Hi Interesting and good work. If you have the  time, you can  compare the effectiveness of your tuning  with  relaxc trial version. ( compare time rise and time disturbance rejection). Your grapichs show that it is possible  to apply first order graphic rule of relaxc to get the coefficients of relaxc.  You can adapt your autotuning block at  these rules ( just to measure the speed and to set time response that you want by tg). I am interested  by the comparison. best regards ps: If you have not apure delay in you process put the relaxc parameter tre at 3*the sample time ... View more

Hi For a better understanding of Relaxc, here are the slides and a link to a trial version of relaxc under simulink to test which allows to replay  all the examples of the practical tuning of relaxc.  ask me code for one month or more    https://www.researchgate.net/publication/340788868_Relaxc_under_simulink_v1     ... View more

Hi It exists also a trial version under simulink of relaxc ( Same structure that the PLC ). If you want to try it download https://www.researchgate.net/publication/340788868_Relaxc_under_simulink_v1  and ask me key1 for one month thank         ... View more

Hi, For a better understanding of Relaxc,  here are the slides   john ... View more

Hi Kevingalvez   For the moment relaxc is free but limited. ie it works five hours and after it is necessary to transfert your plc in the modicon via expert control and relaxc works again during five hours and so one. It is a evaluation version or for the students. In the literature, we will see that auto tuning works generally /exclusively on the behavior of first/second/or more order +delay ( generally small). For the real world, the relaxc graphics rules for second order and more cover "70%" of the cases. Relaxc allows an extension at all process configurations and there are 5 fives rules for covering all the processes world. (A) Effectively with relaxc it is necessary that you measure yourself the delay and the speed of your process and that you compute the coeff ks. But it is not to hard to identify automatically these 2 parameters. The speed of your process is given by the output Speed of relaxc. You identify and compute theses coefficients one time. If you want to calibrate your process again it is necessary to redo the measure. But with the simple structure of relaxc and the simple autotuning rules it is possible to identify continuously these coefficients where in the worst case to prevent the engineer that his process changes. Now that you have relaxc, you can may be use it to test or to verify the quality/ performance of your auto tuning method that you use. Regarding siemens device autotuning there is a paper ( 2017) Implementation of PID autotuning procedure in PLC controller (Marcin Daniun) which use the method of the moment+amigo plus “secret algorithm” which confirms that I say. And if you compare the amigo method to relaxc, you see that relaxc is will see to easy and efficient to use, because the coefficient of amigo are not physical and depend precisely of the mathematical structure of your process( no degree of freedom) . And if you apply the point (A) your autotuning will be better than siemens. Keep me in touch for relaxc. and thank for your downloading. john Ps: the mathematic of relaxc are complicated to elaborate relaxc but not to use it. it is my point of view ;-).   ... View more

HI I am not an expert on modelicon. But I know that the autotuning with PID is  complicated and not always reliable.  For examples It does not work on all the types of process and there are a lot of drawbacks as the difficulty to control the overshoot, to take into account to large dead time, saturation ( speed) , to get a good load disturbance rejection, etc     But there is another solution is to use the new controller Relaxc. ( in the slide you have all the information link)  https://www.appedge.com/pdffile/relaxc_expertcontrol.pdf   The practical tuning guide of relaxc( see pdf)  shows how with only  five graphics rules of  auto tuning it is possible to tune  all ( almost) the types of process.  It is just necessary to identify the dead or gap time and the max speed. For that you can use the more suitable excitation for your system. ( step response, relay feedback, noise, armax  or identification of the transfer function ) to measure these 2 parameters and relaxc we will  give  us  the more secure and efficient control for our  process with the best load disturbance rejection.  This methodology is only possible with relaxc, because its mathematical structure  allows  it  because   Relaxc is  “the plant”.  As the parameter of relaxc are a physical sense, a user can checks them without calculation and adjust directly them too.     You can test and verify the behavior of relaxc with the free trail version of relaxc.  If you use relaxc I am thinking that many people will be interesting by your results and me too. The autotuning of relaxc is independent of the modelicon device https://shop.exchange.se.com/en-US/apps/55444/relaxc---critical-process-loop-control---trial-version   I can help you to use relaxc if you want or if you have some difficulties to download relaxc.     J.M   ps Sorry for english ... View more

A new controller ( Relaxc) will be available in a few days on shop.exchange. Better than IMC or predictive control and of course PID. And you will not have the drawback to  manage arrays or to identify the transfer function of your your process. You plug it and control directly your process. I you test it with the free trial version give me a feedback.Thank ... View more