CASS.2007 | , Control, Automationyand Systems Symposium A f ‘s) 20074564 312 ~ 6m 24 Ese prem The Institute of Control, Automation, and Systems Engineers, KOREA hutpyfwrww.ioase or.kr2007 A S431 ASIA 291CH), HAL ‘Controller Design for Integrating Process with Dead Time and Inverse Response M.Shamsuzzoha_, Schun Kim , Moonyong Lee BlofChenical Engineering and Technology, Yeungnam University, Kyongsan, (imcohe2002@hotmail com, neviceOOSS@vnackr, mynleua vac kr ign has been proposed for the second onder stable process based on the sign is based on the disturbance rejection and se er has boen aggested to Bin se-point response. The proposed design method is extended further for the in rocesses with both inverse response anu dead time. The simulation rests show the Sse tuning metho over other existing methods, when the controler is tuned to have the felt ovhating the peak ofthe maximum sensitivity (Me) Time dehy, PL controller ODUCTION where x, , and tp are the proportional gain, integral time constant, and derivative ime constant of the PID controller, espectively, and a and & are the filter Therefore, the present study focused on the design of the simple end robust PID conuoller with excellent performance improvement. The design of aacond order process with dead time (SOPDT) has been proposed and extended for several other classes of the processes. The concept of 2DOF control structure is used to cope with set-point performance. The performance of the proposed Juning rule has been compared with other prominent tuning methods, when the controler is tuned to the same robustness level by evaluating the peak of the maximum sensitivity (440). oo industies majority of the ie jroporiona-intepral-derivative ston is reitively simple structure, fndersood pnd iaplemented in listy md bewer performance of {IMO based tuning rule, the tal, 2008) methods attracted ses recently. The IMC-PID. Petje werdstned tuning parameter, {0 6e closed-loop time constant. ler provides good setpoint tracking me sponse especially for the time-delayhime-coastant ratio, woes. conical applications, us much rrore important than set PTitetxe, conoler design that bit rejection rather than set-point desi problem that hos received Eten. Although, the PID controllers evenly in te teraure, but it is — IMC controller, fy the setpoint filter, and G, the ‘cquivalent feedback controller: 2. PROPOSED CONTROLLER DESIGN PROCEDURE Figure 1 shows the block diagrams of the IMC contral and equivalent classical feedback control structures, where Gp isthe process, G, the provess model, g the Ki by cucaling the PITD controler ¢ fin. given by Eq. (1) m pa Fig 1 (a) The IMC structureFig | (b) Feedback control structure Tor KE Romina came (ke. GG, the set pain and Mistbance responses inthe IMC contr stuenne con be Simplified as 2° ya -GraKiga 2 & into ecorting, © the IMC parameterization (Morin “Zatiiou), the proosss model —G, is. facing 's the portion oF the model is the portion of the modat Wel tiered by the comtoler and p.(0)~ 1, The Gy = agp where p, invented by he conten, p, 1 TAM Tuts Pact usualy inehudes the dead time anion Tight half plane zeros and is chosen to be alt Pass. To, alia a Bood response fr processes with poles ne zero, the IMC sonteller q should be dosigned te Satisfy the following conditions, OW the mrocest 6,” has potes near zero at then q should have zeros at (i) tthe process. G, ‘hen I~ G.9. should have zeros at as poles neat 210, sled automatically: The second be fulfilod by designing the IMC Rassias. where 2 is an adjusubl farina which sontols he tndeofT between the creche Ad robusinees; 7 is selected 10 be le Growth fo make dhe IMC contiter (emi-prope oy amined by Ea. 3) 10 canca he potes near zero Ge sondition ean filter 8 ‘that is equivatent to the IMC /\t-G,g)and ater subsiuting respective Values the idea feedback contoteris ‘tw consider the seuond order plu dead ine se POT) 670 PIKES. which is most widely wile a Proves industries. aa ecient nth the lime delay, respectively. The LMC fy Fla sasst)/tnca and the del eg obtained as (oon Noor? ragstip eee (oom) Bite the ideal feock conto ia B have the PLDiter conte omy tea how to design the PID iter conor an the eal fecdback conker mt da feedback contoter 6, equivalent ted an be obtained afer tie appoxinatin dt by 1/1 Pade ex 4st fsa) ital results in Gas ‘As seen in Ea. (7), the resuhing cat Shits FID contole cascaded wid hho ‘The analytical PID formula canbe cbuinedan ‘The poramiters bin the Fier can be ot the remaining pant of the denomingtr 4 Meee Nae +t The high order polynomial term in 4 