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    18 views7 pages

    IASTED International Conference On Control and Application - 1

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    ShamsMohd

    Copyright:

    © All Rights Reserved
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    retedings of the Ninth LASTED International Conference CONTROL AND APPLICATIONS ‘My 30-lune 1, 2007, Montreal, Quebec, Canada Hardcopy: 978-0-84980-865-2 / CD; F-SHOHE.566-9 ASIMPLE TWO-DEGREES-OF-FREEDOM CONTROL STRATEGY FOR FIRST ORDER TIME DELAY PROCESSES M. Shamsuzeoha, Munky Yoon, Moonyong Lee® Schiool of Chemical Engineering and Technalogy, Yeungnam University, Kyongsan, 712-749, Korea auulytical wining metnod for & PID controller ‘sad with a Teadag filter i proposed for FOPOT axes based on the IMC design principle. TI Oyler is designed forthe rejection of disturbanees and A wodewes-oFfieedomn cork! stusture i used to et the overshoot in the setpoint response. The muiion sty shows thatthe proposed design method sides eter disturbanee rejection than the coaventional PD design methods when the controllers are tuned to Ive he some degree of robustness. A single tuning Wler closed-loop time consti! (i) guideline is del or several different robustness kevels AD Convaller, First Order Plus Deed Time, Disturbance jection, First Onder Load Lag Filter, Twe-Degrec-of som Controller vera densative (PID) contrllers have the mosi popula [1-13] and widely ysed convolers ess insines because of their” simpli ote: ard wide rage of applicability with aca fevformanee, However, i has been netced that bny PD corso are often poorly tuned anda eerain to efi hasbeen made fo systemareally ecalve nat: eleieness of the internal wodsl control (MC) fign principles has made it attractive in process es where mony tempts have been male to be INC principle 0 design PID controllers for f sable and unas processes Morar’ apd Zafirou, 1) The IMC-P cong ries Have the advantage af en hg single tuning parumeter to achiove eelear wade- ‘between the chosed-loop performence and robusiness: IND ting methods proposed by Rivera er al. 2], i and Zafiriou [1], Hom et al. (3), and Lee et af. [4] a examples of the IMC-PID tuning meted. The et sytsis (DS) method proposed Ay Smith er af (8) nthe dee synthesis for disturbance (Ded) metho ef by Cen and Sebo [6] canals be categorizes 68.103 209 smmzohiZ0N2ahotwsil.com, *mynleejyw ae ke ‘nto the same class as te IMC-PID anetbids in thal they ‘obtain the PID controller parametees by computing the idhack controller which gives 4 predstined desired closed-loop response. Although the ideal contaller is ‘often more complicates than the PID conta for time delayed processes, he controller form ait be reduced ta that oF either PLD controller or « PLD controller caseaded with © flow order filler by performing appropriate approximations of the deal time in the puocess model The control performunce can be significantly enhanced by cascading the PID controller with « leodilie filer, as by Eg. (1) wy where K., ¢j and zp are the proportional gain, imegral time constant, and derivative time constant of the PID) controller, respecuvely, und a and are the filter parameter, The structure of the PID controller cascaded with a filtor ap also suggested by Morari and Zafiriou [1], River ef fal (2). Lee ef af [4], Hom os al (3} and Dwyer [7]. The PID filter controter in Eq. (1) can easily be implemented iu moder control hardware. Ik is essential to emphasize that the PID’ controller designed according to the IMC principle provides excellent se-point racking, but has w'slugw sh disturbance response especially for processes with small time. olay time-constont mio (Moral and Zafiiu [I]: Lee ef al. (4): Chien and Fruchauf (8]: Hom oie, [3]; Chen and Scborg. (6); Skoxestad [9]), Since disturbance rejection is much more important than set point tracking for many process control applications, a controlter desige that emphasizes the farmer sather chan the latter is aa important clesign goal that has been the focus of renewed rosoarch recently In the present study, a simple and ot proposed for the design of a PID‘ilter controller with ‘enhanced performance, A closed-loop time constant (4) uideline is recommended for a wide range of time- delayftime-consiant ratio, A simulation study was performed 10 illustrate the superiority of the proposed ‘method for both nominal and perturbed processes ice method & 2. IMC Controller Design Procedure Figures I-1 and } show the block diagrams of the IMC Ccntrol and! equivalent classical feedback control strictures, respectively, where Op. is the process. G, the provess model, q the IMC controller, fy the set-point filter, and G, the equivalent feedback controller Go. «h@— 4 Gp | | trea 16 Figg 1 (a) The IMC sirncture lewraanen “4 & | Setpoint Conair Process by RR Ge f+ GL [| Fig, 1 (b) Feedback control structure or the nominal case (ies Gp-—G,) the set-point and dlisturkance responses in the IMC comol structure can be simpli = Gar (1~ Gyan ey According to the IMC parametesizaion (Morari and Zalirio,[1), tae process model G. is feted into 160 ras Gr = PwPa co) where py is the poition of the model inverted by the controller, py is the portion ofthe model not inverted by the controler and. ,(0)= 1, ‘The noninvertble part usaully includes the doad time and’or ight half plane ze and ischosen tobe all-pass. To obaain a good response for processes with poles near zero, the IMC controller ¢ should he designed to satisfy ‘he fllowirg conditions. GF) IF aie process. G, has poles near 2210 A 32.055 then g soul have 200s a =, 250-45 {i IF tie process G, has poles near zr, then 1-G)g should have zens a Since the IMC conuroller q is