CDM Based Two-Degree of Freedom PID Controllers Tuning Formulas(SCHOOL OF INFORMATION TECHNOLOGY AND ELECTRONICS)

概要

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This paper presents tuning formulas for two-degree of freedom PID controllers based on the CDM design method. The structure of the control system consists of a plant or process to be controlled, P or PI or PID controllers and a pre-filter. The tuning formulas are derived by solving CDM algebraic equations obtained from the known controllers' structures and the approximatedplant model based on the experimental test. The proposed formulas are summarized in the tuning table and can be used easily. To apply the tuning rules, the plant or process is firstly tested to find the values of critical gain and critical period experimentally in the same manner as Ziegler-Nichols' second method. The parameters of P, PI or PID controller and the associated pre-filter are then obtained by substituting those values in the formulas. The numerical examples for the first-order-lag plus dead-time plant model of the proposed control schemes are shown and compared with the well-known Ziegler-Nichols' second method as well as the PID tuning optimization technique recently proposed by M. Kotaki et al. The proposed control systems yield fast responses without overshoot and the disturbance rejection is comparatively fast. The control systems are also tested with the variations of plant's parameter and satisfactory response and disturbance rejection are obtained. Overall, the proposed formulas are well applicable despite their simplicity.