Closed- loop tuning of cascade controllers based on set-point experiment
Abstract
This study presents online PI/PID controller tuning rules for cascade control configuration. The necessary process data are determined with the help of simple set-point experiment in a single closed loop mode with proportional controller only. The obtained process data is recorded in terms of the overshoot, controller gain, peak time, and relative output change. The data is then utilized to establish a correlation with PI/PID settings through simulations. Further, the proposed PI/PID controller tuning rule for a single loop has been extended to cascade control configuration. The inner loop controller is tuned first and then the primary loop is tuned by considering well-tuned inner loop as a part of the primary plant. Finally, simulation examples demonstrate that the proposed method is able delivers significant disturbance rejection and better set-point response when compared with the recently reported methods from the literature. The proposed method is also able to deliver stable closed-loop performances when subjected to large parametric uncertainties and measurement noise.
References
Luyben, W L .1989. Process modeling, simulation and control for chemical engineers. McGraw-Hill Higher Education.
Lee Y, Oh S, Park S .2002. Enhanced control with a general cascade control structure. Ind Eng Chem Res: 41:2679–2688. https://doi.org/10.1021/ie010157f
Chen D, Seborg DE .2002. PI/PID controller design based on direct synthesis and disturbance rejection. Ind Eng Chem Res: 41:4807–4822. https://doi.org/10.1021/ie010756m
Mellichamp, D A. Edgar, T F Seborg DE .2010. Process dynamics and control John Wiley & Sons.
Rivera DE, Morari M, Skogestad S .1986. Internal model control: PID controller design. Ind. Eng. Chem. Process Des. Dev:. 25(1):252–265
Badgwell, T. A., Pastusek, P. E., Kumaran, K., & Schmidt D .2019. Controller with Automatic Tuning and Method. US Pat Appl: 16/133,941
Anwar MN, Siddiqui MA, Laskar SH, Yadav A .2019. PIDA Controller Design for Higher Order Stable Process with Inverse Response Characteristic. International Conference on Computational and Characterization Techniques in Engineering and Sciences. India
Shamsuzzoha M .2013. Closed-loop PI/PID controller tuning for stable and integrating process with time delay. Ind Eng Chem Res: 52:12973–12992.
Jyh Cheng Jeng .2015. Closed-loop tuning of set-point-weighted proportional-integral-derivative controllers for stable, integrating, and unstable processes: A unified data-based method. Ind Eng Chem Res: 54:1041–1058. https://doi.org/10.1021/ie503398d
Ziegler JG, Nichols NB .1995. Optimum settings for automatic controllers. InTech: 42:94–100. https://doi.org/10.1115/1.2899060
Tyreus BD, Luyben WL .1992. Tuning PI Controllers for Integrator/Dead Time Processes. Ind Eng Chem Res: 31:2625–2628.
https://doi.org/10.1021/ie00011a029
Luyben WL .2001. Getting more information from relay-feedback tests. Ind Eng Chem Res: 40:4391–4402. https://doi.org/10.1021/ie010142h
Shamsuzzoha M, Skogestad S .2010. The setpoint overshoot method: A simple and fast closed-loop approach for PID tuning. J Process Control: 20:1220–1234. https://doi.org/10.1016/j.jprocont.2010.08.003
Jeng JC .2015. A model-free direct synthesis method for PI/PID controller design based on disturbance rejection. Chemom Intell Lab Syst: 147:14–29.
Jeng JC, Ge GP .2016. Disturbance-rejection-based tuning of proportional-integral-derivative controllers by exploiting closed-loop plant data. ISA Trans: 62:312–324.
Zeng D, Zheng Y, Luo W, et al .2019. Research on Improved Auto-Tuning of a PID Controller Based on Phase Angle Margin. Energies: 12:1704. https://doi.org/10.3390/en12091704
Veronesi M, Visioli A .2011. Simultaneous closed-loop automatic tuning method for cascade controllers. IET Control Theory Appl: 5:263–270.
Leva A, Marinelli A .2009. Comparative analysis of some approaches to the autotuning of cascade controls. Ind Eng Chem Res: 48:5708–5718. https://doi.org/10.1021/ie801139n
Jeng J-C, Lee M-W .2012. Simultaneous automatic tuning of cascade control systems from closed-loop step response data. J Process Control: 22:1020–1033.
Jeng JC .2014. Simultaneous closed-loop tuning of cascade controllers based directly on set-point step-response data. J Process Control: 24:652–662.
Santosh S, Chidambaram M .2019. Enhanced relay autotuning of unstable series cascade systems. Indian Chem Eng: 61:1–14.
https://doi.org/10.1080/00194506.2017.1388753
Raja GL, Ali A .2018. Modified series cascade control strategy for integrating processes. Indian Control Conf -ICC. India.
Dasari PR, Alladi L, Seshagiri Rao A, Yoo CK .2016. Enhanced design of cascade control systems for unstable processes with time delay. J Process Control: 45:43–54. https://doi.org/10.1016/j.jprocont.2016.06.008
Yin C qiang, Wang H tao, Sun Q, Zhao L .2019. Improved Cascade Control System for a Class of Unstable Processes with Time Delay. Int J Control Autom Syst: 17:126–135. https://doi.org/10.1007/s12555-018-0096-8
Uma S, Chidambaram M, Seshagiri Rao A, Yoo CK .2010. Enhanced control of integrating cascade processes with time delays using modified Smith predictor. Chem Eng Sci: 65:1065–1075. https://doi.org/10.1016/j.ces.2009.09.061
Padhan DG, Majhi S .2013. Enhanced cascade control for a class of integrating processes with time delay. ISA Trans: 52:45–55. https://doi.org/10.1016/j.isatra.2012.08.004
Astrom KJ, Hagglund T .1995. PID controllers: theory, design, and tuning. In: PID Contollers: Theory, Design, and Tuning. Research Triangle Park, NC: Instrument society of America
Shamsuzzoha M, Skogestad S .2010. The setpoint overshoot method: A simple and fast closed-loop approach for PID tuning. J Process Control: 20:1220–1234. https://doi.org/10.1016/j.jprocont.2010.08.003
Seborg, D. E., Mellichamp, D. A., Edgar, T. F., & Doyle III, F. J. 2010. Process dynamics and control. John Wiley & Sons.
Skogestad S .2004. Simple analytic rules for model reduction and PID controller tuning. Model Identif Control: 25:85–120. https://doi.org/10.4173/mic.2004.2.2
Padhan DG, Majhi S .2012. An improved parallel cascade control structure for processes with time delay. J Process Control: 22:884–898.
Concept F, Problems RS, Dependent L, Perturbations C .1989. A Generalization of Kharitonov ’ s Four-Polynomial Concept for Robust Stability Problems with Linearly Dependent Coefficient Perturbations.
Bhattacharyya SP, Keel LH .1994. Robust Control: The Parametric Approach. IFAC Proc V. https://doi.org/10.1016/S1474-6670(17)45891-5
Kaya İ, Nalbantoglu M .2016. Simultaneous tuning of cascaded controller design using genetic algorithm. Electr Eng: 98:299–305. https://doi.org/10.1007/s00202-016-0367-4
Alfaro VM, Vilanova R, Arrieta O .2009. Robust tuning of Two-Degree-of-Freedom (2-DoF) PI/PID based cascade control systems. J Process Control: 19:1658–1670. https://doi.org/10.1016/j.jprocont.2009.08.006
Azar AT, Serrano FE .2014. Robust IMC–PID tuning for cascade control systems with gain and phase margin specifications. Neural Comput Appl: 25:983–995. https://doi.org/10.1007/s00521-014-1560-x
