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ooos1098(95)00105-0
Development
ERIC POULIN,?
ANDRE
ANDRE
DESBIENSt
and DANIEL
and
HODOUINS
Abstract-This
paper describes the design of a practical
auto-tuning and adaptive single-input-single-output
(SISO)
PID controller (AAC). The AAC can control processes with
stable and unstable zeros, processes with an integrator,
unstable processes and standard aperiodic processes. It uses
an explicit identification
with a recursive parameter
estimation of a second-order
with delay model. The
regulator tuning methods are based on an approximate
minimization of the ITAE criterion by applying pole-zero
cancellation, phase margin and maximum peak resonance
specitications, with special considerations for delays, unstable
zeros and poles. The data filtering, the identification, the
tuning mechanism and the supervisory shell are described.
Useful guidelines for PI and PID tuning for SISO processes
are given. The AAC performances are compared using a
benchmark test with commercial adaptive PID controllers:
Foxboro 76OC, Fisher DPR 910 and Leeds & Northrup
Electromax V.
1. INTRODUCIION
Unpredictable
changes in processes dynamics
lead to poor control performances if controller
parameters are not properly adapted. Some of
these changes arise from nonlinearities, process
aging, production strategy changes, raw material
property modifications and changes over equipment maintenance cycles. Adaptive control is
widely discussed in the literature, and reviews of
the evolution of adaptive control algorithms and
products have been given by Astrom (1987),
Keyes and Kaya (1989), Chan (1991) and
Astrom et al. (1993). Comparative studies of
commercial and academic controllers have been
presented
by Nachtigal (1986), Minter and
*Received 26 August 1994; revised 17 March 1995;
received in final form 20 June 1995. This paper was not
presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor
P. J. Gawthrop under the direction of Editor C. C. Hang.
Corresponding author Dr %ic Poulin. Tel. +l 418 656 2131
E-mail
Fax
+l
3159;
4785;
418
656
ext.
Eric.Poulin@gel.ulaval.ca.
t Departement
de Genie filectrique, Universite Laval,
Sainte-Foy, Quebec, Canada GlK 7P4.
$ Departement de Mines et Metallurgic, Universite Laval,
Sainte-Foy, Quebec, Canada GlK 7P4.
parameter
estimation;
72
FILTERING
IDENTIFICATION
DIGITAL HP
DIGITAL LP
A second-order
- + bzzm2 -d
z
+ a,Z-2
Gil(Z)= 1 +a,z-
Fig. 1. Data filtering
for identification.
where
(1)
of sampling
Auto-tuning
periods
estimated
at the auto-tuning
step
(Section 5). The identification is based on the
damped least-squares (DLS) algorithm, which is
an extended version of the recursive simple
least-squares (RLS) algorithm. The DLS algorithm is more appropriate for adaptive control,
since it weights increments of the estimated
parameter vector. This gives more control on the
adaptation rate. The DLS criterion is
J(6)= i
rk[y(k)
CpT(k)ii(t)]2
k=r-N
II&(0@(0
- &t - 1))11.
(2)
a&)
. . . %(f)l*
(3)
- 1) - i& - 2)],
(4)
K(t) =
P(t) = $j
P(t - l)cp(t)
A(?) + cp(t - l)P(t - l)cp(t - 1)
P(t) -
P(t)cp(t - 1)&t
- l)P(t)
(5)
(6)
P(t) = P(t - 1)
_ 2 P[_& - l)r$:P;_*(t - l)(Y@)
1 + rTPi_,(t - l)ricYi(t)
i=l
(7)
PJ(t - 1) = P[_l(f - 1)
_ Pi_,(t - l)rirFP:_I(t - l)al(t)
1 + rTPf-I(t - l)riaI
(8)
(9)
...
O]=,
(10)
and
a:(t) =
a&) - A(+#
A(t)
normalization
constant
factor;
trace through
a variable
information measurement
tation on and off;
stability/instability
parameter
forgetting
check;
(12)
where
Os/J.l,
To>O.
