Design of a data-oriented multivariable PID controller and its application

摘要

PID control has been applied in many real systems. The control performance strongly depends on the PID parameters. Although, some schemes for tuning PID parameters have been proposed, these schemes require system parameters which are estimated by system identification in order to calculate PID parameters. Moreover, most process systems in the real world are multivariable systems which have interaction from each of their respective inputs. On the other hand, while data-oriented controller design schemes represented by VRFT or FRIT have received much attention in the last few years. These methods are able to calculate control parameters using closed-loop data, and can be expected to reduce computational costs accordingly. However, these methods have not been extended to MIMO systems. In this paper, a type of data-oriented multivariable PID controller using closed-loop data is proposed. According to the proposed method, full matrices of PID parameters which suppress mutual interaction are calculated based on the implicit GMVC. Furthermore, the control performance can be suitably adjusted by user-specified parameters. The effectiveness of the proposed method is numerically and experimentally evaluated.