Tuning PID controllers: is the devil as scary as he is painted? Part 1. Single-circuit system

This article opens a series of articles devoted to automated ways of tuning PID controllers in the Simulink environment. Today we will figure out how to work with the PID Tuner application.

Introduction

-. , , .. , . , (, [1, 2]), (, [3, 4]), .

- Simulink, :

• PID Tuner,
• Response Optimizer,
• Control System Tuner,
• Frequency Response Based PID Tuner,
• Closed-Loop PID Autotuner.

, , :

• , $$$U_{} = 24 \;$;
• , $$$R = 4.8 \;$;
• , $$$L = 0.0016 \;$;
• , $$$c_{e} = 0.066 \; ·/$;
• , $$$J_{} = 2.5·10^{-5} \; \cdot ^{2}$.

:

• , $$$J_{} = 0.01 \; \cdot ^{2}$;
• , $$$q = 5$.

, , , Simulink .

, .

Simulink .

( Electric actuator) ( Load) Simscape:

• ,

• .

:

• , ( ),

• ( V),

• ( Ω).

- , $$$W_{}(s) = 1$. 150 / .

, :

• , .. .
• 150 , (24 ).

:

• (Overshoot) 10%,
• (Rise time) 0.8 ,
• (Settling time) 2 .

, , , .

PID Tuner, PID Controller.

Tune…, Automated tuning. , (, , .), ( ).

( ), . :

1. Output Saturation.
2. Limit output, (Upper limit) (Lower limit) .
3. .

, . : back-calculation clamping. . Anti-windup.

24 -24 Upper limit Lower limit , clamping .

, : .

, Apply, Main Tune…, PIDTuner.

: , .. , , . , Show Parameters, . : (Controller Parameters) (Performance and Robustness).

, .

, Show Parameters, PID Controller.

. ( ) .

, PID Tuner , . Response Optimizer.

1. Handbook of PI and PID Controller Tuning Rules. Aidan O'Dwyer
2. PID Control System Design and Automatic Tuning using MATLAB, Simulink. Wang L.
3. - . ..
4. -. . 1, 2. .