Abstract
This work presents an approach for PID control and optimization in a distributed system, using the IEC 61499 control standard. This standard enables communication among different PLCs, which are used to develop a three-layered event-driven control of a SISO loop. The lowest layer is in charge of cyclical data acquisition. The second layer carries out an event-based PID control. The highest layer runs a control optimization algorithm, specifically a simple tuning approach based on Ziegler-Nichols that is used to determine the PID parameters for different operating points. The proposed approach is assessed in a tank level SISO control problem, whose behavior can be modeled as a first-order plus dead time system in each operating point. For that purpose, it has been implemented using two PLCs and a software PLC running on an industrial computer. The experimental results on the SISO level control loop show the feasibility of the proposed approach for event-driven control in a distributed system and open interesting research questions in the intersection of controller design and distributed automation.
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