文档介绍：RobustRobust TuningTuning ofof
PIPI andand PIDPID ControllersControllers
USING DERIVATIVE ACTION DESPITE SENSOR NOISE
By BIRGITTA KRISTIANSSON and BENGT LENNARTSON
MAGESTATE
©I
oday, proportional-integral (PI) and proportional-integral derivative (PID) type controllers are by far
the most widely used regulators. Historical remnants show that proportional control (P type) was
used by the ancient Greeks and Babylonians for water-level regulation more than 2,000 years ago [1],
[2]. Integral action (I) was added in the beginning of the 19th century [3]. The mercial con-
T troller with derivative action (D), the Fulscope, was announced by Taylor panies in
1939. In the 1930s, academics began to study automatic control, and the design and tuning of PI and PID con-
trollers has since been the focus of a great deal of research [4]–[6], resulting in numerous design strategies. In
light of these developments, one may ask whether there is any further need for additional tuning rules.
According to [5], such a demand still exists.
Unfortunately, ideas presented by researchers over the years have reached end users only to a limited
extent. Several studies (for example, [7]–[10]) have shown that most process controllers installed in industry
are poorly tuned, resulting in “lack-of-control costs.” For instance, poor control of a regularly sized paper mill
has been observed to cost millions of dollars [9]. Our hope is that the tuning rules presented in this article will
help everyday users of PI and PID controllers avoid poorly tuned control loops.
The strategy given in this article includes a lowpass filter together with derivative action. Provided with a suit-
ably tuned filter, a PID controller can reject process disturbances without too much control action and sensitivity
1066-033X/06/$©2006IEEE FEBRUARY 2006 « IEEE CONTROL SYSTEMS MAGAZINE 55
to sensor noise. Our rules are applicable to many kinds of plants, er than that which is