| Abstract [eng] |
In this work investigation of PID controller tuning methods based on ITAE criterion is done. The structure of the PID controller, the purpose of tuning, process models, tuning integral criteria and tuning methods are investigated in literature review. In the literature review, four methods satisfying the research conditions were selected: Sung (1996), Hassan (1993), Hwang (1995) and Rovira (1969). These methods have been investigated in accordance to setpoint tracking and disturbance rejection. The main focus was to find out if by using the Sung method results that are close to system optimized for ITAE criterion can be achieved. Furthermore, the superiority of methods for finding the first-order model with delay parameters used for Rovira tuning method was checked, the method for finding optimal parameters of the PID controller has been verified. Matlab and Simulink software package was used for the investigation. From the results of the study conclusions can be drawn that when tuning the system for ITAE criterion, the best results for both tuning purposes (setpoint tracking and disturbance rejection) were achieved while using the Sung tuning method, which are very similar to the results of system optimized for ITAE criterion. |
