METHOD AND ARRANGEMENT FOR AUTOMATIC TUNING OF A CONTROLLER

摘要

It is described a method for acquiring data for relay-based controller tuning of a controller (101) controlling a system (105), comprising: determining, based on controller output constraint (PLOUT, PHOUT), a relay amplitude (RAMP) representing an amplitude of a relay signal (109) to be added to steady state controller output (Y0) to obtain a sum signal (111) to be fed to the system (105) as system input during the acquiring data for relay-based controller tuning; starting acquiring controller output data (Y) and system output data (X) when detecting a steady state of system output (x) while controller output is fed to the system (105) as system input.