Handbook of PI and PID controller tuning rules / 3rd ed.
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作 者：Aidan O'Dwyer.
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ISBN：9781848162426
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简介
Summary:
Publisher Summary 1
Proportional integral and proportional integral derivative controllers, though at the heart of control engineering for these seven decades and more, are still rather poorly understood, says O'Dwyer (Dublin Institute of Technology, Ireland), and even more poorly tuned more often than not. He finds the problem to be that the many tuning rules proposed over the years are not easily accessible or comprehensible when engineers need them, so he assembles tuning rules that have appeared in various sources from 1935 to 2008, and translates them into a standard notation. He limits his coverage to tuning rules that may be applied to controlling processes with time delays, or dead times, but in practice this includes most of them. No date is cited for the first edition; the second appeared in 2006. Annotation 漏2009 Book News, Inc., Portland, OR (booknews.com)
Publisher Summary 2
The vast majority of automatic controllers used to compensate industrial processes are PI or PID type. This book comprehensively compiles, using a unified notation, tuning rules for these controllers proposed from 1935 to 2008. The tuning rules are carefully categorized and application information about each rule is given. The book discusses controller architecture and process modeling issues, as well as the performance and robustness of loops compensated with PI or PID controllers. This unique publication brings together in an easy-to-use format material previously published in a large number of papers and books.This wholly revised third edition extends the presentation of PI and PID controller tuning rules, for single variable processes with time delays, to include additional rules compiled since the second edition was published in 2006.
目录
Preface 8
Contents 10
1. Introduction 16
1.1 Preliminary Remarks 16
1.2 Structure of the Book 17
2. Controller Architecture 19
2.1 Introduction 19
2.2 Comments on the PID Controller Structures 26
2.3 Process Modelling 27
2.3.1 Self-regulating process models 27
2.3.2 Non-self-regulating process models 29
2.4 Organisation of the Tuning Rules 31
3. Controller Tuning Rules for Self-Regulating Process Models 33
3.1 Delay Model 33
3.1.1 Ideal PI controller \u2013 Table 2 33
3.1.2 Ideal PID controller \u2013 Table 3 38
3.1.3 Ideal controller in series with a first order lag \u2013 Table 4 39
3.1.4 Classical controller \u2013 Table 5 40
3.1.5 Generalised classical controller \u2013 Table 6 41
3.1.6 Two degree of freedom controller 1 \u2013 Table 7 42
3.2 Delay Model with a Zero 43
3.2.1 Ideal PI controller \u2013 Table 8 43
3.3 FOLPD Model 45
3.3.1 Ideal PI controller \u2013 Table 9 45
3.3.2 Ideal PID controller \u2013 Table 10 93
3.3.3 Ideal controller in series with a first order lag \u2013 Table 11 133
3.3.4 Controller with filtered derivative \u2013 Table 12 137
3.3.5 Classical controller \u2013 Table 13 149
3.3.6 Generalised classical controller \u2013 Table 14 164
3.3.7 Two degree of freedom controller 1 \u2013 Table 15 167
