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M
s
U = 0
Gd
Ga
Gp
Gc
Ym
+
+
Gm
For the Cohen & Coon PRC response to an open step change:
GPRC = GaGpGm =
Y = MK 1 e
Ke s
MKe s
MKe s MKe s
Ym =
=
s ( s + 1 )
s
s + 1
s + 1
(t ) /
) S (t ) .
The suggested rules for finding this PRC from any step-change response curve is:
Draw a straight line tangent to the response curve at the point of inflection.
The apparent time delay is the point where this straight line intersects the
time axis.
The apparent time constant is obtained from the slope of this straight line, S ,
and the ultimate value of the response, Ym , . It is calculated as:
=
Ym ,
.
S
The apparent process gain is obtained from the ultimate value of the response,
ym , . It is calculated as:
K=
Ym ,
.
M
The controller settings were determined using the following performance criteria:
decay ratio.
Minimum offset.
Minimum integral of the square error (ISE).
-1-
Kc
Controller
1
K
P
1
K
PI
0.9 +
12
4
+
3 4
1
K
PID
1 +
30 + 3( / )
9 + 20 ( / )
32 + 6 ( / )
13 + 8 ( / )
4
11 + 2( / )
Kp
( 1 s + 1)( 2 s + 1)
Ga ( s ) = Gm ( s ) = 1
For the same step change, the response will be:
Y =
so:
MK p
s ( 1 s + 1 )( 2 s + 1)
MK p
s
MK p 12
MK p 22 1
1
+
1 2 1 s + 1 1 2 2 s + 1
1
2
Y = MK p 1
e t / 1 +
e t / 2 .
1 2
1 2
Since we will be needing the point of inflection and its slope, then we also need expressions
for the 1st and 2nd time derivatives:
dY
1
e t / 1
e t / 2
= MK p
dt
1 2
1 2
d 2Y
1
1
t / 1
t / 2
MK
e
e
=
.
p
( )
dt 2
2 ( 1 2 )
1 1 2
d Y
1
e ti / 1
= MK p
2
( )
dt t =t
1 1 2
2
ln 1
1
e ti / 2 = 0 t i = 2
+
1 1
2 ( 1 2 )
2 1
-2-
1
2
Y = lim MK p 1
e t / 1 +
e t / 2 = MK p
t
1 2
1 2
So:
K = Kp
=
Kp
S
/( )
/ ( )
MK p 2 1 1 2 2 2 1 2
where: S = y ( t i ) =
1 2 1
1
Finally, we can find the dead time by putting a tangent line through the point of inflection.
Then:
Y (ti ) = S (ti ) = ti
Y (t i )
S
1 / ( 1 2 )
2 / ( 1 2 )
MK p
2
2
( 1 2 ) + 2
where: Y ( t i ) =
1
1 2
1
1
Gp ( s ) =
1
( s + 1)(5s + 1)
-3-
5 1
1 1
then: S =
4 5
5/4
1/4
1
5
1
= 0.133748
=
1/4
5(5)
1
= 7.47674
S
1 1
Y ( t i ) = 4 +
4 5
5/4
t d = 2.01118
1/4
1
5
5
1
53/4
= 0.197512
=1+
1/4
4
20 (5)
0.197512
= 0.535053
0.133748
1.2
1.0
Exact
0.8
Approximate
Y'(t) 0.6
0.4
0.2
0.0
0
10
15
20
25
30
35
The figure compares the exact response with this approximate response. Note that the
comparison is not very good, but what we really want is some approximate curve to
estimate what the controller settings ought to be.
The following will be the Cohen & Coon controller settings:
P control:
-4-
1
0.535053
7.47674
1 + =
1 +
= 14.3
3 0.535053
3 7.47674
K
PI control:
Kc =
1
K
I =
0.535053
7.47674
0.9 +
=
0.9 +
= 12.7
12 0.535053
12 7.47674
30 + 3( / )
9 + 20 ( / )
= 0.535053
30 + 3( 0.535053/7.47674 )
9 + 20 ( 0.535053/7.47674 )
= 1.55
PID control:
Kc =
1
K
I =
4 7.47674 4 0.535053
+ =
+
= 18.9
3 4 0.535053 3 4 7.47674
32 + 6 ( / )
13 + 8 ( / )
D =
= 0.535053
32 + 6 ( 0.535053/7.47674 )
13 + 8 ( 0.535053/7.47674 )
= 1.28
4
4
= 0.535053
= 0.19
11 + 2( / )
11 + 2( 0.535053/7.47674 )
-5-
0.7
0.6
Y'(t) 0.5
0.4
0.3
0.2
0.1
0.0
0
10
15
20
25
30
This figure shows that these parameters give a much better fit to the actual response curve.
The following will be the Cohen & Coon controller settings:
P control:
Kc =
1
5.48522
0.727561
1 + =
1 +
= 7.81
K
3 1.00768 0.727561
3 5.48522
PI control:
Kc =
1
1
5.48522
0.727561
0.9 +
=
0.9 +
= 6.82
K
12 1.00768 0.727561
12 5.48522
I =
30 + 3( / )
9 + 20 ( / )
= 0.727561
30 + 3( 0.727561/5.48522)
9 + 20 ( 0.727561/5.48522)
= 1.90
PID control:
Kc =
1 4
1
5.48522 4 0.727561
+ =
+
= 10.2
K 3 4 1.00768 0.727561 3 4 5.48522
I =
32 + 6 ( / )
13 + 8 ( / )
= 0.727561
32 + 6 ( 0.727561/5.48522)
13 + 8 ( 0.727561/5.48522)
-6-
= 1.70
4
4
= 0.727561
= 0.26
11 + 2( / )
11 + 2( 0.727561/5.48522)
G(s) =
Gp
1 + Gc Gp
1
( s + 1)(5s + 1)
1
1
1 + Kc 1 +
I s ( s + 1)(5s + 1)
I s
K c + ( I + K c I ) s + 6I s 2 + 5I s3
I
K c + ( I + K c I ) s + 6I s 2 + 5I s3
The general solution for this can be quite messy (since there are real exponential terms if
overdamped and sine/cosine terms if underdamped). Let's only invert this for specific
cases of the controller variables. For the controller variables derived by fitting the PRC to
the inflection point:
Y ( t ) = 0.0800524e 0.686594t
+e 0.256703t 0.0226252sin (1.52104t ) 0.0800524cos (1.52104t )
For the controller variables derived by fitting the PRC using non-linear regression:
Y ( t ) = 0.16672e 0.596944t
+e 0.301528t 0.0466982sin (1.05468t ) 0.16672cos (1.05468t )
-7-
0.10
Non-Linear Fit
0.08
0.06
Y'(t)
0.04
0.02
0.00
-0.02
-0.04
0
10
15
20
This figure shows the response to this disturbance. Which set of controller settings gives
the best control depends upon your definition of best. The parameters derived from the
PRC fit to the inflection point produces a response with a smaller maximum offset, but the
parameters derived from the non-linear regression PRC fit produces a response with a
better decay ratio.
-8-