PDF Pid controller design for process with time delay, Truong Nguyen Luan Vu

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    Pid controller design for process with time delay, Truong Nguyen Luan Vu

    CONTENTS
    OVERVIEW ............................................................................................. 9
    CHAPTER 1. DESIGN OF ADVANCED PID
    CONTROLLERS FOR TIME-DELAY PROCESSES ...................... 13
    1.1. INTRODUCTION ............................................................................ 13
    1.2. GENERALIZED IMC APPROACH FOR PID CONTROLLER
    DESIGN ............................................................................................ 14
    1.3. DESIGN OF PID CONTROLLER CASCADED WITH A
    LEAD-LAG FILTER........................................................................ 16
    1.4. PROPOSED TUNING RULES FOR TYPICAL TIMEDELAY
    MODELS ........................................................................... 18
    1.4.1. First-Order plus Dead Time (FOPDT) Process Model ................. 18
    1.4.2. Integrator Plus Time Delay Model ................................................ 18
    1.4.3. First-Order Delayed Unstable Process (FODUP) Model .............. 19
    1.4.4. First-Order Delayed Integrating Process (FODIP) Model ............. 21
    1.5. Second-Order Delayed Unstable Process (SODUP) Model ............. 21
    1.5.1. SODUP Model with One Unstable Pole ........................................ 21
    1.5.2. SODUP Model with Two Unstable Poles ..................................... 22
    1.6. PERFORMANCE AND ROBUSTNESS MEASUREMENTS ....... 22
    1.6.1. Integral Absolute Error (IAE) Criteria .......................................... 22
    1.6.2. Overshoot ....................................................................................... 22
    1.6.3. Maximum Sensitivity (Ms) Criterion ............................................ 22
    1.6.4. Total Variation (TV) ...................................................................... 23
    1.7. SIMULATION STUDY ................................................................... 23
    1.8. DISCUSSION ................................................................................... 43
    6
    1.8.1. Effect Of  On the Tradeoff between Performance and
    Robustness .................................................................................... 43
    1.8.2. Effectiveness of the Proposed Method for the Dead-Time
    Dominant Process ......................................................................... 45
    1.9. CONCLUSIONS .............................................................................. 46
    REFERENCES ........................................................................................ 47
    CHAPTER 2. IMC-PID CONTROLLER TUNING FOR
    PROCESS WITH TIME DELAY ........................................................ 49
    2.1. INTRODUCTION ............................................................................ 49
    2.2. GENERALIZED IMC-PID DESIGN APPROACH ........................ 49
    2.3. IMC-PID TUNING RULES FOR TYPICAL PROCESS ................ 52
    2.3.1. First-order Plus Dead Time (FOPDT) Process Model .................. 52
    2.3.2. Integrator Plus Time Delay (IPTD) Model .................................... 54
    2.3.3. First-order Delay Unstable Process (FODUP) Model ................... 55
    2.3.4. First-order Delayed Integrating Process (FODIP) Model ............. 58
    2.3.5. Second-order Delayed Unstable Process (SODUP) Model ........... 58
    2.3.5.1. SODUP Model with One Unstable Pole ..................................... 58
    2.3.5.2. SODUP Model with Two Unstable Poles ................................... 60
    2.4. ROBUST ANALYSIS ...................................................................... 62
    2.5. SIMULATION STUDY ................................................................... 64
    2.6. CONCLUSIONS .............................................................................. 80
    REFERENCES ........................................................................................ 80
    CHAPTER 3. FRACTIONAL-ORDER PROPORTIONALINTEGRAL
    CONTROLLERS DESIGN FOR TIME-DELAY
    PROCESSES .......................................................................................... 83
    3.1. INTRODUCTION ........................................................................... 83
    7
    3.2. PRELIMINARIES ............................................................................ 84
    3.2.1. Fractional calculus ......................................................................... 84
    3.2.2. Integer Order Approximation ........................................................ 85
    3.2.3. Fractional linear model .................................................................. 85
    3.2.4. FOPI controller .............................................................................. 86
    3.3. ANALYTICAL DESIGN OF GENERALIZED FOPI
    CONTROLLER TUNING RULES .................................................. 87
    3.4. PERFORMANCE AND ROBUSTNESS MEASUREMENTS ....... 92
    3.4.1. Integral Absolute Error (IAE) Criteria .......................................... 92
    3.4.2. Overshoot ....................................................................................... 92
    3.4.3. Total variation (TV) ....................................................................... 92
    3.4.4. Resonant peak (Mp) criterion ........................................................ 92
    3.5. SIMULATION STUDY ................................................................... 93
    3.6. DISCUSSION ................................................................................. 103
    3.6.1. Effect of Mp Values on the Tuning Parameters and the
    Closed-Loop Performance .......................................................... 105
    3.6.2. Fractional order (λ) guideline for the proposed FOPI
    parameter tuning ......................................................................... 105
    3.7. CONCLUSIONS ............................................................................ 108
    REFERENCES ...................................................................................... 108
    CHAPTER 4. SMITH PREDICTOR BASED FRACTIONALORDER
    PI CONTROL FOR TIME-DELAY PROCESSES .......... 111
    4.1. INTRODUCTION .......................................................................... 111
    4.2. THEORY DEVELOPMENT .......................................................... 112
    4.2.1. Fractional Calculus ...................................................................... 112
    4.2.2. Design of FOPI Controller in Frequency Domain ....................... 114
    4.2.3. SP-FOPI Controller Design Procedure ........................................ 115
    8
    4.3. SELECTION OF TUNING PARAMETERS ................................. 119
    4.4. SIMULATION STUDY ................................................................. 120
    4.5. CONCLUSIONS ............................................................................ 134
    REFERENCES ...................................................................................... 134
    CHAPTER 5. FRACTIONAL-ORDER PI CONTROLLER
    TUNING RULES FOR CASCADE CONTROL SYSTEM............. 137
    5.1. INTRODUCTION .......................................................................... 137
    5.2. PRELIMINARIES .......................................................................... 138
    5.2.1. Fractional Linear Model .............................................................. 139
    5.2.2. Design of FOPI Controller in Frequency Domain ....................... 139
    5.3. ANALYTICAL TUNING RULES OF FOPI CONTROLLERS
    FOR CASCADE CONTROL SYSTEM ...................................... 140
    5.3.1. FOPI Controller Design Procedure for General Process
    Models ........................................................................................ 140
    5.3.2. Design of Secondary Controller .................................................. 140
    5.3.3. Design of Primary Controller ...................................................... 142
    5.4. SIMULATION STUDY ................................................................. 144
    5.5. CONCLUSIONS ............................................................................ 146
    REFERENCES ...................................................................................... 146
    APPENDIX USE OF MATLAB IN PID CONTROL ...................... 148
    REFERENCES .................................................................................... 151
     
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