Practical PID Handbook , livre ebook
420
pages
English
Ebooks
2022
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420
pages
English
Ebooks
2022
Obtenez un accès à la bibliothèque pour le consulter en ligne En savoir plus
Publié par
Date de parution
17 mars 2022
EAN13
9782759826094
Langue
English
Poids de l'ouvrage
71 Mo
Publié par
Date de parution
17 mars 2022
EAN13
9782759826094
Langue
English
Poids de l'ouvrage
71 Mo
Current Natural Sciences
Daniel LEQUESNE
PracticalPIDHandbook
A U T O M AT I C
A U T O M AT I C
ISBN : 978-2-7598-2608-7
9 782759 826087
Current Natural Sciences
PracticalPIDHandbook
Daniel LEQUESNE
A true practical guide, this book brings together all elements
necessary for the practice ofPIDcontrol in industries.
The first part presents the different characteristics of the
PIDcontinuous, digital, architectures, realization controller:
algorithms implementation.
The second part describes different adjustment methods that
are practiced in the industry, all illustrated with numerous
response curves to show their specificities.
We will also find elements concerning simple methods, often
graphic, to identify the usual processes to be controlled, without
identification software.
The book is intended to be practical with many summary tables,
for immediate use of knowledge with as few calculations as
possible.
This book is aimed at students wishing to learn the practice of
PIDcontrol, as well as teachers, engineers and technicians of
the profession.
Daniel LEQUESNEhis work in speed variation as a began
business engineer for Alstom. He continued in instrumentation
and process control with Emerson Process Management, before
devoting himself to the vocational training of adults in automatic
and industrial computer science.
www.edpsciences.org
Current Natural Sciences
Daniel LEQUESNE
PracticalPID
Handbook
Printed in France
EDP Sciences–ISBN(print): 978-2-7598-2608-7–ISBN(ebook): 978-2-7598-2609-4
DOI: 10.1051/978-2-7598-2608-7
All rights relative to translation, adaptation and reproduction by any means whatsoever
are reserved, worldwide. In accordance with the terms of paragraphs 2 and 3 of Article 41
of the French Act dated March 11, 1957,“copies or reproductions reserved strictly for
private use and not intended for collective use”and, on the other hand, analyses and
short quotations for example or illustrative purposes, are allowed. Otherwise,“any
representation or reproduction–whether in full or in part–without the consent of the
author or of his successors or assigns, is unlawful”(Article 40, paragraph 1). Any
representation or reproduction, by any means whatsoever, will therefore be deemed an
infringement of copyright punishable under Articles 425 and following of the French
Penal Code.
Science Press, EDP Sciences, 2022
Preamble
Proportional Integral Derivative (PID) control is a technique that is well known and
widely used in the industrial world. Many authors agree that more than 90% of
control loops are of thePIDtype.
It is an old technique that has continued to evolve over more than 70 years: from
pneumatic controllers (nozzle-pallet system) through electronic controllers
(operational amplifiers) to programmable digital controllers (microprocessors):
programmable logic controller (PLC), distributed control systems (DCS).
During this development, many adjustment methods were developed: the first
dates back to 1935 (Callender, Hartree and Porter), and especially to 1942 (Ziegler
and Nichols), and the very way of approaching adjustment has been structured over
the years.
One might therefore think thatPIDtuning is well mastered: it is not the case. It
is estimated that only 20% of loops work well (Yu,2006). In many cases the
controllers operate manually, or the derivative action is not used or a manufacturer
default setting is used. There are several reasons: there are difficulties due to the
equipment (imperfection of sensors and actuators such as valves, for example). But
we must also add a too weak dissemination of knowledge in the industrial
environment linked in particular to the dispersion of the many articles, books, and
publications on the subject, to their spread over decades, and to the gap that still
remains between theory and practice.
This book aims to put theory at the service of practice by providing a minimum
base of knowledge to usePIDcontrol in the field, with similar approaches, notations,
and criteria for comparison and evaluation of performance obtained, in order to have
a better global view of the issue.
