El Nuevo Metodo De Entonación De Un Control Pid Amigo

Ala Eldin Awouda & Rosbi Bin Mamat

New PID Tuning Rule Using ITAE Criteria
Ala Eldin Abdallah Awouda
Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Johor, 83100, Malaysia rosbi@fke.utm.my

Ala_awouda@yahoo.com

Rosbi Bin Mamat
Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti TeknologiMalaysia, Johor, 83100, Malaysia

rosbi@fke.utm.my

Abstract

This paper demonstrates an efficient method of tuning the PID controller parameters using the optimization rule for ITAE performance criteria. The method implies an analytical calculating the gain of the controller (Kc), integral time (Ti) and the derivative time (Td) for PID controlled systems whose process is modeled in first orderlag plus time delay (FOLPD) form. Firstly A mat lab program with objective function is written to find the optimum value for the PID controller parameters which can achieve most of the systems requirements such as reducing the overshoot, maintaining a high system response, achieving a good load disturbances rejection and maintaining robustness. The objective function is selected so as to minimizethe integral of Time Absolute Error (ITAE) performance index. Using crave fitting technique, equations that define the controller parameters is driven. A comparison between the proposed tuning rules and the traditional tuning rules is done through the Matlab software to show the efficiency of the new tuning rule.
Keywords: ITAE criteria; AMIGO; Z-N tuning rule; PID;

1. INTRODUCTIONControlling the process is the main issue that rises in the process industry. It is very important to keep the process working probably and safely in the industry, for environmental issues and for the quality of the product being processed. In order for the controllers to work satisfactorily, they must be tuned probably. Tuning of controllers can be done in several ways, depending on the dynamics desiredstrengths of the system, and many methods have been developed and refined in recent years. The proportional-integral-derivative (PID) controller is widely used in the process industries. The main reason is their simple structure, which can be easily understood and implemented in practice. Finding design methods that lead to the optimal operation of PID controllers is therefore of significantinterest. It has been stated, for example, that 98% of control loops in the pulp and paper industries are controlled by PI controllers (Bialkowski, 1996) and that, in more general process control applications, more than 95% of the controllers are of PID type (Åström and Hägglund, 1995). In order for the PID controller to work probably it has to be tuned which mean a selection of the PID controllerparameters has to be made [8]. The requirement to choose either two or three controller parameters has meant that the use of tuning rules to determine these parameters is popular. There are many tuning rules for the PID controller as it has been noted that 219 such tuning rules in the literature to specify the PI controller terms, with 381 tuning rules defined to specify the PID controller parameters(O’Dwyer,

International Journal of Engineering (IJE), Volume (3 ), Issue (6 )

597

Ala Eldin Awouda & Rosbi Bin Mamat

2003), Though the use of tuning rules is practically important [3, 11]. Even though, recent surveys indicate, 30 % of installed controllers operate in manual, 30 % of loops increase variability, 25 % of loops use default settings and 30 % of loops have equipment problems[1, 10]. Most PID tuning rules are based on first-order plus time delay assumption of the plant hence cannot ensure the best control performance. Using modern optimization techniques, it is possible to tune a PID controller based on the actual transfer function of the plant to optimize the closed-loop performance. In this paper optimization method is being used to obtain PID controller...