Lecture 12-Auto-tuning and gain Introduction Scheduling · Tuning and adaptation 1. Introduction Prior knowledge 2. Tuning chniques Initialization of adaptive controllers 3. Relay tuning PID Control 4. Applications Operational aspects 5. Gain Scheduling Operator interface 6. How to find schedules e Views from the field 7. Applications 8. Conclusions Views from the field Auto-tuning Techniques Canadian mill audit. average paper mill The Ziegler-Nichols method has 2000 loops, 97% use Pi the remaining 3%are PID, adaptive etc. Bill Bialkowski Transient response methods CCA93 Frequency response methods · Default settings Poor control performance due to bad Poor control performance due to valves, actuators or positioner problems Process Performance is not as good as you think. D. Ender, Control Engineering 1993 . More than 30%of installed controllers operate in manual More than 30% of the loops actually increase short term variability About 25% of the loops use default About 30% of the loops have equip ment problems O K.J.Astrom and BWittenmarkLecture 12—Auto-tuning and Gain Scheduling 1. Introduction 2. Tuning Techniques 3. Relay tuning 4. Applications 5. Gain Scheduling 6. How to find schedules 7. Applications 8. Conclusions Introduction • Tuning and adaptation • Prior knowledge • Initialization of adaptive controllers • PID Control • Operational aspects • Operator interface • Views from the field Views from the Field Canadian mill audit. Average paper mill has 2000 loops, 97% use PI the remaining 3% are PID, adaptive etc. Bill Bialkowski CCA’93. • Default settings • Poor control performance due to bad tuning • Poor control performance due to valves, actuators or positioner problems Process Performance is not as good as you think. D. Ender, Control Engineering 1993. • More than 30% of installed controllers operate in manual • More than 30% of the loops actually increase short term variability • About 25% of the loops use default settings • About 30% of the loops have equip￾ment problems Auto-tuning Techniques • The Ziegler-Nichols method • Transient response methods • Frequency response methods c K. J. Åström and B. Wittenmark 1