INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY (IJEET)

Transcription

1 INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY (IJEET) International Jornal of Electrical Engineering and Technology (IJEET), ISSN (Print), ISSN (Online) Volme 3, Ie, Jly- Setember (), IAEME ISSN (Print) ISSN (Online) Volme 3, Ie, Jly Setember (), IAEME: Jornal Imact Factor (): 3.3 (Calclated by GISI) IJEET I A E M E PERFORMANCE AND CONTROL OF CONTROLLER FOR CERAMIC INFRARED HEATER Vineet Shekher Deartment of Electrical Engineering, Hind College of Engineering, Soneat, Haryana, India Vhekher47@gmail.com Pankaj Rai, * Om Prakah Deartment of Electrical Engineering * Deartment of Chemical Engineering Bira Intitte of Technology Dhanbad, Jharkhand,India ABSTRACT Thi aer reent control and erformance of electric ceramic infrared heater, le energy conme. The deign and imlementation of different tning of PID controller i alo reented. A cloed loo control ytem having IOPID controller ha been develoed for the temeratre control for ceramic infrared heater. Uing of IOPID controller i to tet the comarative erformance with the other tning method of PID to validate it effectivene. The imlation relt how that the IOPID controller ha good robtne, raidly and good dynamic erformance for high tatic gain. The conclion of thee erformance how the benefit of IOPID controller eyword- Infrared, Controller, Integer order PID, PID, Phae margin, Gain margin, IAE, ISE I. INTRODUCTION Thi Infrared heating rovide the major advantage over conventional heating indce niform heating, redce heating time, qality lo and it i ignificant energy aving. In Infrared heating, heat tranfer done throgh one of three method, condction, convection and radiation. Many infrared heat orce have been develoed in recent year. The familiar form of IR heater een today are qartz lam, flat faced anel and ceramic heater. The heater i et to it maximm ower ott and left in thi tate to it maximm ower. Nmero alication are fond in indtrie i.e Food roceing, rinting re etc. Thi tdy cceflly develoed a controller to achieve an effective control of the IR heating roce. The controller develoed in thi aer how the accrately erformance of a heating rofile. The controller develoed in thi tdy e different tning method to imrove the eflne of the emitter in IR heating ytem. For table control of the temeratre on the load can be effectively done by ing effective controller. A cloed loo PID controller atifie effectivene by roviding a table reglated temeratre control. II. PID CONTROL IR heating ytem choen in thi aer ha high reaction time, intant heat and efficient.the temeratre control in IR heater i a key art in the Indtrial roce. So, thi controlling roce i 84

2 6553(Online) Volme 3, Ie, Jly- Setember (), IAEME achieved by deigning the controller for the reone of the tranfer fnction in accordance with the deired et oint to redce the heat ower. Conventionally PID (Proortional + Integral + Derivative) controller i ed in the alication of the roce control. Thi controller i imle in algorithm, good in tability, eay in deign and high reliable. Fig ():-Baic Bilding block of Plant with Controller In order to olve the roblem, a control method which e IOPID method baed on gain and hae margin ecification in temeratre control for IR heating ytem i rooed in thi aer. On the bai of gain and hae margin IOPID controller can make fll e of the ccefl oeration. The temeratre roce of an IR heating [],[] decribed qantitatively by the FOPTD by eqation () P( ) = e T + and, hence, for the given ytem the tranfer fnction can be obtained a P( ) = e 4 + L () () where Static gain () =3.96 Time Contant (T) =4 ec Lag Delay time (L) =7 ec III. SYSTEM WITH PID CONTROL A PID controller, figre (), i decribed by the following tranfer fnction in contino S-domain a [6] i C() =P+I+D= + + d Or C() = ( + + Td ) Ti Where i the roortional gain, i i the integration co-efficient and d i derivative co-efficient. Ti i known a the integral action time and Td i referred to a the derivative action time. In MatLab the following realization i ally emloyed i d C() = N Thi realization, althogh it ha the ame reone at low freqency where N rereent the filter time contant. The election of thee, i and d vale will cae for the variation in the oberved reone with reect to deired reone. Thi aer e different tranient reone tning method for etting the vale of, i and d. 85

