engleski

DEVELOPMENT AND APPLICATIONS OF AUTOTUNING PID CONTROLLER

In this work the development and implementation of the autotuning PID controller is presented. Basic control algorithm applied in the controller is PID. Properties of PID algorithm and different PID tuning methods are reviewed. Original autotuning algorithm and different modifications of the algorithm are explored. Phase of preliminary identification and usage of dead time compensating controller in the framework of autotuning are proposed. The procedure of the phase of preliminary identification is derived. Proposed extensions have been checked through simulation. The extended algorithm successfully performed autotuning for various model processes. The extended autotuning algorithm has been implemented in an industrial PLC. Details of the implementation are pointed out. The implemented autotuning PID controller was tested on several laboratory processes. These tests confirm good performance of the controller, demonstrated in simulation.

PID controller; dead time compensation; autotuning controller; relay experiment; least squares method; supervision shell; simulation

nije evidentirano