National Taiwan Ocean University
Department of Communications, Navigation and
Control Engineering
A Two Degrees of Freedom PID
Control System, its Features and
Applications
Masanori Yukitomo, Takashi Shigemasa , Yasushi Baba, Fumio Kojima
Speaker：林湧傑
ID：19967042
Date：11/17/2010
Outline
• Introduction
• MD TDOF PID
-Block diagram of a Model-Driven TDOF PID control system
-A designing approach
-Features
-Practical industrial field experiments
• Conclusions
Introduction
• PID為PD與PI結合而成的控制器，Gc(s)=Kp+KI/s+KDS。
優點:構造簡單，提供不錯的穩態誤差及相對穩定度
缺點:PID控制器的參數設計通常很困難，
• MD PID:Model-Driven Control ，為了使參數調整簡單化而
設計，ex:IMC(Internal Model Control) and DMC(Dynamic
Matrix Control)。
特色:構造簡單、增加穩定性及強健性、參數容易調整。
• MD TDOF PID :Model-Driven Two Degrees Of Freedom PID
目的 : 減少因為干擾造成的誤差，在不穩定的狀態中依然
可以使用
Block diagram of a Model-Driven TDOF
PID control system
(a)Set-point filter
(b)Main controller: Gain . Q filter(second order) . Delay
model with dead time(first order)
(c) PD feedback compensator
Designing Approach
• Step 1:PD feedback compensator
功能: (a) stabilize even unstable processes P(s)
(b) compensate the transfer function from
v to y
設計方法: 找出P(s)的轉移函數，接著調整F(s)
讓G(s)近似於
Designing Approach
• Step 2: Main Controller
(a)KC = K :Gain
(b)TC = T :Time constant
(c)LC = L :Dead time
• Step 3: Set-point filter
6
Features
• Widely applicable process controller
透過PD feedback內各種參數的調整，可以將各種不同的程序
轉變成一階的延遲系統，因此這種PID對於各類系統的泛用性很
高。
• Two degrees of freedom characteristics
調整F 達到good tracking property without overshooting
調整Q 達到quick disturbance regulating property
Practical industrial field experiments
• Boiler test plant
(a)
傳統PID(IMC)
MD TDOF PID
以IAE(絕對誤差積分準則)及settling time(安定時間)來比較，MD TDOF PID 皆優於傳
統的PID
Practical industrial field experiments
• Boiler test plant
(b)
傳統PID(IMC)
MD TDOF PID
很明顯的，MD TDOF PID對於干擾的靈敏度以及矯正的能力皆優於傳統的PID
控制器
Practical industrial field experiments
• Paper manufacturing plant
Conclusions
• The MD TDOF PID control system has strong capability to
stabilize by using the PD feedback.
• Various types of PID control systems can be realized from the
MD TDOF PID control system smoothly by setting control
parameters.
• Through practical industrial field experiments, practical
effectiveness for the MD TDOF PID Control system such as the
quick responses for both set-point tracking and disturbance
regulating response are shown.
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