(13)
(14)
- 1)
(11)
73
4. CONTROLLER
TUNING
G&)=-=E(s)
K, (1 + 7$)(l+
TTi
1+&s
Tds)
(15)
E. Poulin et al.
74
where
E(s) = R,(s) - Y(s),
R,(s) = $$)
(16)
f
G,(z) =
1 -p
I-pz-
Po+p,Z-'p*Z-2
l-z-
(17)
with
Kpeeas
= (1 + T,s)(l + T2s) J
q4s)
T 55%
(22)
(18)
PI =K,
(19)
p2= K$
p
(20)
e-7;7;.
(21)
G,,(s) =
&.
c
180
180
?r
Table
1. AAC
PID tuning
cases
CCW
7;
1
2
3
4
T,lK,(T + 6)
r,
0.2Tz
T,,IK,V, + 6)
T,IK,(T, + 6)
T,IK,(T, + 27;,+ 6)
T,
TI
T,
T?
r,
T, 21(0.27, + 8)
7;
5
6
-s,T,lK,
-3.53/K,
2.5 wm..lKp
7;,
?;~T,l(r, +2U
4m+
6)
l.?T,-4(T,+8)
0.27,
processes is
i? 5Tz.
(25)
,E(T), z dr.
I0
(26)
Auto-tuning
Specifications.
l
processes
75
(- Tos)e-
+ T,s)
(31)
(1 + T$)(l
processes is
180
A@ = 180 - 7r
s
T,+a+T,
+tar-
(27)
(t,+2To+S)
1
(32)
Case 3
K,(l + Td)e-&
G,(s) = (1 + T,s)(l + T,s)
Case 5
To > O.
t2*)
processes is
(;+&).
(29)
It decreases
with increasing delay S. For
processes without delay, the minimum phase
margin is A@i = 90, and decreases to A@min=
60 for processes with delay S = Tl.
- lK,epS
G(s) = (1 + T,s)(l + T2s)
O.l6T,i(T,+
S)10.3T,.
(33)
Case 4
K,(l - Tos)ewSs
GP(s) = (1 + T,s)(l + T2s)
(34)
To *
(30)
Case 6
Specifications.
l
The adaptation of the internal model controller (IMC) design with dynamics similar to
E. Poulin et al.
76
G,(s)= ~(1
+ T,s)
(36)
7;(6 + 0.2T,)
6. TESTS
AND
COMPARISONS
5. AAC AUTO-TUNING
The controller
recursively
identifies
the
parameters of a second-order model with the
instrumental variable algorithm. The PID para-
Auto-tuning
77
I.
::
70 -
..
:
ti5-
t
:
..
_ . .._
. .._.______..~~
____._. . . . . --?
__,___,_____
,._. _...~-.,-..~-,------,::
20
40
60
SO
TIME
100
120
140
MO
20
40
M)
80
TTME
CW3JNDS)
,@I
,u)
140
,a
180
(SECONDS)
Process D:
and is
for five
-2s
+ 4s) ;
(38)
Process B:
(1 + 20s)eW2
Gr(s) = (1 + lOs)(l + 4s) ;
(39)
(1 - lOs)e-a
Gp(s) = (1 + lOs)(l + 4s) ;
(40)
Process C:
(41)
Process E:
G,(s) =
(42)
s(1 + 4s).
Process A:
-1
Gp(s) = (1 - lOs)(l + 2s) ;
for Process A,
Controller
K,
7;
Td
Tf
ITAE
Controller
K,
?;
AAC
Fisher
Foxboro
L&N
1.12
1.67
1.47
0.89
11.23
18.8
12.0
9.2
1.90
3.03
1.8
3.6
0.49
1.00
1063
2571
1459
1560
AAC
Fisher
Foxboro
L&N
1.07
0.31
0.10
0.51
11.95
8.20
5.4
5.53
Td
2.21
1.29
0.53
12.6
for Process B,
Tf
ITAE
28.03
20.00
1853
8 763
24 275
5 531
78
:./
30
15
0
50
loo
TIME
Fig. 4. Set-point
Table
4. PID
150
200
(SECONDS)
settings
and
iI
ITAE
Test 1
criterion
C: AAC
for
(-):
Process
C.
