3/22/2006

BAE 3023

1
6

Controller Tuning

Quarter Decay Ratio and Integral Error Tuning

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Quarter Decay Ratio Response

BAE 3023

2
6

Quarter Decay Response:

Response

A 0.25 A

Time (s)

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Quarter Decay Ratio Method

BAE 3023

3
6

Field Tuning of a controller by Quarter Decay Ratio Method Uses field method to determine Kcu and Tu (Similar to Direct Substitution)

Quarter Decay Ratio Field Method Turn OFF integral and derivative controller action Make sure controller is in closed loop mode Increase Kc setting until controlled variable oscillates with steady amplitude Gain setting Kc = Kcu Measure period as Tu Use table 7-1.1 to find controller settings (Ziegler-Nichols)

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Quarter Decay Tuning by Model

BAE 3023

4
6

Quarter Decay Ratio Tuning by system model Find a first order plus dead time model for the system Ke st0

G (s)

s 1

Use step test or First Principals Model Use System ID methods described earlier

Note:
For higher order overdamped systems, if one of the time constants is much longer than the others, an effective model can be formed with the time constant of a first order model equal to the longest time constant and the dead time as the sum of the remaining time constants (and dead time)

Use table 7-2.1 to determine controller settings

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BAE 3023

5
6

Controller performance specification criteria

Integral of resulting error is a criteria - lower = better
IAE - Integral of absolute error ISE - Integral of square error (emphasizes large errors) ITAE - Integral of absolute error * time (emphasizes time) ITSE - Integral of square error * time (emphasizes time and large errors)

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Minimum Error Integral Tuning

BAE 3023

6
6

Minimum Error Integral Tuning Method Find a first order plus dead time model for the system Use previous note for higher order overdamped systems Select integral error criteria Determine if optimizing for load changes or setpoint changes Use table 7-2.2 to determine controller settings for loads Use table 7-2.3 to determine controller settings for set-points