Design of robust pid parameters for distributed parameter processes

摘要

A design method is proposed for a two disk type mixed sensitivity problem for a distributed parameter system whose transfer functions become transcendental functions. The controller is assumed to be PID type. In this paper, a method of systmeatical design of robust controllers in visualized manner is proposed. The gains of the controller are treated in a parameter plane where three inequality conditions - one regarding stability and two regarding sensitivity and complementary sensitivity functions - are plotted. An intersection of these three areas satisfies the given robust conditions and stability condition. As this method essentially requires only the frequency response data and not necessarily requrie an exact mathematical model, thus it is versatile and applicable to practical problems. A heat exchanger is taken as an example of a distribution parameter process. By the experiment of the process with disturbances or parameter changes, we donfirm the robustness of the controler designed by this method. Copyright ~direct 2000 IFAC