3.3.8 Two degree of freedom controller 2 \u2013 Table 16 183
3.3.9 Two degree of freedom controller 3 \u2013 Table 17 185
3.4 FOLPD Model with a Zero 195
3.4.1 Ideal PI controller \u2013 Table 18 195
3.4.2 Ideal controller in series with a first order lag \u2013 Table 19 197
3.5 SOSPD Model 198
3.5.1 Ideal PI controller \u2013 Table 20 198
3.5.2 Ideal PID controller \u2013 Table 21 221
3.5.3 Ideal controller in series with a first order lag \u2013 Table 22 247
3.5.4 Controller with filtered derivative \u2013 Table 23 251
3.5.5 Classical controller \u2013 Table 24 253
3.5.6 Generalised classical controller \u2013 Table 25 266
3.5.7 Two degree of freedom controller 1 \u2013 Table 26 268
3.5.8 Two degree of freedom controller 3 \u2013 Table 27 279
3.6 SOSPD Model with a Zero 292
3.6.1 Ideal PI controller \u2013 Table 28 292
3.6.2 Ideal PID controller \u2013 Table 29 294
3.6.3 Ideal controller in series with a first order lag \u2013 Table 30 297
3.6.4 Controller with filtered derivative \u2013 Table 31 299
3.6.5 Classical controller \u2013 Table 32 301
3.6.6 Generalised classical controller \u2013 Table 33 303
3.6.7 Two degree of freedom controller 1 \u2013 Table 34 304
3.6.8 Two degree of freedom controller 3 \u2013 Table 35 307
3.7 TOSPD Model 308
3.7.1 Ideal PI controller \u2013 Table 36 308
3.7.2 Ideal PID controller \u2013 Table 37 311
3.7.3 Ideal controller in series with a first order lag \u2013 Table 38 312
3.7.4 Controller with filtered derivative \u2013 Table 39 313
3.7.5 Two degree of freedom controller 1 \u2013 Table 40 314
3.7.6 Two degree of freedom controller 3 \u2013 Table 41 317
3.8 Fifth Order System Plus Delay Model 318
3.8.1 Ideal PID controller \u2013 Table 42 318
3.8.2 Controller with filtered derivative \u2013 Table 43 320
3.8.3 Two degree of freedom controller 1 \u2013 Table 44 323
3.9 General Model 325
3.9.1 Ideal PI controller \u2013 Table 45 325
3.9.2 Ideal PID controller \u2013 Table 46 327
3.9.3 Ideal controller in series with a first order lag \u2013 Table 47 330
3.9.4 Controller with filtered derivative \u2013 Table 48 331
3.9.5 Two degree of freedom controller 1 \u2013 Table 49 332
3.10 Non-Model Specific 333
3.10.1 Ideal PI controller \u2013 Table 50 333
3.10.2 Ideal PID controller \u2013 Table 51 339
3.10.3 Ideal controller in series with a first order lag\u2013 Table 52 347
3.10.4 Controller with filtered derivative \u2013 Table 53 351
3.10.5 Classical controller \u2013 Table 54 356
3.10.6 Generalised classical controller \u2013 Table 55 358
3.10.7 Two degree of freedom controller 1 \u2013 Table 56 361
3.10.8 Two degree of freedom controller 3 \u2013 Table 57 364
4. Controller Tuning Rules for Non-Self-Regulating Process Models 365
4.1 IPD Model 365
4.1.1 Ideal PI controller \u2013 Table 58 365
4.1.2 Ideal PID controller \u2013 Table 59 374
4.1.3 Ideal controller in series with a first order lag \u2013 Table 60 379
4.1.4 Controller with filtered derivative \u2013 Table 61 381
4.1.5 Classical controller \u2013 Table 62 383
4.1.6 Generalised classical controller \u2013 Table 63 386
4.1.7 Two degree of freedom controller 1 \u2013 Table 64 387
4.1.8 Two degree of freedom controller 2 \u2013 Table 65 393
4.1.9 Two degree of freedom controller 3 \u2013 Table 66 396
4.2 IPD Model with a Zero 398
4.2.1 Ideal PI controller \u2013 Table 67 398
