| 초록 |
In this paper, we first analyze why the conventional PID controller is not suitable to control integrating processes mathematically. To overcome this structural limitation of the PID controller, we add an internal feedback loop to the PID controller, because the internal feedback loop removes its structural limitation by converting the integrating process to an open-loop stable process. Second, we propose a simple on-line process identification and autotuning method for the integrating process. In this identification method we use only process input and output to obtain a process transfer function directly, while other previous closed-loop identification methods require the information of the closed-loop control structure. From simulation studies, we can recognize that, in spite of its simplicity, the proposed on-line process identification and autotuning method shows not only good model performances but also good control performances for both servo and regulatory problems.
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