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

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
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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
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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
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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