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Fragility-Rings - A graphic tool for PI/PID controllers robustness-fragility analysis

Fragility-Rings - A graphic tool for PI/PID controllers robu...

引用

2nd ifac conference on Advances in PID control, PID 2012

作者： Alfaro, Víctor M. Vilanova, Ramon Departamento de Automática Escuela de Ingeniería Eléctrica Universidad de Costa Rica San José 11501-2060 Costa Rica Departament de Telecomunicació i d'Enginyeria de Sistemes Escola d'Enginyeria Universitat Autònoma de Barcelona 08193 Bellaterra Barcelona Spain

ISBN: (纸本)9783902823182

The aim of the paper is to present the Delta 20 Fragility-Rings plot and its use for robustness-fragility analysis of proportional integral (PI) and proportional integral derivative (PID) controllers. Using the Delta 20 Fragility Index and the Nyquist plot it shows the areas on the L(jω) plane corresponding to robustness-fragile, robustness-non-fragile and robustness-resilient controllers providing a visual aid for evaluation of the controller robustness-fragility when its parameters are perturbed.

关键词： Robustness (control systems)

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IFTtune: A PID automatic tuning software tool

IFTtune: A PID automatic tuning software tool

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2nd ifac conference on Advances in PID control, PID 2012

作者： Mazaeda, Rogelio De Prada, César Systems and Automation Department School of Engineering University of Valladolid Valladolid CP. 47011 Spain

ISBN: (纸本)9783902823182

The regulatory layer of every process industry is made up of many decentralized loops using, almost exclusively, PID controllers. The task of keeping each of these devices correctly tuned is key to the efficient and safe operation of the factory but very demanding on the time of technical and maintenance personnel should it be carried out manually. The tool here described is designed to perform the automatic tuning of PID regulators facilitating its application in an industrial setting. The regulator parameters are updated starting from their current values so that a performance index is locally optimized using the Iterative Feedback Tuning algorithm. The tool is easily configurable and uses the widely adopted OPC industrial communication standard.

关键词： Computer software

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Comparing fractional order PI controllers with variable gain and gain-order for the networked control of a servomotor

Comparing fractional order PI controllers with variable gain...

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2nd ifac conference on Advances in PID control, PID 2012

作者： Tejado, Ines HosseinNia, S. Hassan Vinagre, Blas M. Industrial Engineering School University of Extremadura Avenida de Elvas s/n 06006 Badajoz Spain

ISBN: (纸本)9783902823182

This paper addresses the use of fractional order control (FOC) in the context of control through networks to minimize or compensate the effect of the time-varying network-induced delay. In particular, two fractional order strategies are presented based on the adaptation of, on one hand, the gains of a fractional order PI controller, and, on the other hand, both its gains and its order in accordance with the variable delay detected in a networked control system (NCS). The essence of these approaches is to make controller gains and both gains and order delay-dependent by minimizing a defined cost function in order to avoid a decreased control performance. Experimental results, related to the control of the angular velocity of a servomotor through the Internet, show the effectiveness of these fractional order adaptive strategies in comparison with the non-scheduled controller. Likewise, a useful application of variable order PI controllers is presented.

关键词： Networked control systems

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Robustness considerations on PID tuning for regulatory control of inverse response processes

Robustness considerations on PID tuning for regulatory contr...

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2nd ifac conference on Advances in PID control, PID 2012

作者： Alfaro, Víctor M. Balaguer, Pedro Arrieta, Orlando Departamento de Automática Escuela de Ingeniería Eléctrica Universidad de Costa Rica San José 11501-2060 Costa Rica Departament d'Enginyeria de Sistemes Industrials i Disseny Universitat Jaume I de Castelló E-12080 Castelló de la Plana Spain Departament de Telecomunicació i d'Enginyeria de Sistemes Escola d'Enginyeria Universitat Autònoma de Barcelona 08193 Bellaterra Barcelona Spain

ISBN: (纸本)9783902823182

In general, to control industrial processes that show an inverse response output is difficult. This difficulty arises because achievable performance and robustness levels are competing factors that the designer has to deal with. In this paper we focus on proportional integral derivative (PID) control of inverse response processes, in particular with the Direct Synthesis design for disturbance rejection DS-d tuning method of Chen and Seborg. The paper presents equations that link the control system design performance parameter (closed-loop control system speed) with its minimum robustness level, measured with the maximum sensitivity MS, for the mentioned tuning method. In this way, the proposed result allows to obtain robust PID control systems with M S > 2 for inverse response processes. The examples show the effectiveness of the proposed design parameter lower limit estimation for the DS-d tuning method.

