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    21 views7 pages

    Cass 2006

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    ShamsMohd

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    © All Rights Reserved
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    AH rata ir i OPK Toler) Control, Automation, and Systems Symposium EU yl Mee ied Py eet Es eo 4124) RS UU CnC CURE SE Cun. It ea oy Cy em Ld CASS 2006 AA ARS l= BY SAS AA IMC-P Alel7] Aa Design of IMC-PID Tuning Rule for the Unstable Dead Time Dominant Proe M. Shamsuzzoha’, Moonyong Lee* ‘School of Chemical Eng. and Tech., Yeungnam University, Kyongsan, 712-749, Korea + 82-53-810-2512; E-mail: mynlee@yuac:kr) 810-3241; E-mail: smizoha2002/@hotmail. com) (corresponding author, TEI (TEL: 82. ‘Abstract: The modified IMC fier has been proposed forthe open-loop dead time dominant unstbeod the PID tuning rule has been derived for the FODUP and SODUP med arching of the filter structure for the IMC-PID controller design clearly exhibit that thee damped filter doesn’t gives satisfactory response for the Based on the proposed fer result of the s due to the large integral time and performance can be easily improved by reducing the integra ing simulation studies show that the proposed design method provides better disturbance rejection and performance. The robustness for the parametric uncertainty of the controller Kharitonov’s theorem and multiplicative uncertainty bound has uncertainty principle. Keywor L Introduction Inthe process control, more than 98% of the control loops fare of the proportcnal integral derivative (PID) type. The sain reason is its relatively simple structure, which can be ‘asily understood and implemented in practice. tis welle known that control. system design for an open-loop Unstable process is more difficult than that for a stable one becquse of the unstable nature of the dynamics, for which ‘most design tools cannot be applied. The some of the common example for unstable process are the Polymerization furnaces, continuous stired tank resctors (CSTRs), and the batch chemical reactor, which has a sirong nonlinearity duc tw heat generation term in the ‘energy balance. A very recent ead shows that mning of controllers for s time-delay unstable process has bectt an active area of research in the literature (1-10). Duc to the effectiveness of intemal model contro! (IMC) in prosess industry, many efforts have been made 10 exploit the IMC principle to design the cquivatent feedback controllers for unstable processes [3]. Lee et af [4] derived 2 set of PID tuning rules for frsvorder and second-order unstable processes, using Maclaurin series approximation of the ideal IMC controller. Yang et a! [3] developed IMC-based single loop design method of PID land or high-order comroller for complex processes 2s well Recently, some modified but complex IMC structure have been proposed [6,7,10] fer controlling of unstable processes with time delay and therefore, noteworthy improvement had been obtained for both of the setpoint tracking and the load disturbance rejection. It is important to note that the structure of above proposed methods are Yery complicated with three cortrollers. In fact, in real situation there usually exist the process unmodeled Unstable process; dead time dominant; IMC-PID; Robust analysis Sa ahs ICE), KER dead time dominant unstable processes. This 's evaluated theoreti been suggested based on noms dynamics that inevitably tend 10 causes the dee of the control system performance severely for and Processes, especially for the load disturbance pl Wang ef af [8] has conducted a comparative study, if was aimed 10 give readers 1 a comp understanding of time delayed unstable procs, investigated thatthe moxt of the comtole shen working for s large normalized dead time gr all tuning method of Lee et af [4] and Vang eta (S]is apolicable. Recently, Xiang and Nguyen (1) suggested a contiol scitemes for unstable with dad by PID controller, the method contain three cartel ‘The suggested method tas advantage in deed dominant unstable process for the selpoin: peti only-and, which is very sensi js clear form the ogen titerature, there is no PED ta rule for the deed time dominant unstable proces v has satisfactory performance. Therefore, the proposed study it concerned fr thd time dominant unstable processes, The IMC fe i been modified from ecically damped. to underdamp and damping coeffisient con be adjusted for the rei {integral action for improved performance, ‘Ths dead dominant first order delay unstable and second order i ‘unstably process has been studied for the superiority Propased method. The robusiness of the cavteallg evaluated using Khartonov's theorem and suliplia ‘uncertainty bound has been also suggested 2. Theory Im the IMC control strustire, related as the controlled variables 256 Shown tobe a powerful method for is [B]. However, for unstable IMC suture cannot be implemented sible proces, since any input (3) Will out oun ig, is unstable, Nevertheless, ve coal sill use IMC approach 1 for an unstable process, if only the tr satisfied for the internal stability desig involves two steps: amodel is factored into invertible and a fe punion of the model inverted by the parton of the mode! not inverted by simes. andor right half plane ‘oiler is set as g ~ ari Heres n becaise js the inverse of the ie io cancel the unstable poles of ¢, er ich can be adjusted to make the per Ea. (8) fonction ae a filter with -Svtnt 7. and damping coefficient £ 6 ay (a) 0) The fea tem (y-- yy 4) I ES.) eases an overshoot in the closed-loop response to a setpoint change, This problem can be resolved if we add a setpoint fier. ‘ (10) tae The resulting IMC contellcr in Eq, (7) has stable response and the classical feedback controle: exactly equivalent fo IMC can be obtained fiom the following relations eect ay Thus the feedback controller i given as i ae «2 eae atten senna (Enae Mee CisTeadeest} The resulting closed-loop output response in Eq. (12) is physically realizable, but it does not have the standard PID controller form, To get the PID controller from the ideal controller, it discussed in detsiled elsewhere Lee etal (9). 2.2 Proposed Tuning Rule 2.2.1. First Order Delayed Unsiable Process (FODUP) Consider & fist order delayed unstable process of the form: a0 <8 «3 Where Kis the gain, Fis the time constant and 0 is the time delay. The proposed IMC filter is found BE yetgeay[2veavgees) + Then, the resulting IMC controller BECOMES ef-s) MAP sna) Therefore the {deal feedback controller equivalent to the IMC eontroller 8 gmenoen eee im)’ THE dead Gime term ‘expanded in Maclaurin series and the analytical PID Formula can be given as: (ida) ea (1b) «ae The extra degree of freedom gis calculated by solving sci, e7 THE Means We want to cho9se so that the {erm j)cg}has a zero at the pole of, The value of after some simplification is given as Neale arageaetlot fe 2.2.2. Second Order Unstable Process SODUP) Consider the following sopuP, kes as) CFO Neen) ‘The proposed. = IMC filter is found y(n spasiyflaeazugeciyl « Thery the resuling IMC-PID controller tuning formula is given as (16a) Rasa ( ) (160) feller en a Ce (162) (say (160) Tsien (att adie MOL ol ie Aeomneennniees ufo PGs nc fave the same numberof RHP poles and that «particular contol ¢ stabilizes the aomial plant 7 ‘Then the ‘system is robustly table with the controller, if and only ity function 5 for the ‘nominal plant D satisfies the following bound a if the complementary sensi ag) Fl, -sanPalast Por IMC controler Pap and the Eg. (18) becomes par (oj

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