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Proportional Integral and Derivative Auto Tuning of Industrial Controllers Using the Relay Feedback Method

Abstract:

This research intends to validate the self-tuning test developed by Aström and Hägglund in 1984, known as the relay feedback method, with the self-tuning used by the industrial level Programmable Logic Controllers. The methodology used was experimental, analysis and diagnostic; a series of measurements of the process (monovariable level) was obtained in open loop, by means of a Datalog, in csv format, for the treatment and obtaining of the model of space - state and thus to obtain the function of transference. The results of the calculation of the values of the constants Proportional gain, Integration constant and Derivation constant, were modeled in the application of the relay method (Aström and Hägglund), to then load these parameters in the Simulink Proportional, Integral y Derivative_Controller and thus obtain as response the tuning curve of the process in simulated form; finally, these same constant values are entered manually as well as automatically in the Proportional, Integral y Derivative__Compact Version 2 of Tia Portal V16. The automatic tuning curve, as a response of the Proportional Integral and Derivate Optimizer, causes a much smoother behavior of the industrial process against set point changes as well as disturbances, with maximum values of over pulse, stabilization time and error within normalized ranges, because by Programmable logic controller design Proportional, Integral y Derivative_Compact Version 2 use weighting coefficients for both Proportional and Derivative Action, making the tuning resulting from the process much finer, generating the values of constants and weighting coefficients automatically.