PERFORMANCE OF INVERSE RESPONSE PROCESS WITH VARIATION OF PROCESS PARAMETERS AND TUNING METHODS LOW YEOK CHAN

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1 PERFORMANCE OF INVERSE RESPONSE PROCESS WITH VARIATION OF PROCESS PARAMETERS AND TUNING METHODS LOW YEOK CHAN A thesis submitted in fulfillment of the requirements for the award of the Bachelor Degree of Engineering (Chemical) Faculty of Chemical Engineering Universiti Teknologi Malaysia JANUARY 2013

2 vi ABSTRAK Tujuan penyelidikan ini adalah untuk memerhatikan dan membandingkan prestasi proses bertindak balas songsang dengan mengubahkan parameter proses, iaitu gandaan proses (k 1 ) masa malar proses (τ 1 ) dan masa lengah proses (θ) bagi pelbagai kaedah penalaan. Jenis model yang dikaji ialah model tertib pertama dengan masa lengah (FOPTD). Proses boleh dikatakan mempamerkan tindak balas songsang apabila proses menuju ke arah yang bertentangan berdasarkan nilai keadaan mantap muktamad. Beberapa jenis kaedah penalaan telah digunakan di dalam kajian ini, iaitu cara talaan Matlab PID Tune bagi mod Perkadaran-Perkamiran (PI) dan Perkadaran-Perkamiran-Perbezaan (PID), Relay Feedback Test, Model Kawalan Dalaman (IMC) dan cara penalaan Direct Synthesize Design bagi mod Perkadaran-Perkamiran (PI) dan Perkadaran-Perkamiran-Perbezaan (PID). Pretasi strategi yang paling baik bagi penjejakan titik set dan penolakan ganguan dibandingkan dengan menggunakan kriteria Jumlah Ralat Kuasa Dua (SSE) yang paling kecil. From this research, Matlab PID Tune merupakan strategi yang paling sesuai untuk penjejakan titik set manakala Matlab PI Tune adalah strategi yang paling baik bagi penolakan ganguan.

3 vii TABLE OF CONTENTS CHAPTER TITLE PAGE TITLE PAGE DECLARATION DEDICATION ACKNOWLEDGEMENTS ABSTRACT ABSTRAK TABLE OF CONTENT LIST OF TABLES LIST OF FIGURES LIST OF SYMBOLS i ii iii iv v vi vii xi xii xv 1 INTRODUCTION Research Background Problem Statement Objective of Research Scope of Research Contribution of the Research Thesis Outline 5 2 LITERATURE REVIEW Inverse Response Behavior 6

4 viii 2.2 Approximation of the RHP zeroes Tuning Methods Smith Compensators Internal Model Control (IMC) PID Chen et al (2006) proposed method Chien et al (2003) method Tuning for PID controller Tuning for PI controller Alfaro et al (2012) method Direct Synthesize Design Tuning for PID controller Tuning for PI controller Thyagarajam et al (2010) proposed method Matlab PI/PID Tune (Eryilmaz et al, 2010) Summary 25 3 METHODOLOGY Introduction Problem Statement and Identification of the Process 28 Variables 3.3 Varying the parameters Tuning methods Matlab PI/PID Tune (Eryilmaz et al, 2010) Matlab PID Tune Matlab PI Tune Relay Feedback Test (Thyagarajam et al, 2010) Direct Synthesize Design Method (Chien et al, 2003) PID Internal Model Control (Chen et al, 2006) Direct Synthesize Design method attributed by Pai et al (2010) 3.5 Matlab Simulation 34

5 ix 3.6 Performance Criteria Set Point Tracking Disturbance Rejection 3.7 Summary RESULTS AND DISCUSSION Introduction Inverse Response Behavior Process Set Point Tracking Matlab PI/PID Tune (Eryilmaz et al, 2010) Matlab PID Tune Matlab PI Tune Comparisons of PI and PID Controller Thyagarajam et al (2010) proposed method Direct Synthesize Design Method (Chien et al, 2003) Direct Synthesize Design method attributed by Pai et al (2010) PID IMC Chen et al (2006) proposed method Disturbance Rejection Matlab PI/PID Tune (Eryilmaz et al, 2010) Thyagarajam et al (2010) proposed method Direct Synthesize Design Method (Chien et al, 2003) Direct Synthesize Design method attributed by Pai et al (2010) PID IMC Chen et al (2006) proposed method Selection of Optimal Tuning Method Summary 68 5 CONCLUSION AND RECOMMENDATIONS Conclusion Recommedation 72

6 x REFERENCES 73 APPENDICES A-B 74

7 73 REFERENCES Alfaro, V. M., Balaguer, P., and Arrieta, O. (2012). Robustness Considerations on PID Tuning for Regulatory Control of Inverse Response Processes. Alcantara, S., Pedret, C. P., Balaguer, R., and Ibeas, A. (2008). Control Configuration for Inverse Response Process. 16th Mediterranean Conference on Control and Automation: Chen, P. Y., Zhang, W. D., and Wu, L. (2006). Design and Tuning Method of PID Controller for a Class of Inverse Response Processes. Chen, D., and Seborg, D. E. (2002). PI/PID Controller Design Based on Direct Synthesize and Disturbances Rejection. Ind. Eng.Chem.Res 41: Chien, I. L., Chung. Y. C., Chen B. S., and Chuang C. Y. (2003). Simple PID Controller Tuning Method for Process with Inverse Response Plus Dead or Large Overshoot Response plus Dead Time. Ind. Eng.Chem.Res 42. Eryilmaz, B., Chen, R., and Gahinet, P. (2010). Automated PID Controller Design. Gu, D., Ou, L., Wang, P., and Zhang, W. (2006). Relay Feedback Autotuning Method for Integrating Processes with Inverse Response and Time Delay. Ind. Eng.Chem.Res 45:

8 74 Jeng, J. C., and Lin, S. W. (2012). Robust Proportional-Integral-Derivative Controller Design for Stable / Integrating Processes with Inverse Response and Time Delay. Ind. Eng.Chem.Res 51: Luyben, W. L. (2000). Tuning Proportional Integral Controllers for Processes with Both Inverse Response and Dead time. Industrial & Engineering Chemistry Research 39: Luyben, W. L. (2003). Identification and Tuning of Integrating Processes with Deadtime and Inverse Response. Ind. Eng.Chem.Res 42: Pai. N. S., Chang. S. C., and Huang, C. T. (2010)."Tuning PI/ PID Controller for Processes with Deadtime and Inverse Response by Simple Calculation. Journal of Process Control: Sree, R. P., and Chidabaram, M. (2003). Simple method of PI stable controller for Inverse response system. Thyagarajan, T., Esakkiapan, C., and Sujatna, V. (2010). Modeling and Control of Inverse Response with time delay using Relay Feedback Test. Zhang, W. D., and Sun, Y. X. (1997). Quantitative Control of Inverse Response Process. Zhu, H. D., Zhang. G., and Shao, H. (2005). Control of the Process with Inverse Response and Dead Time based on Disturbances Observer.