4.3 FOLIPD Model 400
4.3.1 Ideal PI controller \u2013 Table 68 400
4.3.2 Ideal PID controller \u2013 Table 69 403
4.3.3 Ideal controller in series with a first order lag \u2013 Table 70 407
4.3.4 Controller with filtered derivative \u2013 Table 71 409
4.3.5 Classical controller \u2013 Table 72 410
4.3.6 Generalised classical controller \u2013 Table 73 412
4.3.7 Two degree of freedom controller 1 \u2013 Table 74 414
4.3.8 Two degree of freedom controller 2 \u2013 Table 75 431
4.3.9 Two degree of freedom controller 3 \u2013 Table 76 433
4.4 FOLIPD Model with a Zero 435
4.4.1 Ideal PID controller \u2013 Table 77 435
4.4.2 Ideal controller in series with a first order lag \u2013 Table 78 437
4.4.3 Classical controller \u2013 Table 79 438
4.5 PD I2 Model 439
4.5.1 Ideal PID controller \u2013 Table 80 439
4.5.2 Classical controller \u2013 Table 81 440
4.5.3 Two degree of freedom controller 1 \u2013 Table 82 441
4.5.4 Two degree of freedom controller 2 \u2013 Table 83 442
4.5.5 Two degree of freedom controller 3 \u2013 Table 84 444
4.6 SOSIPD Model 445
4.6.1 Ideal PI controller \u2013 Table 85 445
4.6.2 Two degree of freedom controller 1 \u2013 Table 86 446
4.7 SOSIPD Model with a Zero 451
4.7.1 Classical controller \u2013 Table 87 451
4.8 TOSIPD Model 452
4.8.1 Two degree of freedom controller 1 \u2013 Table 88 452
4.9 General Model with Integrator 453
4.9.1 Ideal PI controller \u2013 Table 89 453
4.9.2 Two degree of freedom controller 1 \u2013 Table 90 454
4.10 Unstable FOLPD Model 455
4.10.1 Ideal PI controller \u2013 Table 91 455
4.10.2 Ideal PID controller \u2013 Table 92 462
4.10.3 Ideal controller in series with a first order lag \u2013 Table 93 470
4.10.4 Classical controller \u2013 Table 94 473
4.10.5 Generalised classical controller \u2013 Table 95 477
4.10.6 Two degree of freedom controller 1 \u2013 Table 96 478
4.10.7 Two degree of freedom controller 2 \u2013 Table 97 488
4.10.8 Two degree of freedom controller 3 \u2013 Table 98 490
4.11 Unstable FOLPD Model with a Zero 495
4.11.1 Ideal PI controller \u2013 Table 99 495
4.11.2 Ideal controller in series with a first order lag \u2013 Table 100 496
4.11.3 Generalised classical controller \u2013 Table 101 498
4.11.4 Two degree of freedom controller 1 \u2013 Table 102 499
4.12 Unstable SOSPD Model (one unstable pole) 501
4.12.1 Ideal PI controller \u2013 Table 103 501
4.12.2 Ideal PID controller \u2013 Table 104 503
4.12.3 Ideal controller in series with a first order lag \u2013 Table 105 505
4.12.4 Classical controller \u2013 Table 106 506
4.12.5 Two degree of freedom controller 1 \u2013 Table 107 512
4.12.6 Two degree of freedom controller 3 \u2013 Table 108 518
4.13 Unstable SOSPD Model (two unstable poles) 521
4.13.1 Ideal PID controller \u2013 Table 109 521
4.13.2 Generalised classical controller \u2013 Table 110 523
4.13.3 Two degree of freedom controller 2 \u2013 Table 111 524
4.14 Unstable SOSPD Model with a Zero 526
4.14.1 Ideal PI controller \u2013 Table 112 526
4.14.2 Ideal controller in series with a first order lag \u2013 Table 113 528
4.14.3 Generalised classical controller \u2013 Table 114 531
4.14.4 Two degree of freedom controller 1 \u2013 Table 115 533
4.14.5 Two degree of freedom controller 3 \u2013 Table 116 535