3 6553(Online) Volme 3, Ie, Jly- Setember (), IAEME Tning method are emloyed are [3][4]. Zeigler Nichol Cloed loo tranient reone method. Zeigler Nichol Oen loo method 3. Atrom Hagglnd method By ing Z-N cloed loo tranient method Thi critical vale of k i called the ltimate gain (k)- The relting eriod of ocillation i referred to a the ltimate eriod (T). Baed on k and T, the Ziegler-Nichol freqency reone method give the following imle formla for etting PID controller arameter [9]: =.6,. i =, T =.75 T d.5 = Ott Time Fig ():-Ste reone for =8.65 By ing Nyqit lot the hae cro over freqency can be obtained a W=.9 rad/ec and the gain margin of the lant can be obtained a =8.65. The ltimate time eriod ( T ) can be determined by T = π ω =8ec (arox)..5 Nyqit Plot for lant G() Nyqit Diagram.5 Imaginary Axi Fig (3):-Nyqit lot for the oen loo ytem G() Contant of the roortional, integral and derivative term of the controller (C) ha been obtained by ing Claical Zeigler Nichol oen loo rle a =4.899, =.349and = Let PID controller obtained from C a.349 C( ) = (3) Real Axi i d 86

4 6553(Online) Volme 3, Ie, Jly- Setember (), IAEME By ing Z-N oen loo method The firt deign method reented by Ziegler and Nichol i baed on a regitration of the oen-loo te reone of the ytem, which i characterized by two arameter. The arameter are determined from a nit te reone of the roce, a hown in Figre 4. The oint where the loe of the te reone ha it maximm i firt determined, and the tangent at thi oint i drawn. The interection between the tangent and the coordinate axe give the arameter T, and L. The following imle formla for etting PID controller arameter [3]:. T = L, i = L, d =.5L Fig (4):-Ste reone with lant Contant of the roortional, integral and derivative term of the controller C ( ) ha been obtained by ing Claical Zeigler Nichol oen loo rle a =6.6, i=.43 and d=.. Let PID controller obtained from C ( ) a Atrom Hagglnd Method.43 C( ) = (4) Uing the claical Åtrom-Hagglnd method, the vale of PID controller arameter have been calclated for ecified hae margin (6 ). Let C ( ) 3 how PID controller obtained from Åtrom- Hagglnd method a =.5, i=.3 and d= The PID controller (C3) given a[9], T = rb coφ, + inφ b b i =, T + inφ b d = π co φb 4π coφb.3 C3( ) = (5) 87

5 6553(Online) Volme 3, Ie, Jly- Setember (), IAEME.5 Ste reone of ZNC-PID,ZNO-PID and AH-PID controller.5 O t t IV. Fig (5):- te reone of the ytem ing controller C(), C(), C3() PROPOSED METHOD FOR TUNING OF IOPID CONTROLLER The oen loo tranfer fnction G() i G() =C() P() According to the firt order l time delay ytem tranfer fnction P() we get it freqency reone a jlω P( jω) = e jtω + (tan ( ωt ) + Lω ) = e + ω T The gain and hae of the lant are a follow P( jω) = (6) + ω T Arg[ P( jω)] = tan ( ωt ) Lω (7) Deign Secification for IOPID i a follow The objective of thi aer i to deign an integer order controller o that the ytem flfill different ecification regarding to the lant ncertaintie, load ditrbance and high freqency noie. Therefore, the deign roblem i formlated with given ecification rooed a follow [3], [8]. i. Phae Margin and Gain croover freqency ecification Gain and hae margin have alway erved imortant arameter for robtne. It i known that the hae margin i related to the daming of the ytem. The eqation that define the hae marginφ m and gain croover freqencyω are Int.5 ZNC-PID ZNO-PID AH-PID Time(ec) c G( jω ) = C( jω ) P( jω ) = db (8) c c c Arg[ G( jω )] = Arg[ C( jω ) P( jω )] = π + φ (9) db c c c m ii. Robtne to gain variation in the gain of the lant The gain variation of the lant demand that the hae directive with reect to the freqency i zero, i.e. the hae bode lot i flat, at the gain croover freqency. It mean that the ytem i more robt to gain change and the overhoot of the reone are almot the ame. 88

