Implementação de uma ferramenta para auxílio à sintonia de controladores PID

Abstract

The development, benefits and use of an application tool to help engineers and operators tuning PID controllers are presented. For its validation, a control and automa-tion pilot system is built to make possible experiments in laboratory. This pilot plant is versatile, incorporating two typical control problems, the level control of coupled and decoupled tanks. Its project and building are described, including the instrumentation and actuators components, besides the hardware details used for the control system, detaching an improved industrial PID algorithm named, in this work, Incremental PID with Two Degrees of Freedom (IPID-2DOF). Using a modeling procedure based in phys-ics laws (white box), the features of the two process, i.e., coupled and decoupled tanks, are presented. It is also presented the procedures to estimate the actuator characteristic curve and to estimate the valve hydraulic resistance of the pilot system. Modeling and tuning experimental results obtained with the pilot plant as well as in an industrial plant are presented to demonstrate the usefulness of the application tool developed.