In this book, the processes and controllers are described by transfer functions
with Laplace notation.
The book is divided into 2 parts and can be addressed to several audiences.
DOI: 10.1051/978-2-7598-2608-7.c901
Science Press, EDP Sciences,2022
IV
Preamble
The first part concerns the main properties of aPIDcontroller with its different
aspects (continuous, digital) as well as the basic concepts for the use ofPIDcontrol.
The first chapter recalls the characteristics of thePIDcontroller. These are the
usual notions concerning the continuousPID, also called“analogue”, with the basic
actions: gain, integral derivative. Its different structures (parallel, mixed, series, with
actions on deviation or measurement) and also structure conversions are addressed.
This is a must-see chapter.
Chapter2concerns the digitalPIDresulting from the discretization of the
continuousPID. It is a sampled controller that uses thez-transformation: the concepts
of gain, integral, derivative disappear or at least are no longer available: the
adjustment is obtained by calculating the coefficients of the sampled transfer
function of the controller that can be written in two ways (PIDand RST).
You will find the correspondence tables to go from continuous to digital.
This chapter is necessary for the implementation of controllers and the use of the
digital adjustment methods (chapter11). It can be omitted if only the classic setting
is considered.
Chapter3discusses the implementation of controllers in terms of pseudo-code
realization algorithms, close to implementation, with the 2 forms,PIDand RST. It
is typically aimed at IT developers by offering simple algorithms as the bases of the
computer development forPIDcontrollers. The issues of limitations and integral
saturation (anti windup) are also discussed.
Chapter4may appear irrelevant as it concerns the process models used in the
setting. This is important, however, because in spite of model-free methods, most of
the settings methods refer, near or far, to a model for the process. Here, we discuss
only simple, often graphic methods to identify the process to be controlled, without
using identification software.
This chapter is intended only for the practitioner wishing to identify his process in
a simple way. It can be omitted in a first reading.
Chapter5outlines the main elements defining a setting, as well as different
criteria used to characterize them. It is essential, because it contains concepts, terms
and symbols commonly used in the literature and throughout the rest of the book.
Part 2 focuses on adjustment methods for manual tuning. They are categorized as
follows:
o Chapter6: Ziegler–Nichols and Associated Methods
o Chapter7: Cancellation Methods
o Chapter8: Optimization Methods
o Chapter9: Pole Placement Methods
o Chapter10: Frequency Methods
o Chapter11: Digital Settings Methods
All these methods are exposed from the principles to the final use in the industrial
area. They are always illustrated with numerous examples to show their specificity
and performances obtained.
The last chapter deals with the practical reality of the setting with the
consideration of constraints: limitations, non-linearities, sampling period, influence of the
model and the parameters of identification of the process.
Preamble
V
Questions of choice (structures, methods) are also addressed.
This is an important chapter that will allow any automation engineer, specialist
or not, to better understand the performances that can be expected fromPID
control.
Finally, the usual ingredients can be found in the appendix to save time in making
use of a method: classic curves concerning the systems of the 1st and 2nd orders,
conversion of models, conversion from continuous to digital models, and particular
points.
This book is above all a practical guide. There are indeed many examples and
summary tables allowing immediate use of knowledge, with as less calculations as
possible to facilitate the practice ofPIDcontrol.
The book aims to be useful to a wide spectrum of readers interested inPID
control ranging from practising technicians and engineers in the industrial area to
graduate and undergraduate students.
Contents
Preamble. . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . .
CHAPTER 1
Main Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Context. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3PIDActions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 ProportionalAction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2 IntegralAction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.3 DerivativeAction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 DifferentTypes ofPID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 EquivalenceofPID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 Mixed↔Parallel Conversion. . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.2 Mixed↔Series Conversions. . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.3 Parallel↔Series Conversions. . . . . . . . . . . . . . . . . . . . . . . . .
1.5.4 SummaryTables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.5 Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6PID: Frequency Response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.1 SeriesPID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