because it is not in contol relevant fs Taking the fine detvative substituting »—0, the sven betow. Our, Pidoy 226.634) ea eval oF 6, andy is select al=i, and Ye, . This requires ad [4a sopsemo The 4g anl «2, isobtained and given as at the esigned value of bis (oo large to obi uminces of the closed-loop system when the fi uiventainiies ave large. Based on extensive on sly that has been conducted on different oie9es, it is observed that using a value of tad of b gives robust control performances Piinnended "OJ" wae also suggested by & Chidambaram (2006), ‘The processes ig bit negative and positive zero, the value of & sil without any alteration, 4 SIMULATION STUDY pe}. SOPDT We Wie following SOPDT process (Chen und AM; Scborg etal, 2004): vere opesed UD Slter comioller is compared with tuolkrs based on existing metbous, such as the eta Seber) method, al Skogestad (2002). wer paraister, including the performance tied in Table 1 (9 order to ensure a fair Fn al of he contollers compared are tuned to 2187 by adjusting 2. Figure 2 comparcs the lord sponses obtained using the proposed je DS-d and Skogested methods. The 2D0F wig the weighting type fier was used in the i DSclnztie andl for Skogssind IDOF to obtcin gx et point response, "The closed-loop response point meking and disturbance rejection Gs tl the proposed method provides a superior wie Baller Seam Drum fenbation of inlegeation snd inverse response 1 patently. difficul-to-coninol process. The Qk cf an integrating. process that has an inverse 1 aboilsrstetm drum. The level is controlled by manipulating the boiler feed water (BFW) to the deur, The drum is located near the top of the boiler and is connected to it by a large number of tubes. Liquid! and vapor water ieculate between the drum and the boiler as a result of the density difference between the fiquid in the downcomer pipes Feailing from the bottom of the drum to the base of the boiler and the vapor‘iquid mixture in the riser pipes going up through the boiler and back into the steam drum, The boiler steam drum transter function suggested by Luyben (2008) is given as 9s47(-0418s ee (C0681) sine%" (loa) (r 085+) The PID-iter controller has been designed by the proposed method and Luyben (2003) and controller parameters inchuting the performance matrix, are listed in Table 2. Figuee 2 shows the comparison of the proposed method with Luyben, by introducing & unit step change in both the set-point and foad disturbance For the fair comparison, 2 has been adjusted in the proposed study to get the same fs ~ 1,89 with Luyben Luyben has peaposed the 1wo eases one tor the 50% tninimum integral time and another is. for the 25% rminimum integral time, The clear advantage aver 50% in the disturbance rejection followed by more overshoot in the set-point response Figue 3 shows ther the propesed method has smooth and fast response for both the disturbance rejection and set-point. For the set-point the 2DOF controller is used and weighting parameters Is (3 in the proposed study. For the selection of 1, based on extensive simulation studies, it is observed that the starting value can be be one and half as process tine delay, Which can give robust contol performance. If not, the value should be insreesed carefully until both the nominal and robust control performances are achieved. integral time shows consideredTABLE 1. PID conirotlers seating for Example 1 Acknowledgen ening =| The authors thank to the fend ethos E nergy Resource and Technolgy Iie | Prop swe [ame | ao [ae | mom ACME es a = i a [3] Luyben, W. L. (2003). In Big amiosss ty (8) Morr, nd Zain Control Prentice Hall Engh [5] Sebong, D. B BugaT Ean (2004). Process Dynamics Wiley & Sens; Second Edtien, (6) Shamsuzzoha, M. and Les, MUR Chem. Res, 46, 2077-20, [7] Skogestad, 8. (2008) J, Paves 309 (8 JSeshagitt, R.A. and Chile Eng. Chem, Res, 45, 36143614,» Fig. 3. Simulation results for Example 2 TABLE 2, PID controllers setting for Example 2 Ta aka 4. CONCLUSIONS A simple design method of the analytical PrOsfiter tuning bas been proposed for the generalized second-order stable processes based on the IMC principle, Two limporiant representative processes have been considered for the simulation study to show the superiority of the Proposed method. The simulation conducted for the fair comparison when each controller was tuned t0 have the same degree of robustness by the measure of Af value, where the proposed method show a clear advantage with Inuge pecformarce improvement. The élosed-loop time constant 4 guideline was also suggested forthe ease of selection