollersareveryimportantfortheprocessveloped.i
4、ndustries.ThebasicPIDcontrollercanbeconnectedtotheSeveralmethodsfordeterminingPIDcontrollercontrolloopasaseriescompensatorasshowninparametershavebeendevelopedduringthepastFig.1.ThegeneralformofaPIDcontrollerisfiftyyearsAstromPI.Somemethodsemployinformationabout
5、teopen-loopstepresponse,othermethodsusesomeknowledgeoftheNyuistcurveoftheplant,forexampletheZiegler-Ni%olsmethod.Thesemethodsthenuseasimpletun-whereICpistheproportionalgain,Tdisthederiva-inglawtodeterminingthePIDcontrollerparame-tivetimeconstant,andT,istheinteg
6、raltimecon-ters,howevertheyuseonlyasmallamountofin-stant.formationaboutthedynamicbehaviourofthesys-tem,andoftendonotprovidegoodtuning.ForThetransferfunctionoftheprocesscanbees-instance,thesystemresponseobtainedusingthepressedintheformZiegler-Nicholstuninglawoft
7、entendstoberatheroscillatory.Usuallythedesiredperformanceisagoodsystemstepresponseandbettermethodsofachievingcontrollerparameterstosatisfthis,suchasinteralperformancecriteria,Salemfiarepos-whereweassumethatG(s)isproperandaPad6sible,%entheplanttransferfunctionis
8、known.approximationequationisusedforanydeadtime.ThePad6approximationsusedintheproramareThepurposeofthepaperistwofold,firstwegivethoseforthesameorderinnumeratoranfdenorn-some
