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A dead-time compensating PID controller structure and robust tuning
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DOI：10.1016/j.jprocont.2012.06.003.png)
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Abstract
En 中文
In the present paper a dead-time compensating proportional-integral-derivative (DTC-PID) controller with anti-windup action is derived. The proposed controller also can be configured as a PID controller or as a dead-time compensating PI (DTC-PI) controller. For stable, integrating and unstable processes, approximated with the first-order plus dead-time (FOPDT) model, robust tuning procedure is derived for the DTC-PI controller. Optimization of the regulatory performance of the DTC-PID controller is based on the frequency response of higher-order models, under constraints on the robustness and sensitivity to measurement noise. Excellent performance/robustness trade-off is obtained for stable, integrating and unstable processes, including dead-time, as confirmed by simulations and by experimental results obtained on a laboratory thermal process. (C) 2012 Elsevier Ltd. All rights reserved.
Keywords:
PID control
PI control
Dead-time compensation
Anti-windup
Robustness
Load and noise disturbance
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