Autotuning method using integral of relay feedback response for extracting process information
AssigneeKyungpook National University Industry-Academic Corporation Foundation
InventorsJie-Tae Lee, Su-Whan Sung
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Abstract
An autotuning method using an integral of a relay feedback response is disclosed, which obtains an ultimate data and frequency model of a process with greatly removing effects of harmonics by using integral of a relay feedback signal. The autotuning method using an integral of a relay feedback response comprises the first step for integrating a process data; and the second step for removing effects of harmonics after the first step and computing an ultimate gain, a frequency model and a parametric process model.
Claims19
An autotuning method using an integral of a relay feedback response wherein the autotuning method is implemented by a proportional integral derivative controller, the method comprising the steps of:
- integrating a process data to significantly remove the effects of harmonics wherein the proportional integral derivative controller integrates the process data;
- and
- computing an ultimate gain wherein the proportional integral derivative controller computes the ultimate gain by
- K
- c
-
-
- u
- =
- 2
-
- hp
- π
- 2
-
- b
- wherein b is an amplitude of a yb({tilde over (t)})−ybm signal wherein h is a relay amplitude wherein p is a period of a relay feedback oscillation.
An autotuninq method using an integral of a relay feedback response wherein the autotuninq method is implemented by a proportional integral derivative controller, the method comprising the steps of:
- integrating a process data to significantly remove the effects of harmonics wherein the proportional integral derivative controller integrates the process data;
- and
- computing an ultimate gain wherein the proportional integral derivative controller computes the ultimate gain by
- K
- c
-
-
- u
- =
- 16
-
- h
- π
-
- (
- a
- +
- 6
-
- π
-
-
- b
- /
- p
- )
- =
- 1
- 1
- 4
-
- (
- π
-
-
- a
- 4
-
- h
- )
- +
- 3
- 4
-
- (
- π
- 2
-
- b
- 2
-
- hp
- )
- wherein b is an amplitude of a yb({tilde over (t)})−ybm signal wherein h is a relay amplitude wherein p is a period of a relay feedback oscillation.
An autotuninq method using an integral of a relay feedback response wherein the autotuning method is implemented by a proportional integral derivative controller, the method comprising the steps of:
- integrating a process data to significantly remove the effects of harmonics wherein the proportional integral derivative controller integrates the process data;
- and
- computing an ultimate gain wherein the proportional integral derivative controller computes the ultimate gain by
- K
- c
-
-
- u
- =
- 4
-
- h
- π
-
- q
- a
- wherein h is a relay amplitude wherein qa is derived by applying an orthogonality of sine and cosine functions to an output trajectory signal wherein
- q
- a
- ≡
- 2
- p
-
- ∫
- t
- 1
- t
- 1
- +
- p
-
- y
- a
-
- (
- t
- )
- 2
-
- ⅆ
- t
- =
- 16
-
-
- h
- 2
- π
- 2
-
- (
-
- G
-
- (
- jω
- )
-
- 2
- +
- 1
- 9
-
-
- G
-
- (
- j3ω
- )
-
- 2
- +
- …
- )
- .
An autotuninq method using an integral of a relay feedback response wherein the autotuninq method is implemented by a proportional integral derivative controller, the method comprising the steps of:
- integrating a process data to significantly remove the effects of harmonics wherein the proportional integral derivative controller integrates the process data;
- and
- computing an ultimate gain wherein the proportional integral derivative controller computes the ultimate gain by
- K
- c
-
-
- u
- =
- 2
-
- hp
- π
- 2
-
- q
- b
- wherein h is a relay amplitude wherein p is a period of a relay feedback oscillation wherein qb is derived by applying an orthogonality of sine and cosine functions to an integral signal of a process output wherein
- q
- b
- ≡
- 2
- p
-
- ∫
- t
- 1
- t
- 1
- +
- p
-
- y
- a
-
- (
- t
- )
- 2
-
- ⅆ
- t
- -
- 2
-
- y
- bm
- 2
-
- 16
-
- h
- 2
- π
- 2
-
- ω
- 2
-
- (
-
- G
-
- (
- jω
- )
-
- 2
- +
- 1
- 81
-
-
- G
-
- (
- j3ω
- )
-
- 2
- +
- …
- )
- .
Dependencies are inferred from the claim text.