Sách PID Control Toolset User Manual

About This Manual
Organization of This Manual . ix
Conventions Used in This Manual . ix
Related Documentation x
Chapter 1
Overview of the PID Control Toolset
Package Contents .1-1
System Requirements 1-1
Installation Procedure 1-1
PID Control Toolset Applications .1-2
PID Control 1-2
Fuzzy Logic .1-3
How Do the Fuzzy Logic VIs Work? 1-3
Advanced Control 1-4
PART I
PID Control
Chapter 2
PID Algorithms
The PID Algorithm 2-1
Implementing the PID Algorithm with the PID VIs .2-2
Error Calculation .2-2
Proportional Action .2-2
Trapezoidal Integration .2-2
Partial Derivative Action 2-2
Controller Output 2-3
Output Limiting .2-3
Gain Scheduling 2-4
The Advanced PID Algorithm .2-4
Error Calculation .2-4
Proportional Action .2-4
Trapezoidal Integration .2-5
The Autotuning Algorithm 2-6
Tuning Formulas .2-6

Chapter 3
Using the PID Software
Designing a Control Strategy 3-1
Setting Timing . 3-2
Tuning Controllers Manually 3-3
Closed-Loop (Ultimate Gain) Tuning Procedure . 3-4
Open-Loop (Step Test) Tuning Procedure . 3-5
Using the PID VIs . 3-6
The PID VI 3-6
The PID Advanced VI . 3-7
Bumpless Automatic-to-Manual Transfer 3-7
Multi-Loop PID Control . 3-8
Setpoint Ramp Generation 3-9
Filtering Control Inputs . 3-10
Gain Scheduling 3-11
Control Output Rate Limiting . 3-13
The PID Lead-Lag VI . 3-13
Converting Between Percentage of Full Scale and Engineering Units . 3-14
Using the PID with Autotuning VI and the Autotuning Wizard . 3-14
Using PID with DAQ Devices 3-17
Software-Timed DAQ Control Loop 3-17
Implementing Advanced Function in Software-Timed
DAQ Control Loops 3-18
Hardware-Timed DAQ Control Loop . 3-19
Chapter 4
Process Control Examples
Simulation VIs . 4-1
Tank Level 4-1
General PID Simulator 4-3
Plant Simulator 4-5
Cascade and Selector 4-6
Demonstration VIs . 4-8
PID with MIO Board . 4-8
Lead-Lag . 4-11

Chapter 5
Overview of Fuzzy Logic
What is Fuzzy Logic? 5-1
Types of Uncertainty .5-2
Modeling Linguistic Uncertainty with Fuzzy Sets 5-2
Linguistic Variables and Terms .5-5
Rule-Based Systems 5-6
Implementing a Linguistic Control Strategy .5-7
Structure of the Fuzzy Logic Vehicle Controller .5-12
Fuzzification Using Linguistic Variables 5-13
Using IF-THEN Rules in Fuzzy Inference 5-14
Using Linguistic Variables in Defuzzification 5-17
Chapter 6
Fuzzy Controllers
Structure of a Fuzzy Controller .6-1
Closed-Loop Control Structures with Fuzzy Controllers 6-2
I/O Characteristics of Fuzzy Controllers .6-6
Chapter 7
Design Methodology
Design and Implementation Process Overview .7-1
Acquiring Knowledge .7-1
Optimizing Offline 7-1
Optimizing Online .7-2
Implementing .7-2
Defining Linguistic Variables 7-2
Number of Linguistic Terms .7-2
Standard Membership Functions .7-3
Defining a Fuzzy Logic Rule Base 7-5
Operators, Inference Mechanism, and the Defuzzification Method 7-8
Chapter 8
Using the Fuzzy Logic Controller Design VI
Overview 8-1
Project Manager .8-2
Fuzzy-Set-Editor 8-3

Rulebase-Editor . 8-17
Documenting Fuzzy Control Projects . 8-21
Test Facilities . 8-22
Chapter 9
Implementing a Fuzzy Controller
Pattern Recognition Application Example 9-1
Fuzzy Controller Implementation 9-8
Loading Fuzzy Controller Data . 9-8
Saving Controller Data with the Fuzzy Controller 9-11
Testing the Fuzzy Controller . 9-13
PART III
Advanced Control
Chapter 10
Advanced Control
Continuous Linear VIs 10-1
Discrete Linear VIs 10-1
Nonlinear VIs 10-1
HIL Simulation Applications 10-2
Control Applications . 10-5
Appendix A
References
Appendix B
Technical Support Resources
Glossary
Index




LVPIDControlToolset