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Adaptive PID controller with On-Line Identification

IFAC Proceedings Volumes 2000年第4期33卷 437-442页

作者： Jiří Macháček Vladimír Bobál University of Pardubice Faculty of Chemical Technology Department of Process Control and Computer Techniques nám. Ćs. legií 565 532 10 Pardubice Czech Republic fax: (+42040) 603 7068 Brno University of Technology Faculty of Technology Zlín Department of Automatic Control nám. TGM 275 762 72 Zlin Czech Republic fax: (+42067) 721 1521

A digital adaptive PID controller algorithm, which contained on-line identification, is presented in this paper. It is performed for tree type of discrete model: second order, third order and first order with time delay. The controller parameter design is derived from the ultimate (critical) gain and ultimate period of the system. The main part of the paper consists in the simple algebraic expressions for the ultimate values computation. This procedure can be implemented on all controller design methods, which are based on the knowledge of the ultimate values, such as the well-known Ziegler-Nichols (Z-N) method.

关键词： Adaptive control PID controllers on-line control identification transfer functions simulation computer control system design

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Self-Tuning PID controllers Based on Dynamics Inversion Method

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IFAC Proceedings Volumes 2000年第4期33卷 167-172页

作者： Vladimír Bobál Petr Dostál Jiří Macháček Miluše Vitečková Department of Automatic Control Faculty of Technology Zlin Brno University of Technology nám. TGM 275 762 72 Zlin Czech Republic Phone Fax: +420 67 721 1521 Department of Process Control and Computer Techniques University of Pardubice nám. Čs. Legií 565 532 10 Pardubice Czech Republic Department of Control Systems and Instrumentation Faculty of Mechanical Engineering Technical University of Ostrava 17. Listopadu 15 708 33 Ostrava-Poruba Czech Republic

A self – tuning PID controller algorithm has been derived in this paper. The process is identified by the regression (ARX) continuous – time model using the recursive least squares method (RLSM) with applied directional forgetting. The recursive parameter estimates of the continuous – time model (differential equation) are used to synthesis the PID controller. controller synthesis is designed on the basis of a dynamics inversion method. This method allows the tuning of standard analog and digital controllers for chosen types of controlled processes without or with time delay. The algorithm is suitable for the automatic setting of analog and digital PID controllers for deterministic processes or the adaptive control of stochastic and nonlinear processes. The analog modification PID controller has been verified by computer simulation.

关键词： continuous – time ARX model recursive least squares inverse dynamics control PID control self-tuning control

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Adaptive PID controller for systems with time delay

Adaptive PID controller for systems with time delay

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1999 European control Conference, ECC 1999

作者： Machacek, J. Bobal, V. University of Pardubice Faculty of Chemical Technology Department of Process Control and Computer Techniques nám. Čs. legií 565 Pardubice532 10 Czech Republic Technical University Brno Faculty of Technology Zlín Department of Automatic Control nám. TGM 275 Zlín762 72 Czech Republic

ISBN: (纸本)9783952417355

A digital self-tuning controller algorithm for systems with time delay is presented in this paper. The controller parameter design is derived from the ultimate gain and ultimate period of the system. The main part of the paper consists in deriving the simple algebraic expressions for the ultimate values computation. It is performed for a first-order model with time delay on the basis of condition that poles of the closed loop with ultimate gain lie on the stability boundary. This procedure can be implemented on various types of controller design based on the knowledge of the ultimate values, such as the well-known Ziegler-Nichols method. © 1999 EUCA.

关键词： Time delay

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Pracfical Tuning of Industrial PID controllers

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IFAC Proceedings Volumes 1997年第6期30卷 591-596页

作者： Vladimír Bobál Jiří Macháček Roman Prokop Technical University of Brno Faculty of Technology in Zlín Department of Automatic Control Nám. T. G. Masaryka 275 762 72 Zlín Czech Republic University of Pardubice Faculty of Chemical Technology Department of Process Control and Computer Techniques Nám. Čs. legií 565 532 10 Pardubice Czech Republic

The paper deals with algorithms for auto-tuning of digital PID controllers. Tuning is based on the identification of process model parameters using recursive least squares method (RLSM) with directional forgetting. The parameters of the PID controllers are designed on the basis of modified Ziegler-Nichols method for digital control loops. The ultimate (critical) gain and period of oscillations are calculated from parameter estimates of the regression model. The relations for setting procedures in case of the 2nd and 3rd order model are relatively simple and are given in the form of analytical formulas or flow diagrams. In case of the higher order regression models the MATLAB Symbolic Math Toolbox was used. These algorithms are suitable for automatic tuning of digital PID controllers or of the adaptive control of technological processes. There has been developed the MATLAB-Toolbox ATC PID for designing, testing and simulating of auto-tuning digital PID controllers.

关键词： PID controllers stability limits recursive least squares self-tuning control computer aided design industrial control

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Tuning of Digital PID controllers Based on Ziegler - Nichols Method

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IFAC Proceedings Volumes 1997年第21期30卷 145-150页

作者： Vladimír Bobál Jinří Macháček Roman Prokop Technical University of Brno Faculty of Technology in Zlín Department of Automatic Control Nám. T. G. Masaryka 275 762 72 Zlín Czech Republic University of Pardubice Faculty of Chemical Technology Department of Process Control and Computer Techniques Nám. Čs. legií 565 532 10 Pardubice Czech Republic

A unified algorithm for auto-tuning of digital РID controllers for n-order process model have been derived in this paper. Tuning procerdure uses the identification of ARX process model parameters using recursive least squares method (RLSM) with adaptive directional forgetting. The parameter estimates serve for computing of the ultimate (critical) proportional gain and period of oscillations on the basis of modified Ziegler-Nichols method for digital control loops. The relations for setting procedures in case of the 2nd and the 3rd order model are derived in the form of analytical formulas. In case of the higher order ARX models the MATLAB Symbolic Math Toolbox was used. These algorithms are suitable for automatic tuning of digital PID controllers or of the adaptive control of technological processes. The digital PID controller with weghting factor and noise filtering constant in the derivative component has been applied for temperature control of a laboratory fermentor. There has been developed the MATLABToolbox ATC PID for designing, testing, simulating and real time of auto-tuning digital PID controllers.

关键词： PID controllers digital control stability limits recursive least squares selftuning control computer aided design

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