초록 ▼

A system and method for user configuration of an autotuning algorithm for a PID controller. User input is received via a Graphical User Interface (GUI) indicating a desired characteristic of a PID controller, such as stiffness or response time. The system is excited via a proportional controller to

A system and method for user configuration of an autotuning algorithm for a PID controller. User input is received via a Graphical User Interface (GUI) indicating a desired characteristic of a PID controller, such as stiffness or response time. The system is excited via a proportional controller to characterize the intrinsic behavior of the system, i.e., to calculate a system transfer function. An autotuning algorithm is configured in accordance with the user input. The configured autotuning algorithm is applied to the transfer function to generate gain values for the PID controller resulting in the PID controller characteristic specified by the user. The PID controller gains are loaded into the PID controller hardware or software, thereby configuring the PID controller to operate according to the desired characteristic specified by the user. The user may trigger and view a step response of the system to review the results of the tuning process.

대표청구항 ▼

1. A method for performing user controllable autotuning of a Proportional-Integral-Derivative (PID) controller, the method comprising:displaying at least one graphical user input (GUI) element for specifying a desired performance characteristic of a PID controller autotuning algorithm;receiving user

1. A method for performing user controllable autotuning of a Proportional-Integral-Derivative (PID) controller, the method comprising:displaying at least one graphical user input (GUI) element for specifying a desired performance characteristic of a PID controller autotuning algorithm;receiving user input to the at least one GUI element, wherein the user input comprises a user-drawn step response curve, wherein the user-drawn step response curve indicates the desired performance characteristic of the PID controller autotuning algorithm;deriving one or more parameter values indicating the desired performance characteristic of the PID controller autotuning algorithm from the user-drawn response curve;configuring the PID controller autotuning algorithm, wherein said configuring the PID controller autotuning algorithm comprises applying the one or more parameter values to parameters of the PID controller autotuning algorithm, wherein said configuring produces a configured PID controller autotuning algorithm; andexecuting the configured PID controller autotuning algorithm to tune the PID controller;wherein the user input indicating the desired performance characteristic indicates a desired operation of the PID controller after execution of the autotuning algorithm, and wherein the desired operation includes one or more of stiffness and response time.2. The method of claim 1,wherein the PID controller autotuning algorithm executes according to the desired performance characteristic indicated by the user.3. The method of claim 1, further comprising:displaying a graphical user interface on a display device, wherein the graphical user interface includes one or more user input controls which are operable to receive the user input indicating the desired performance characteristic of the PID controller autotuning algorithm.4. The method of claim 3,wherein the one or more user input controls comprise one or more data fields; wherein the one or more data fields are operable to receive respective parameter values indicating the desired performance characteristic of the PID controller autotuning algorithm.5. The method of claim 1,wherein the user input comprises one or more parameter values indicating the desired performance characteristic of the PID controller autotuning algorithm; andwherein said configuring the PID controller autotuning algorithm comprises applying the one or more parameter values to parameters of the PID controller autotuning algorithm.6. The method of claim 1, wherein the user input determines a value d, wherein the value d indicates the desired performance characteristic of the PID controller autotuning algorithm; andwherein said configuring the PID controller autotuning algorithm comprises applying the value d to modified Ziegler-Nichols equations:P=0.7*Kmax,where Kmax is a value of P at a point of instability;I=P/(0.5*T)where T is a time corresponding to fo, where fo is a frequency of oscillation;D=(1*d+5)*P*0.125*T where d specifies a control characteristic; andTd=5*d+1where Td is a derivative sample period.7. A computer system for performing user controllable autotuning of a Proportional-Integral-Derivative (PID) controller, the computer system comprising:a processor;a memory medium coupled to the processor, wherein the memory medium stores:a PID controller autotuning algorithm; anda software program operable to configure the PID controller autotuning algorithm in response to user input;a display device, coupled to the processor and the memory medium, wherein the software program is executable to display at least one graphical user interface (GUI) element for specifying a desired performance characteristic of a PID controller autotuning algorithm on the display device; andan input device which is operable to receive user input to control the at least one GUI element, wherein the user input comprises a user-drawn step response curve indicating the desired performance characteristic of the PID controller autotuning algorithm;wherein the software program is operable to:derive one or more parameter values indicating the desired performance characteristic of the PID controller autotuning algorithm from the user-drawn response curve; andconfigure the PID controller autotuning algorithm by applying the one or more parameter values to parameters of the PID controller autotuning algorithm, wherein said configuring produces a configured PID controller autotuning algorithm;wherein the processor is operable to execute the configured PID controller autotuning algorithm to tune the PID controller; andwherein the user input indicating the desired performance characteristic indicates a desired operation of the PID controller after execution of the autotuning algorithm, and wherein the desired operation includes one or more of stiffness and response time.8. The computer system of claim 7, further comprising:a display device coupled to the processor, wherein the display device is operable to display a user interface which is operable to receive the user input indicating a desired performance characteristic of a PID controller autotuning algorithm.9. The computer system of claim 8,wherein the user interface comprises a graphical user interface, wherein the graphical user interface includes one or more user input controls which are operable to receive the user input indicating the desired performance characteristic of the PID controller autotuning algorithm.10. The computer system of claim 7,wherein the PID controller autotuning algorithm is executable according to the desired performance characteristic indicated by the user.11. A memory medium comprising program instructions, wherein the program instructions are computer-executable to perform:displaying at least one graphical user input (GUI) element for specifying a desired performance characteristic of a Proportional-Integral-Derivative (PID) controller autotuning algorithm;receiving user input indicating the desired performance characteristic of a PID controller autotuning algorithm, wherein the user input comprises a user-drawn step response curve;deriving one or more parameter values indicating the desired performance characteristic of the PID controller autotuning algorithm from the user-drawn response curve;configuring the PID controller autotuning algorithm, wherein said configuring the PID controller autotuning algorithm comprises applying the one or more parameter values to parameters of the PID controller autotuning algorithm, wherein said configuring produces a configured PID controller autotuning algorithm;executing the configured PID controller autotuning algorithm to tune the PID controller;wherein the user input indicating the desired performance characteristic indicates a desired operation of the PID controller after execution of the autotuning algorithm, and wherein the desired operation includes one or more of stiffness and response time.12. The memory medium of claim 11,wherein the PID controller autotuning algorithm executes according to the desired performance characteristic indicated by the user.13. The memory medium of claim 11, further comprising:displaying a graphical user interface on a display device, wherein the graphical user interface includes one or more user input controls which are operable to receive the user input indicating the desired performance characteristic of the PID controller autotuning algorithm.14. The memory medium of claim 13,wherein the user input comprises one or more parameter values indicating the desired performance characteristic of the PID controller autotuning algorithm; andwherein said configuring the PID controller autotuning algorithm comprises applying the one or more parameter values to parameters of the PID controller autotuning algorithm.