PID

- 1385

!

.

-
2

PID

:
.
t

de
1
u (t ) = K c e(t ) + e( s )ds + Td
Ti 0
dt

:
K
sL
e

1 + sT

= )G ( s

2
Pu

= , u

A 1
=
4h Ku

= ) Gp ( ju

argGp ( ju ) = ,

PID

) : (

)
(
PID

7

: 42
35
3
2200 60 40
0/2
8


setpoint & process output
60
Process output
reference input

50

Tank Level

40
30
20
10
0
-10

500

1000

1500
2000
control input

2500

3000

3500

500

1000

1500
2000
time (sec)

2500

3000

3500

inlet valve position

100

PI

50

-50

process output
43

Tank Level

42.5
42
41.5

41

Ku = 3.82

40.5
40
200

210

220

230

240
250
260
control input

270

280

290

300

210

220

230

240

270

280

290

300

inlet valve position

40

Pu = 18sec

38
36
34
32
30
200

250
260
time (sec)

10


setpoint & process output
60
Process output
reference input

50
40

10
0
2000

1800

2000

1800

1400
1600
control input

1200

1000

1200

1000

-10
800
100
80
60
40
20

11

Tank Level

20

1600

1400
)time (sec

inlet valve position

PI
)

(

30

0
800

: 180 50
10

0/2
12


setpoint & process output

Pressure (Kpa)

400
process output
reference input

300
200
100
0

500

1000

1500

2000

2500

2000

2500

control input
inlet valve position

200

PI

100
0
-100
-200
-300

500

1000
1500
time (sec)

13

setpoint & process output

Pressure (Kpa)

300
process output
reference input

250

)PI

200
150
100

400

500

600

700

800
900
control input

1000

1100

1200

1300

400

500

600

700

800
900
time (sec)

1000

1100

1200

1300

inlet valve position

150
100
50

0
-50

14

: 500
) (

12
0/5
15

setpoint & process output

2000
1500

500
Process output
reference input
2000

1800

1600

1400

PID

0
1200

1000

800

600

400

200

-500

control input
100

-50

16

1800

1600

1400

1000 1200
)time (sec

800

600

400

200

-100

inlet valve position

50
0

2000

)Flow (L/h

1000

: 38 50
10
0/5
7500

17

setpoint & process output

55
50

40
35
30
process output
reference input
9000

8000

7000

output temprature

45

25
6000

PI

5000

4000

3000

2000

1000

20

control input
400
300

100
0
-100

18

9000

8000

7000

6000

4000
5000
)time (sec

3000

2000

1000

-200

Heater signal

200

setpoint & process output

output temprature

45
process output
reference input
40

35

1500

2000

2500

3000

3500

3000

3500

control input
100
Heater signal

80
60
40

PI
)

20
0

1500

2000

2500
time (sec)

19

10