5. Performance and Robustness Issues in the Compensation of FOLPD Processes with PI and PID Controllers 536
5.1 Introduction 536
5.2 The Analytical Determination of Gain and Phase Margin 537
5.2.1 PI tuning formulae 537
5.2.2 PID tuning formulae 540
5.3 The Analytical Determination of Maximum Sensitivity 544
5.4 Simulation Results 544
5.5 Design of Tuning Rules to Achieve Constant Gain and Phase Margins, for All Values of Delay 549
5.5.1 PI controller design 549
5.5.1.1 Processes modelled in FOLPD form 549
5.5.1.2 Processes modelled in IPD form 551
5.5.2 PID controller design 554
5.5.2.1 Processes modelled in FOLPD form \u2013 classical controller 554
5.5.2.2 Processes modelled in SOSPD form \u2013 series controller 556
5.5.2.3 Processes modelled in SOSPD form with a negative zero \u2013 classical controller 557
5.5.3 PD controller design 557
5.6 Conclusions 558
Appendix 1 Glossary of Symbols and Abbreviations 559
Appendix 2 Some Further Details on Process Modelling 566
Bibliography 580
Index 614
Contents 10
1. Introduction 16
1.1 Preliminary Remarks 16
1.2 Structure of the Book 17
2. Controller Architecture 19
2.1 Introduction 19
2.2 Comments on the PID Controller Structures 26
2.3 Process Modelling 27
2.3.1 Self-regulating process models 27
2.3.2 Non-self-regulating process models 29
2.4 Organisation of the Tuning Rules 31
3. Controller Tuning Rules for Self-Regulating Process Models 33
3.1 Delay Model 33
3.1.1 Ideal PI controller \u2013 Table 2 33
3.1.2 Ideal PID controller \u2013 Table 3 38
3.1.3 Ideal controller in series with a first order lag \u2013 Table 4 39
3.1.4 Classical controller \u2013 Table 5 40
3.1.5 Generalised classical controller \u2013 Table 6 41
3.1.6 Two degree of freedom controller 1 \u2013 Table 7 42
3.2 Delay Model with a Zero 43
3.2.1 Ideal PI controller \u2013 Table 8 43
3.3 FOLPD Model 45
3.3.1 Ideal PI controller \u2013 Table 9 45
3.3.2 Ideal PID controller \u2013 Table 10 93
3.3.3 Ideal controller in series with a first order lag \u2013 Table 11 133
3.3.4 Controller with filtered derivative \u2013 Table 12 137
3.3.5 Classical controller \u2013 Table 13 149
3.3.6 Generalised classical controller \u2013 Table 14 164
3.3.7 Two degree of freedom controller 1 \u2013 Table 15 167
3.3.8 Two degree of freedom controller 2 \u2013 Table 16 183
3.3.9 Two degree of freedom controller 3 \u2013 Table 17 185
3.4 FOLPD Model with a Zero 195
3.4.1 Ideal PI controller \u2013 Table 18 195
3.4.2 Ideal controller in series with a first order lag \u2013 Table 19 197
3.5 SOSPD Model 198
3.5.1 Ideal PI controller \u2013 Table 20 198
3.5.2 Ideal PID controller \u2013 Table 21 221
3.5.3 Ideal controller in series with a first order lag \u2013 Table 22 247
3.5.4 Controller with filtered derivative \u2013 Table 23 251
3.5.5 Classical controller \u2013 Table 24 253
3.5.6 Generalised classical controller \u2013 Table 25 266
3.5.7 Two degree of freedom controller 1 \u2013 Table 26 268
3.5.8 Two degree of freedom controller 3 \u2013 Table 27 279
3.6 SOSPD Model with a Zero 292
3.6.1 Ideal PI controller \u2013 Table 28 292
3.6.2 Ideal PID controller \u2013 Table 29 294
3.6.3 Ideal controller in series with a first order lag \u2013 Table 30 297
3.6.4 Controller with filtered derivative \u2013 Table 31 299
3.6.5 Classical controller \u2013 Table 32 301
3.6.6 Generalised classical controller \u2013 Table 33 303
