Pid Controller Tuning rd r1

Tuning of the controller must be done at the normal setpoint and under the normal operating conditions due to the potentially severe nonlinearity of the process, as illustrated by the titration curve. Time constants predicted from equipment volume and agitator pumping rate must be corrected for the effect of the titration curve as shown in Figure 7.40.14 per the discussion in the section on mixing equipment. Open-loop tests will show the effect. Closed-loop methods of tuning, such as the Ziegler-Nichols ultimate oscillation method, must be done carefully to distinguish the gain where oscillations first start, because the loop will show nearly equal amplitude oscillations for a wide range of gains as it bounces back and forth between the flat por

control valve deadband dead time

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