Arbogast Jeffrey E, Cooper Douglas J
University of Connecticut, Department of Chemical, Materials and Biomolecular Engineering U-3222, 191 Auditorium Road, Storrs, CT 06269-3222 , USA.
ISA Trans. 2007 Jun;46(3):303-11. doi: 10.1016/j.isatra.2007.01.004. Epub 2007 Apr 10.
The filter term of a PID with Filter controller reduces the impact of measurement noise on the derivative action of the controller. This impact is quantified by the controller output travel defined as the total movement of the controller output per unit time. Decreasing controller output travel is important to reduce wear in the final control element. Internal Model Control (IMC) tuning correlations are widely published for PI, PID, and PID with Filter controllers for self regulating processes. For non-self regulating (or integrating) processes, IMC tuning correlations are published for PI and PID controllers but not for PID with Filter controllers. The important contribution of this work is that it completes the set of IMC tuning correlations with an extension to the PID with Filter controller for non-self regulating processes. Other published correlations (not based upon the IMC framework) for PID with Filter controllers fix the filter time constant at one-tenth the derivative time regardless of the model of the process. In contrast, the novel IMC correlations presented in this paper calculate a filter time constant based upon the model of the process and the user's choice for the closed-loop time constant. The set point tracking and disturbance rejection performance of the proposed IMC tunings is demonstrated using simulation studies and a bench-scale experimental system. The proposed IMC tunings are shown to perform as well as various PID correlations (with and without a filter term) while requiring considerably less controller action.
带滤波器的比例积分微分（PID）控制器的滤波项可降低测量噪声对控制器微分作用的影响。这种影响通过控制器输出行程来量化，控制器输出行程定义为单位时间内控制器输出的总移动量。减小控制器输出行程对于减少最终控制元件的磨损很重要。内部模型控制（IMC）整定关联式已广泛发布，适用于自调节过程的PI、PID和带滤波器的PID控制器。对于非自调节（或积分）过程，已发布了PI和PID控制器的IMC整定关联式，但未发布带滤波器PID控制器的。这项工作的重要贡献在于，它通过将带滤波器的PID控制器扩展到非自调节过程，完善了IMC整定关联式集。其他已发布的带滤波器PID控制器的关联式（并非基于IMC框架），无论过程模型如何，都将滤波时间常数固定为微分时间的十分之一。相比之下，本文提出的新颖IMC关联式根据过程模型和用户对闭环时间常数的选择来计算滤波时间常数。通过仿真研究和一个实验室规模的实验系统，展示了所提出的IMC整定方法的设定值跟踪和抗干扰性能。结果表明，所提出的IMC整定方法与各种PID关联式（有和没有滤波项）表现相当，但所需的控制器动作要少得多。
