PIDCONA - A COMPLETE AUTOTUNING PID CONTROLLER

摘要

Autotuning has been developed for a PID controller in a distributed control system (ABB Master). Ease of use has been heavily emphasized. The use of dominant pole placement as design method permits the user to specify the demands on the control loop very naturally. Its use in conjunction with recursive identification also allows adaptive control. The autotuning sequence is performed without giving any pre-tuning parameters. It contains initial phases to determine the time scale of the process and a final phase to verify the obtained setting. Examples illustrate that the user choices have the desired effect on robustness, speed and disturbance reduction. Practical experiences show good results.