Ziegler Nichols Metodu Hakkında

[bahadir_demirkaya]

elektronik.muh arkadasımız aşagıdaki ziegler nichols medodu ile parametre hesaplatma kodunu yazmış. Burada bulunan kt, tt, p_k , pi_k , pi_tn , pid_tv , kp , tn , tv , ki ,kd gibi isimler ne anlama geliyor, bu blogu ben nasıl kullanabilirim?


'\/engineering\/control' *)

function_block control_set1
title = 'control_set1'
// step 7 scl v5.3 kullanılarak plc programı yazılmıştır
// takahashi calculates controller parameters for p, pi and pid controllers based on the ziegler nichols method.
//
version : '1.0';
author : hugo
name  : c_set_1
family : ctrl

var_input
 kt : real;
 tt : real;
 pi : bool;
 pid : bool;
end_var
var_input
 p_k : real := 0.5;
 pi_k : real := 0.45;
 pi_tn : real := 0.83;
 pid_k : real := 0.6;
 pid_tn : real := 0.5;
 pid_tv : real := 0.125;
end_var
var_output
 kp : real;
 tn : real;
 tv : real;
 ki : real;
 kd : real;
end_var
var
end_var


if pi and pid then
 kp := 0;
 tn := 0;
 tv := 0;
elsif pid then
 kp := pid_k * kt;
 tn := pid_tn * tt;
 tv := pid_tv * tt;
elsif pi then
 kp := pi_k * kt;
 tn := pi_tn * tt;
else
 kp := p_k * kt;
end_if;

(* ki and kd are calculated *)
if tn > 0 then ki := kp / tn; else ki := 0; end_if;
kd := kp * tv;

(* revision history
hm 4. nov 2007  rev 1.0
 original version

*)
end_function_block

 

[elektronikmuh]

CONTROL_SET2
Type Function module
Input KT: REAL (critical gain)
TT: REAL ( Period of the critical Vibration )
PI: BOOL (TRUE if parameters for PI controller are determined)
PID: BOOL (TRUE if parameters for PID controller)
Setup P_K: REAL:= 0.5 (default value KP for P controller)
PI_K: REAL:= 0.45 (default value KP for PI controller
PI_TN: REAL:= 0.83 (default value of TN for PI controller)
PID_K: REAL:= 0.6 (default value KP for PID controller)
PID_TN: REAL:= 0.5 (default value of TN for PID controller)
PID_TV: REAL:= 0.125 (default value TV for PID controller)
Output KP: REAL (variable gain KP)
TN: REAL (past set time of the integrator)
TV: REAL (retention time of the diferentiator)
CI: REAL ( Gain of the integrator)
KD: REAL ( Gain of Diferentiator )

CONTROL_SET1 calculate setting parameters for P, PI and PID controller
according to the Ziegler-Nichols method. Here it indicates the critical gain
KT, and the period of the critical vibration TT. The parameters are determined
by the controller operated as a P-controller and the gain is ramped up
while committed to a continuous oscillation with a constant amplitude.
The corresponding values of KT and TT are then determined. Disadvantage
of this method is not any real control loop can be moved to the stability limit,
and so the process very long time for slow control loops such as room
arrangements.