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Groupe de Analysons l'instant

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Michael Belyakov
Michael Belyakov

Relay Auto Tuning Simulink



Until the autotuning process begins, the autotuner block relays the control signal directly from u to the plant input at u+Δu. In that state, the module has no effect on the performance of your system.




Relay Auto Tuning Simulink



Configure the start/stop signal that controls when the tuning experiment begins and ends. You can use this signal to initiate the PID autotuning process at any time. When you stop the experiment, the block returns tuned PID gains.


Relay feedback tests are carried out onmulti input multi output systems. Analytical expressions for relay responses in time domain for the interactive transfer functions (off-diagonal elements) of the systems are derived and are validated. Generalized expressions are formulated based on the observation that a relay feedback test consists of a series of step inputs and a stable limit cycle implies a convergent infinite series. MIMO systems with lower-order transfer functions with different time delays are used to illustrate the derivation. These analytical expressions, in a closed form solution are useful to identify unknown system parameters, to understand interactions, to diagnosis the fault at the earlier stage, and subsequently for auto tuning. This closed-loop equation not only enables us to assess the effect of interactions between inputs and outputs but is also useful to back calculate/estimate the exact process model parameters, appearing in the analytical expressions for linear 3-by-3 MIMO systems, from experimental response.


One version is called the Tau-tuner and conducts a simple experiment, using an asymmetric relay function as feedback. From the experiment the static gain and the normalized time delay of the system can be estimated, and from this a FOTD model can be achieved from analytical formulas. From the achieved model the parameters of a PI or PID controller is tuned by existing tuning rules.


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