Controller
K,
7;
Td
7;
ITAE
AAC
Fisher
Foxboro
L&N
0.23
0.30
0.70
0.95
10.61
42.40
30.60
13.90
2.2 I
6.74
3.62
6.00
2.88
-3.00
8 403
89517
23 954
392 150
70
65
20
40
&ONDS)
80
100
120
TIME
TIME
Fig. 5. Set-point
Table
5. PID
change
settings
(SECONDS)
and
D: AAC
ITAE
Test 1
criterion
7;
~
-
Controller
K,
7;
AAC
Fisher
Foxboro
L&N
3.17
3.37
16.20
8.80
for Process
(-);
D.
Fig. 6. Set-point
Table
6. PID
change
settings
and
ITAE
Test 1
criterion
E: AAC
for Process
ITAE
Controller
K,
7;
Td
Tr
ITAE
1591
2147
AAC
Fisher
Foxboro
0.45
0.49
14.74
8.70
3.51
2.2
0.7
-
2484
3544
-
L&N
(-):
E.
Auto-tuning
79
lOs+l]
I
0
20
40
a0
TIME
80
:&OF& 140
I
160
180
200
(4.4)
+ 4s)
2s).
(45)
Test 3 combines disturbance rejections, parametric variations (gain) and set-point tracking to
accelerate
controller
returning.
The analog
process is presented in Fig. 9. There are step
disturbances
acting
at different
locations.
Disturbance
A is completely filtered by the
0I
20
&ONDS)
80
40
100
I
120
TIME
z
380
440
500
560
620
680
740
Event
Auto-tuning phase
Disturbance B: -10%
Gain variation: l-2
Set-point change: 40-50%
Set-point change: 50-40%
Disturbance B: +lO%
Gain variation: 2-3
Set-point change: 40-50%
Set-point change: 50-4096
Disturbance A: -10%
Gain variation: 3 to 4
Set-point change: 40-50%
Set-point change: 50-40%
Disturbance A: +lO%
80
,,--.
0
TIME
Fig.
10. Fixed-mode
output
I
loo
200
(SECONDS)
ml
400
TIME
controller
response-Test
(-): controller
output (..).
3: process
Fig.
12. Fisher
Fig.
13. Foxhoro
500
600
700
800
(SECONDS)
response-Test
3: process
controller
output (..).
output
(-):
output
(--):
80,
0'
0
I-
100
ZM)
300
TIME
Fig.
Il.
AAC
400
500
._
Mx)
700
,._.
800
I
100
(SECONDS)
response-Test
3: process
controller
output (..).
response-Test
3: process
controller
output (.).
200
1W
(-):
5W
703
8Cnl
& Northrup
response-Test
3: process
(-); controller
output (..).
output
TIME
output
400
60l
(SECONDS)
Auto-tuning
iz
120
180
240
300
360
440
500
580
640
01
0
Fig.
100
15. AAC
200
81
REFERENCES
Event
Auto-tuning phase
Disturbance B: -10%
Gain variation: 1-2
Disturbance B: +lO%
Disturbance B: -10%
Gain variation: 2-3
Disturbance B: +lO%
Disturbance A: -10%
Gain variation: 3-4
Disturbance A: +lO%
Disturbance B: -10%
Disturbance B: +10%
TIE(SECo%)
so0
response-Test
4: process
controller output (..).
600
output
I
700
(-);
The development
and evaluation
of an
auto-tuning and adaptive controller (AAC) has
been presented. The performance of the AAC
relies heavily on three elements: efficient data
filtering, supervision of the identification procedure and proper tuning rules. The data filtering
is the basis for good identification.
The
supervisory shell for the identification procedure
is essential to provide a suitable model to the
tuning system. Proper
tuning rules permit
control of a wide range of processes with a PID
controller. The AAC auto-tuning function and
adaptive performances have been compared with
commercial PID controllers (Fisher DPR 910,
Foxboro 760C and Leeds & Northrup Electromax V), and have generally given better results.
82
0989).
squares
Can. J.
138,74-84.