Академический Документы
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Javier Gutierrez
LabVIEW Product Marketing
2
Benefits of Advanced Control and Tuning
Model-based Manual
• A poorly tuned control control < 1% control
4
Agenda
• What is PID?
• How to improve performance
Hardware considerations
Upgrade PID Algorithm
Advanced Controllers
• Conclusion
5
What is PID
• Set Point (SP) – Desired control point
• Output (OP) – Controller output
• Process Variable (PV) – Plant/process output
• Error = SP - PV
error OP
SP PV
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PID Parameters
• Proportional
Drive to setpoint
Error → 0, OP → 0
“Steady-state error”
• Integral
Eliminate steady state error
OP proportional to ∫ error
• Derivative
Increase response rate
OP proportional to rate of change of error
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System to control
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Control System Diagram
Temperature Control System
LabVIEW
PID cFP-PWM-520
Front Panel
Toolset Cold Air
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PID Implementation Demo DEMO
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PID Control – Pros and Cons
• Advantages
Proven
Easy to implement
• Disadvantages
Not easy to tune
Not suitable for all systems
• Backlash, friction, and so on
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How to program PID
Function Blocks
Windows/Real Time
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Agenda
• What is PID?
• How to improve performance
Hardware considerations
Upgrade PID Algorithm
Advanced Controllers
• Conclusion
13
Benefits of Higher Loop Rates
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PID Loop rates
FPGA
RT PXI
cRIO 1 MHz
600 Hz
100 Hz
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Die Casting Machine
The movement of the aluminium injection plunger controlled in a steady
closed loop at a speed varying from 0 up to 10 m/sec.
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Copyright 2007 © EUROelectronics srl – ITALY -
Agenda
• What is PID?
• How to improve performance
Hardware considerations
Improve PID Algorithm
Advanced Controllers
• Conclusion
17
Upgrade your PID
Disturbances Feed-forward
Non Linear Gain Scheduling
Time Variant Adaptive PID
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Feed-Forward
• Commonly used to compensate for a
measurable external disturbance before it affects
a controlled variable.
• e.g. product feed rate changes
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Feed-Forward Example
FeedFordward
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Gain Scheduling
PID 3
PID 2
PID 1
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Gain Scheduling DEMO
Gains
Select Gains
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Adaptive PID DEMO
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Agenda
• What is PID?
• How to improve performance
Hardware considerations
Upgrade PID Algorithm
Advanced Controllers
• Conclusion
24
Advanced Controllers
National Instruments
●
Optimal Controllers (LQR, LQG)
●
Model Predictive Control (MPC)
●
Kalman Filters
●
Fuzzy Logic
●
Neural Networks
●
Genetic Algorithms
●
Model Free Adaptive
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How to create an advanced Controller
●
Datalogging
●
System Identification
●
Model Validation
Plant Modeling
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Example v e u v
+
C
Cruise Control
-
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MPC C
V
v V
u v
‘C’ takes action
due to future
changes in: umax
u
a)Road slope u
b)Speed Setpoints
Time
v
and Speed-Gas vmax
limits v
vmin
Time
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Temp Chamber - Experiment
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Plant Modeling - Validation
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MPC Control Design
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MPC Control Prototype DEMO
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Tyco Electronics implemens Model Predictive Control in
production Process
Application: Control coating quality
when building electrical cable.
Challenge: Develop a process
control that can handle MIMO
systems with big delays
Products: cFieldPoint, DSC, Control
Design and Simulation.
Key Benefit: Use a common platform
to develop controller and deploy
system able to integrate third
party information systems.
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Advanced Controllers
• Pros
MIMO
Improved performance
• Cons
Model Needed
Engineering Skill
34
Agenda
• What is PID?
• How to improve performance
Hardware considerations
Upgrade PID Algorithm
Advanced Controllers
• Conclusion
35
Conclusions
• PID
• Consider
Upgrading hardware
Enhance PID Algorithm
Upgrading Control Algorithm
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