3.6.7 Two degree of freedom controller 1 \u2013 Table 34 304
3.6.8 Two degree of freedom controller 3 \u2013 Table 35 307
3.7 TOSPD Model 308
3.7.1 Ideal PI controller \u2013 Table 36 308
3.7.2 Ideal PID controller \u2013 Table 37 311
3.7.3 Ideal controller in series with a first order lag \u2013 Table 38 312
3.7.4 Controller with filtered derivative \u2013 Table 39 313
3.7.5 Two degree of freedom controller 1 \u2013 Table 40 314
3.7.6 Two degree of freedom controller 3 \u2013 Table 41 317
3.8 Fifth Order System Plus Delay Model 318
3.8.1 Ideal PID controller \u2013 Table 42 318
3.8.2 Controller with filtered derivative \u2013 Table 43 320
3.8.3 Two degree of freedom controller 1 \u2013 Table 44 323
3.9 General Model 325
3.9.1 Ideal PI controller \u2013 Table 45 325
3.9.2 Ideal PID controller \u2013 Table 46 327
3.9.3 Ideal controller in series with a first order lag \u2013 Table 47 330
3.9.4 Controller with filtered derivative \u2013 Table 48 331
3.9.5 Two degree of freedom controller 1 \u2013 Table 49 332
3.10 Non-Model Specific 333
3.10.1 Ideal PI controller \u2013 Table 50 333
3.10.2 Ideal PID controller \u2013 Table 51 339
3.10.3 Ideal controller in series with a first order lag\u2013 Table 52 347
3.10.4 Controller with filtered derivative \u2013 Table 53 351
3.10.5 Classical controller \u2013 Table 54 356
3.10.6 Generalised classical controller \u2013 Table 55 358
3.10.7 Two degree of freedom controller 1 \u2013 Table 56 361
3.10.8 Two degree of freedom controller 3 \u2013 Table 57 364
4. Controller Tuning Rules for Non-Self-Regulating Process Models 365
4.1 IPD Model 365
4.1.1 Ideal PI controller \u2013 Table 58 365
4.1.2 Ideal PID controller \u2013 Table 59 374
4.1.3 Ideal controller in series with a first order lag \u2013 Table 60 379
4.1.4 Controller with filtered derivative \u2013 Table 61 381
4.1.5 Classical controller \u2013 Table 62 383
4.1.6 Generalised classical controller \u2013 Table 63 386
4.1.7 Two degree of freedom controller 1 \u2013 Table 64 387
4.1.8 Two degree of freedom controller 2 \u2013 Table 65 393
4.1.9 Two degree of freedom controller 3 \u2013 Table 66 396
4.2 IPD Model with a Zero 398
4.2.1 Ideal PI controller \u2013 Table 67 398
4.3 FOLIPD Model 400
4.3.1 Ideal PI controller \u2013 Table 68 400
4.3.2 Ideal PID controller \u2013 Table 69 403
4.3.3 Ideal controller in series with a first order lag \u2013 Table 70 407
4.3.4 Controller with filtered derivative \u2013 Table 71 409
4.3.5 Classical controller \u2013 Table 72 410
4.3.6 Generalised classical controller \u2013 Table 73 412
4.3.7 Two degree of freedom controller 1 \u2013 Table 74 414
4.3.8 Two degree of freedom controller 2 \u2013 Table 75 431
4.3.9 Two degree of freedom controller 3 \u2013 Table 76 433
4.4 FOLIPD Model with a Zero 435
4.4.1 Ideal PID controller \u2013 Table 77 435
4.4.2 Ideal controller in series with a first order lag \u2013 Table 78 437
4.4.3 Classical controller \u2013 Table 79 438
4.5 PD I2 Model 439
4.5.1 Ideal PID controller \u2013 Table 80 439
4.5.2 Classical controller \u2013 Table 81 440
4.5.3 Two degree of freedom controller 1 \u2013 Table 82 441
4.5.4 Two degree of freedom controller 2 \u2013 Table 83 442
4.5.5 Two degree of freedom controller 3 \u2013 Table 84 444
4.6 SOSIPD Model 445
