By Yu, Cheng-Ching
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Extra info for Autotuning of PID Controllers [electronic resource]: A Relay Feedback Approach
1). The period of the limit cycle is the ultimate period. 1) From the Fourier series expansion, the amplitude a can be considered to be the result of the primary harmonic of the relay output. 2) a where h is the height of the relay and a is the amplitude of oscillation. These two values can be used directly to find controller settings. 1. 2 give approximate values of u and K u . A more accurate expression will be derived shortly. The relay feedback test can be carried out manually (without any autotuner).
001. 4) also confirms such a category, SOPSDT. This is denoted as category 2. 4. 3 indicates that rest of the responses showing a sinusoidal oscillation and stationary cycling is reached in one or two cycles. This behavior can be described by a high-order (HO) process without dead time, which is also called category 3. 4) As long as n 3 we can see similar relay feedback responses. In this work, a default value of n = 5 is used. 4 shows that this category, category 3, covers the largest parameter space of the systems studied.
1992;31:855. 11. Li W, Eskinat E, Luyben WL. An improved autotune identification method. Ind. Eng. Chem. Res. 1991;30:1530. 12. Wang QG, Hang CC, Zou B. Low-order modeling from relay feedback. Ind. Eng. Chem. Res. 1997;36:375. 13. Majhi S, Atherton DP. Auto-tuning and controller design for processes with small time delays. IEE Proc. Control Theory Appl. 1999;146(3):415. 14. Kaya I, Atherton DP. Parameter estimation from relay auto-tuning with asymmetric limit cycle data. Process Control 2001;11:429.