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Shape of Relay
Luyben [1] pointed out that the shapes of the response curves of a relay feedback
test contain useful information. A simple characterization factor was proposed to
quantify the curve shape and later used to determine the three parameters for
FOPDT processes. This concept offers an attractive alternative to improve the relay
feedback autotuning, because qualitative information of model structure is avail-
able.
Here, we intend to utilize the shape information from the relay feedback test to
identify the correct model structure of the process and to find appropriate PID
controller settings. The additional shape information is also useful to devise dead
time compensation and high-order compensation, when necessary. Hieroglyphic
writing can often be seen in ancient cultures. Figure 4.1 shows that much of Chi-
nese is written in pictorial characters. The “shapes” of the characters tell us some-
thing about their meaning. We intend to extract some useful information from the
“shape” of the relay response.
4.1 Shapes of Relay Response
The Astrém and Hagglund [2] relay feedback test is a useful tool in identification
because it identifies two important parameters, ultimate gain and ultimate fre-
quency, for controller tuning. Typically, the Ziegler-Nichols type of tuning rule is
applied because K, and P, are the information required to set PID controller
parameters. Unfortunately, satisfactory performance is not always guaranteed be-
cause no single tuning rule works well for the entire dead time D to time con-
stant r ratio D/r even for an FOPDT process. Luyben demonstrates that, for
FOPDT processes, a different D/t ratio gives different shapes in relay feedback
tests (Figure 4,2) and this shape factor can be utilized to find the D/+ value and
different tuning rules can be applied accordingly. This presents a significant pro-
gress in relay feedback identification, and much reliable autotuning has resulted, as
shown by Luyben. Figure 4.2 shows the transition from a triangle to an almost rec-
tangular curve as D/t changes from 0.1 to 10. Similar figures were also given by
4748 Autotuning of PID Controllers
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Figure 4.1. Hieroglyphic writing of Chinese characters
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Friman and Waller [3]. In Luyben’s work, time to the mid-point of the amplitude
a is used to characterize D/t.
4.1.1 Shapes
To characterize model structure and parameter value (e.g. D/t), processes with
different order (first, second, third, eighth, fifteenth and twentieth order) and dead
time to time constant ratio (ie. D/t =0.01, 1 and 10) are studied. In this work.
only overdamped processes are studied (underdamped processes and systems
with inverse response are not included). Figure 4.3 shows the relay feedback re-
sponses for those higher order processes. Note that all process gains are assumed to
be one and a relay height /=1 is used to generate sustained oscillations.
From the curve shapes, Figures 4.2 and 4.3, several observations can be made
immediately.
1. FOPDT process.
If the response curves show a sharp edge (discontinuity) at the peak ampli-
tudes (Le. y =+a), then the process can be considered as an FOPDT system,
as shown in Figure 4.2,
2. Effect of Dlx for FOPDT process.
Ifthe relay feedback gives a triangular wave,
a time-constant-dominant process (i
the time to reach the peak amplitude
shown later. If the dead time to time cor
ture begins to appear (e.g, Figure 4.2),
then the process can be treated as
small D/t for FOPDT). Specifically,
is equal to the dead time, as will be
stant ratio becomes larger, then curva-
and this implies a gradually developin
Step response. As D/ approaches infinity, the oe oe a cae
rical rectangular wave, Actually, |
r FOPDT processes represe1 we
clas in terms of relay feedback responses, SPTESEME S veny un