4.6.1 Ideal PI controller \u2013 Table 85 445
4.6.2 Two degree of freedom controller 1 \u2013 Table 86 446
4.7 SOSIPD Model with a Zero 451
4.7.1 Classical controller \u2013 Table 87 451
4.8 TOSIPD Model 452
4.8.1 Two degree of freedom controller 1 \u2013 Table 88 452
4.9 General Model with Integrator 453
4.9.1 Ideal PI controller \u2013 Table 89 453
4.9.2 Two degree of freedom controller 1 \u2013 Table 90 454
4.10 Unstable FOLPD Model 455
4.10.1 Ideal PI controller \u2013 Table 91 455
4.10.2 Ideal PID controller \u2013 Table 92 462
4.10.3 Ideal controller in series with a first order lag \u2013 Table 93 470
4.10.4 Classical controller \u2013 Table 94 473
4.10.5 Generalised classical controller \u2013 Table 95 477
4.10.6 Two degree of freedom controller 1 \u2013 Table 96 478
4.10.7 Two degree of freedom controller 2 \u2013 Table 97 488
4.10.8 Two degree of freedom controller 3 \u2013 Table 98 490
4.11 Unstable FOLPD Model with a Zero 495
4.11.1 Ideal PI controller \u2013 Table 99 495
4.11.2 Ideal controller in series with a first order lag \u2013 Table 100 496
4.11.3 Generalised classical controller \u2013 Table 101 498
4.11.4 Two degree of freedom controller 1 \u2013 Table 102 499
4.12 Unstable SOSPD Model (one unstable pole) 501
4.12.1 Ideal PI controller \u2013 Table 103 501
4.12.2 Ideal PID controller \u2013 Table 104 503
4.12.3 Ideal controller in series with a first order lag \u2013 Table 105 505
4.12.4 Classical controller \u2013 Table 106 506
4.12.5 Two degree of freedom controller 1 \u2013 Table 107 512
4.12.6 Two degree of freedom controller 3 \u2013 Table 108 518
4.13 Unstable SOSPD Model (two unstable poles) 521
4.13.1 Ideal PID controller \u2013 Table 109 521
4.13.2 Generalised classical controller \u2013 Table 110 523
4.13.3 Two degree of freedom controller 2 \u2013 Table 111 524
4.14 Unstable SOSPD Model with a Zero 526
4.14.1 Ideal PI controller \u2013 Table 112 526
4.14.2 Ideal controller in series with a first order lag \u2013 Table 113 528
4.14.3 Generalised classical controller \u2013 Table 114 531
4.14.4 Two degree of freedom controller 1 \u2013 Table 115 533
4.14.5 Two degree of freedom controller 3 \u2013 Table 116 535
5. Performance and Robustness Issues in the Compensation of FOLPD Processes with PI and PID Controllers 536
5.1 Introduction 536
5.2 The Analytical Determination of Gain and Phase Margin 537
5.2.1 PI tuning formulae 537
5.2.2 PID tuning formulae 540
5.3 The Analytical Determination of Maximum Sensitivity 544
5.4 Simulation Results 544
5.5 Design of Tuning Rules to Achieve Constant Gain and Phase Margins, for All Values of Delay 549
5.5.1 PI controller design 549
5.5.1.1 Processes modelled in FOLPD form 549
5.5.1.2 Processes modelled in IPD form 551
5.5.2 PID controller design 554
5.5.2.1 Processes modelled in FOLPD form \u2013 classical controller 554
5.5.2.2 Processes modelled in SOSPD form \u2013 series controller 556
5.5.2.3 Processes modelled in SOSPD form with a negative zero \u2013 classical controller 557
5.5.3 PD controller design 557
5.6 Conclusions 558
Appendix 1 Glossary of Symbols and Abbreviations 559
Appendix 2 Some Further Details on Process Modelling 566
Bibliography 580
Index 614
Handbook of PI and PID controller tuning rules / 3rd ed.
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