designed as y= 'f, he First condition is satisfied automatically, ‘The asseo condition can be Fulfilled by designing the (MC filter fas yp Ee @ here Z is an adjustable parameter which contol the tradeotT between the perfixmance and robusiness) is selected 10 be large enough 49 make the IMC contol (semi-yproper: fare determined by Liq (5) 0 cance he poles near zero it Gi j-ngseassu G4. as Then, the IMC contr comes tbe of) Sele) 6 “Thas, the elasd-loop response ix Sane), [AA 0 Ge-iT ony} From me above design procedite, one ah achive stable closed Ip response by using the IMC onto, 3. PIDAilter Design for KOPDT Process “The ideal feedback controller that i equivakent (0 the IMC controller ean be expressed in terms of the item smoxel (), and the IMC controller g =e ® Substituunse Es. (3) and (6) imio (8) giver the Wed feedhack contraller: (arty Let us consider the first order plus dead time (FOPDT) process, whicn Is mast widely utilized in the chemical proces industries, asa representative model, uo) where X is the gaia, ¢ the time constant, and 9 the ‘ume delay. The IMC filter structure is pod ay Usty Iris noticed that the [MC filter form in Eg. (11) wasalso utilized by Los eral. [4] and Hom ea [3]. The reauking IMC controller becornes (exrnlia-t) xsi the ideal Feedback controller in Eq. (13) does not the MD-Slier controller form, the rernaining issue is +9 design the PID‘ Fier conuoller that approximates eal redback conirller most closely. Reape inporoato note tha the 222 Pate approximation it enmugh 4 convert the adel feedback contillet 09 fie dimensional fedtback eonoller with barely and rearranging £9, (15) 06) Assen in F. (16), she resulting controller fats the form PID controler cascaced with a high order filter Thetytca PID formula can be obtained as ¢ v8 7) Maa oe s=-lfr that 3 lust esponse to load distrbances. From Fa, his cauies [ayer Nae] =0- Thus, the Ls ayy ruts obvious ffom Eq. (5) that the remaining the denominator m Eq. (16) containg the factor 2), Metre, te Mer parameter i Eq (1) can ee le 9) 20) tr paramcer ain Eq, (1) can be easily obtained (10) as en we the high order cs? term has Hite impact on the un pverall control performance in the central refevint frequency range, the remaining part at the traction i iq, (16) can be successiully approximated to a simple first onder eaiilag filter axl ¢axyi(i ay). Our simulation result (although not shown in this paper) also contin thas validity of ths made! reduction, The lead tem (As+1) in the closedloo ranshir function of Fg. (7) causes excessive overshoot in the set- Point response, witch ean be eradicated by adding the set point flier fy a vibes = 22) Bev where O<¥1_ The exteme ease with »=0 haw no {eau term im the Setpoint filter which would einuse a stow setve response, On the other hand, y= L means that there is no setpoint filter. » can be adjusted gnline by obtain the desited speed of the set-point respouse, The proposed study is also applicable for the process with eligible dead time while it is mainly focused on the fies order ‘ime delay process 4, Simulation Study This section deals withthe simulation stuay eenduoted or the two representative FOPDT processes: the lay tine dominant process and the equal dead time and lag tine process To evaluate the robustness of w sonal stem, the ‘maximum sexsiivky, Ms, which ts defined by Meme ¢.4nyf iS used, Since the Mois the inverse ofthe shorest distance fforn the Nygust eurve af the Toop tranferfinetion w the evtcal point (-1.)y 4 small Ms salu indicates thatthe stability margin of the control system 5 large. The Mr is a well-known robusmess messure and is used by many. researchers (Chin ané Seborg, (6): Skogesta, {9}; Skogestad nd Postlethwaite, (10), and Aston et al, (11D). Typical values of Ale ate in the range of 1.2 ~2.0(Asteien ef a, (11, Seborg et at, (12)) To ensure a faur comparison, it Is widely accepted forthe modol-tasod coniollems (DS, DS and IMC) to tune by adjusting 220 that the Me Yalues would be the same values, Therefore, thoughout all our simulation exampies, all of the conus compared were designed 10 have the same ronusiness level in terms of the maxon sensitivity, Ms To evaluate the closed-loop performance, wo performance indices were considored in the case ofboth 1 ‘Seep set-point change ard a siep load dsturkance, viz the integral of the sime-weighisl absolute err (ITAL) BetUS ge Fig ya aM te Overs which ats 6 a metsure of how much the reponse exceeds the ultimate value following a stey change is the set-point andor disturbance Example 1. Lag time dominant process (0/: 001) Consider the following Lk Sebore erat. 112) OPDT process (Chen and Sebory, ie 7 dil The propoxed Pi1>-filter controller is eompared with other Controllers based on existing methods, such as the DS-d Method, and those proposed by Lee er al, Hom Rivera ca, and Lee et al (CE) with a conventional fi The controller parameters, including the performance and robustness matrix, are listed in Table J. In order to ensure 8 fair comparison, all of the controllers compared are luned to hive AN = 1.04 by adjusting 4. Figure 2 compares the setspoint and load responses obtained tsing the proposed method, the DS-d method, and the methoxls proposed by Lee ef al. and Hom et al The 2DOF Controller wsing the set-point filter was used! in the DSc method ind the methods proposed by Lee vt al and Hoon ef al, to obvain on enhanced setpoint response, It is important to note thatthe set-point filter used for the set point response has a elear benefit when the process is lag trae dominant ‘Table 1, PID Controller Parameters and Performance Matrix far Example | (é/: -001) In this case, it is observed that 0:4

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