关键词： Disturbance rejection

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Dead-band self-triggered PI control for processes with dead-time

Dead-band self-triggered PI control for processes with dead-...

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2nd ifac conference on Advances in PID control, PID 2012

作者： Tiberi, U. Lindberg, C.F. Isaksson, A.J. ACCESS Linnaeus Center KTH Royal Institute of Technology Stockholm Sweden ABB Corporate Research Västerås Sweden

ISBN: (纸本)9783902823182

Current implementations of digital controllers assume that sensing, control and actuation are performed in a periodic fashion. In classic control schemes, where sensors and controllers are directly connected, periodicity does not provide particular drawbacks, but, in the case of wireless sensor networks, such a choice may be questionable. One of the driving constraints in the design of wireless sensor networks is represented by its energy efficiency, and it has been shown that the main cause of energy consumption is due to the radio activities of the sensor nodes. By using periodic implementations, the sensor nodes are enforced to keep on transmitting measurements to the controller even if it is not really needed, thus wasting energy. To cope with these problems, self-triggered control was recently introduced. This technique aims at reducing the conservativeness of periodic implementations providing an adaption of the inter-sampling intervals based on the current output of the system. Existing work on self-triggered control considers linear systems controlled by state feedback controllers under the assumption of small time-delays. In this paper the problem of designing a self-triggered control scheme that applies to first-order processes with large dead-times controlled by PI controllers is addressed. Moreover, the proposed self-triggered scheme is robust with respect to set-point changes and external disturbances, which are typical in process industry. The results are validated by simulations.

关键词： Sensor nodes

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Spectral abscissa minimization when algebraic control of unstable LTI-TDS

Spectral abscissa minimization when algebraic control of uns...

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2nd ifac conference on Advances in PID control, PID 2012

作者： Pekař, Libor Prokop, Roman Navrátil, Pavel Tomas Bata University in Zlin Faculty of Applied Informatics Nam. T. G. Masaryka 5555 763 01 Zlin Czech Republic

ISBN: (纸本)9783902823182

Optimal pole assignment minimizing the spectral abscissa when algebraic control of linear time-invariant time delay systems (LTI-TDS) is focused in this paper. We concentrate on algebraic controller design approach in the RMS ring resulting in delayed controllers as well. In the case of unstable delayed plants, the use a simple feedback loop results in a characteristic quasipolynomial instead of polynomial is obtained which means that the closed loop has an infinite spectrum. Thus, it is not possible to place all feedback poles to the prescribed positions exactly by a finite number of free controller parameters. The pole placement problem is translated to the minimization of the spectral abscissa which is a nonsmooth nonconvex function of free parameters in many cases. We initially solve the problem via standard quasi-continuous shifting algorithm followed by a comparative utilization of three iterative optimization algorithms;namely, Nelder-Mead algorithm, Extended Gradient Sampling Algorithm and Self-Organizing Migration Algorithm. Simulation control of an unstable LTI-TDS - the roller skater on the swaying bow - serves as an illustrative example for the algebraic control with the spectral abscissa minimization.

关键词： Time delay

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Improvements on the filtered smith predictor using the clegg integrator

Improvements on the filtered smith predictor using the clegg...

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2nd ifac conference on Advances in PID control, PID 2012

作者： Moreno, J.C. Guzman, J.L. Normey-Rico, J.E. Banos, A. Berenguel, M. Department of Computer Science University of Almeria 04120 Spain Department of Computer and Systems Engineering University of Murcia 30100 Spain Federal University of Santa Catarina Santa-Catarina CEP 88040-970 Brazil

ISBN: (纸本)9783902823182

This paper presents a non-linear control scheme to deal with dead-time (DT) processes where small rise times are required. The control scheme is based on the combination of two strategies appeared in the literature to deal with DT processes, the Filtered Smith Predictor (FSP), which is a Smith Predictor (SP) including a filter to improve the robustness, and the PI+CI, a PI with a partial reset action on the control signal when the process output is equal to the reference input. In the proposed strategy, the reset action allows to achieve very small rise times with small overshoots, improving the results from FSP. On the other hand, the use of the robust predictor allows to deal with the dead time in a better and systematic way than the PI+CI with variable reset ratio and variable reset band does.

