PID Controller Tuning Based on the Classification of Stable, Integrating and Unstable Processes in a Parameter Plane
نویسندگان
چکیده
Classification of processes and tuning of the PID controllers is initiated by Ziegler and Nichols (1942). This methodology, proposed seventy years ago, is still actual and inspirational. Process dynamics characterization is defined in both the time and frequency domains by the two parameters. In the time domain, these parameters are the velocity gain Kv and dead-time L of an Integrator Plus Dead-Time (IPDT) model GZN(s)=Kvexp(-Ls)/s, defined by the reaction curve obtained from the open-loop step response of a process. In the frequency domain these parameters are the ultimate gain ku and ultimate frequency ωu, obtained from oscillations of the process in the loop with the proportional controller k=ku. The relationship between parameters in the time and frequency domains is determined by Ziegler and Nichols as
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