PID controller auto-tuning based on process step response and damping optimum criterion

Danijel Pavković; Siniša Polak; Davor Zorc

doi:10.1016/j.isatra.2013.08.011

PID controller auto-tuning based on process step response and damping optimum criterion

ISA Trans. 2014 Jan;53(1):85-96. doi: 10.1016/j.isatra.2013.08.011. Epub 2013 Sep 12.

Authors

Danijel Pavković¹, Siniša Polak², Davor Zorc³

Affiliations

¹ Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, I. Lučića 5, HR-10000 Zagreb, Croatia. Electronic address: danijel.pavkovic@fsb.hr.
² INA-Oil Industry d.d. - Sisak Oil Refinery, Ante Kovačića 1, HR-44000 Sisak, Croatia. Electronic address: Sinisa.Polak@ina.hr.
³ Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, I. Lučića 5, HR-10000 Zagreb, Croatia. Electronic address: davor.zorc@fsb.hr.

PMID: 24035643
DOI: 10.1016/j.isatra.2013.08.011

Abstract

This paper presents a novel method of PID controller tuning suitable for higher-order aperiodic processes and aimed at step response-based auto-tuning applications. The PID controller tuning is based on the identification of so-called n-th order lag (PTn) process model and application of damping optimum criterion, thus facilitating straightforward algebraic rules for the adjustment of both the closed-loop response speed and damping. The PTn model identification is based on the process step response, wherein the PTn model parameters are evaluated in a novel manner from the process step response equivalent dead-time and lag time constant. The effectiveness of the proposed PTn model parameter estimation procedure and the related damping optimum-based PID controller auto-tuning have been verified by means of extensive computer simulations.

Keywords: Auto-tuning control; Damping optimum criterion; Identification; PID controller; PTn process model.