关键词： Process control

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Tuning method of PI controller with desired damping coefficient for a first-order lag plus deadtime system

Tuning method of PI controller with desired damping coeffici...

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2nd ifac conference on Advances in PID control, PID 2012

作者： Yamakawa, Yuji Okada, Yohei Yamazaki, Takanori Kurosu, Shigeru Univ. of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo Japan SINTOKOGIO LTD. Aichi Japan Oyama National College of Technology 771 Nakakuki Oyama Tochigi Japan Research Inst. Crotech 61-88 Ozakata Chikusei Ibaraki Japan

ISBN: (纸本)9783902823182

This paper presents an entirely new tuning method of PI controller with a desired damping coefficient. We consider a plant model described by a first-order lag plus deadtime system in the process control. The ultimate sensitivity method presented by Ziegler and Nichols has been still widely used, but it has a disadvantage that gives an oscillatory response. In recent years a less oscillatory response has been judged to be more appropriate for process controls. In tuning PI controller it is often convenient to determine the damping coefficient to obtain the desired control performance. The deadtime element can be approximated by the Padé equation to determine the damping coefficient for the equivalent second-order lag system. In this paper the integral time is normally chosen equal to the time constant of a plant to degenerate the order of the closed-loop transfer function so that pole-zero is cancelled. As a result, the relations among the gain constant, the time constant, the deadtime of the plant and the proportional gain of the controller are clarified when the desired damping coefficient is provided.

关键词： Three term control systems

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PID controller tuning based on disturbance attenuation FRIT using one-shot experimental data due to a load change disturbance

PID controller tuning based on disturbance attenuation FRIT ...

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2nd ifac conference on Advances in PID control, PID 2012

作者： Masuda, Shiro Tokyo Metropolitan University Hino Tokyo Japan

ISBN: (纸本)9783902823182

A direct design approaches based on input-output measurements with no need for help from a plant model have attracted attention from several researchers. We have recently proposed such a disturbance attenuation FRIT method using input-output data generated by disturbances. The approach has advantages that it can tune PID gains to improve feedback properties, such as disturbance attenuation. Furthermore, the method has been applied to PID control gain tuning. The method tunes PID gains using one-shot experimental data generated by a known step-type disturbance added at the input signal. However, additive known step-type signal implies a test signal to identify the characteristic of the control systems, so the case where the method can be applied may be restricted. The paper, therefore, gives a tuning method using a one-shot experimental data generated by a load change. Such a disturbance has a possibility that the data can be collected during a full operation. The proposed method can be realized by estimating the magnitude of an impulse and step signal for a load change disturbance from one-shot experimental data. The proposed method realizes the approach by modeling a load change disturbance as a linear combination of a step signal and an impulse signal, where the weighting parameters are unknown. The paper also gives the way how unknown parameters are estimated from the one-shot initial input-output data. Finally, this paper shows the efficiency of the disturbance attenuation FRIT through the experimental result of a helicopter attitude control model when the disturbance is known or correctly estimated.

关键词： Attitude control

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Adaptive control system based on linear control theory for the path-following problem of a car-like mobile robot

Adaptive control system based on linear control theory for t...

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2nd ifac conference on Advances in PID control, PID 2012

作者： Sanchez-Lopez, J.L. Campoy, P. Olivarez-Mendez, M.A. Mellado-Bataller, I. Galindo-Gallego, D. Centre for Automation and Robotics Polytechnic University of Madrid C/ Jose Gutierrez Abascal 2 28006 Madrid Spain

ISBN: (纸本)9783902823182

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to fulfil control requirements, while at the same time it is flexible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and flexibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot.

关键词： Linear control systems

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