Abstract
PID controller is a popular control method still widely used in process industry. In literature there are model/non-model based calculation methods for PID parameters. However, a model based analytic formulation in compact form in discrete time has not been come across yet. This study presents a new approach for calculation of PID parameters with model based analytic formulation (MBCF), which is presented uniquely in this paper, in compact form, in discrete time. Furthermore, a procedure for implementation of the proposed formulas is given in four stages. The formulations in related literature for PID parameter calculation are all derived for continuous time. Therefore, extra transformations are required for a discrete time design. The proposed MBCF formulation method reduces extra calculation burden and simplifies calculation complexity. Moreover, this method provides a direct calculation method for digital PID controller design in discrete time. The derived expressions in this study also provide a fast, easy-implemented, and practical PID parameter calculation method for all field researchers and application engineers. The validation of proposed MBCF formulations are comparatively proved with the simulations and the real time application results. DOI: http://dx.doi.org/10.5755/j01.eee.20.3.4415
Highlights
Proportional-integral-derivative (PID) controllers have been widely used and are essential elements in industry especially in process control applications [1], [2]
In [14]–[16] a tuning formula derived for PID parameter calculation by using phase and gain margins for only continuous time is presented
This study presents a new approach for discrete time PID parameters calculation with model based compact form (MBCF) formulations according to determined performance criteria
Summary
Proportional-integral-derivative (PID) controllers have been widely used and are essential elements in industry especially in process control applications [1], [2]. No model based compact form formulations for PID parameter calculation has not been presented yet in discrete time. In [14]–[16] a tuning formula derived for PID parameter calculation by using phase and gain margins for only continuous time is presented These formulations are derived for a specific plant, and are not generalized for all types of systems. This study presents a new approach for discrete time PID parameters calculation with model based compact form (MBCF) formulations according to determined performance criteria. These MBCF formulations are based on the relationship between the open and closed loop transfer functions.
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