6 6553(Online) Volme 3, Ie, Jly- Setember (), IAEME d ( A rg( G ( jω )) dω ω = ω c = () Integer order PID controller Deign The oen loo tranfer fnction G ( ) for the IOPID with FOPTD ytem i given a G ( ) = C( ) P( ) () According to the PID controller tranfer fnction, we can get the freqency reone for IOPID a, i C( jω) = + + jω d jω The gain and hae of C( jω) are a follow, C( jω) = + ( ω ( / ω)) () d i Arg C j = (3) [ ( ω)] tan (( dω i ) / ( ω )) Then the oen loo freqency reone G ( jω) = C( jω) P( jω) The gain and hae of the oen loo freqency reone are a follow by ing (), () and (3) + ( ω ( / ω)) d i G ( jω) = C( jω) P( jω) = + ω T (4) Arg [ G( jω)] = tan (( ω )/( ω )) tan ( ωt ) Lω (5) d i According to ecification (i), the hae of G ( jω ) can be exreed a in a a form of ωc i Arg[ G ( )] tan (( )/( )) tan jω c = d ω c i ω c ( ω c T) Lω c = π + φ (6) m Then, dω c i = A ω Where A = tan tan ( ωct ) + Lωc + φ m And according to ecification (ii) abot the robtne to gain variation in the lant, c d ( A r g ( G ( jω ) ) d ω ω = ω c = So d = ( tan (( d ωc i )/( ωc )) tan ( ωc T) Lω c) = (7) dω ω= ωc Then we get, ( ωc d + i ) T = + L ω + ( ω ) + ω T Where c d c i c + ω T = B c According to the ecification (ii), we etablihed an eqation abot, G ( jω ) = C ( jω ) P( jω ) c c c 89

7 6553(Online) Volme 3, Ie, Jly- Setember (), IAEME From (6)(7) and (8), we can get + ( dωc ( i / ωc )) = = + ω T c (8) = k B + + A T LB A B + A B d = ( T + LB ) A ω c k B + A If the arameter are et a follow ω =.8 rad/ec, T=4ec, L=7ec, φ o = 6 c Then we get, and =.85, i i =.855 and A i = ( ωc + ωc ) ωc k B + A d directly d =9.74 Let IOPID controller obtained from CIOPID m C IOPID a.855 = (9).4 Ste Reone of Prooed IOPID Controller. O t t Time ( Sec) Fig (6):- Ste reone of the ytem C ( ) IOPID V. PERFORMANCE INDICES FOR THE CONTROLLER The objective fnction conidered i baed on the error criterion. The erformance of the controller i bet evalated in the term of error criterion. Controller erformance i valated in term of Integral of Abolte error(iae) criterion, given by IIAE T = e( t) dt The IAE weight the error with time and hence emhaize the error vale over arrange of to T time, where T i the ettling time of the reone. Integral qare of error(ise) criterion: The error criterion i given by the eqation 9

8 6553(Online) Volme 3, Ie, Jly- Setember (), IAEME T IISE = e ( t) dt The ISE weight the qare of the error with time and hence emhai the error vale over the range of a to T ec. Fig (7):-Simlation block diagram of PID controller VI. PERFORMANCE REPORT TABLE I: Comarion of imlation relt Algorith m Peak Tim e (ec) Peak Overh ot (%) Ri e Tim e (ec ) Settli ng Time (ec) IAE ZNO PID ZNC PID 4 AH PID 6 IO PID ISE In order to verify the effectivene of IOPID, IOPID controller erformance comare with the conventional PID controller. We e the IOPID deign baed on three deign ecification for higher gain vale of lant. Finally, we obtain the te reone crve for IOPID controller. From the erformance table, it i hown that IOPID controller ha mall eak time, maller overhoot and erformance indice (ISE, IAE) and robtne. VII. CONCLUSION According to the IR baed temeratre control ytem ha the characteritic of non-linear, large gain and large time delay. Zeigler Nichol freqency reone method i baed on a imle method to obtain the roce dynamic at the freqencyω. It i known to rovide oor controller tning in many cae. Zeigler Nichol cloed loo method baed on tning rle by introdcing three arameter tatic gain(),time contant(t) and lag time(l) of the roce. It i fond that introdcing of thee three arameter not rovide good tning. By ing IOPID tning baed on gain margin and hae margin for high tatic gain rovide a tability and good erformance comared to the conventional tning. The tability characteritic were invetigated throgh IOPID tning which exhibit better erformance for lant with ignificant variation in dynamic. 9

9 6553(Online) Volme 3, Ie, Jly- Setember (), IAEME REFERENCES. Adoni, M and han, MTE.. Infrared heating rofile controller. Proceeding of the 3rd International Conference on Control Theory and Alication, Dec., Adoni, M and han,mte, PID control of infrared radiative ower rofile for ceramic emitter, 3 IFAC 3. Atrom,.J., and Hagglnd, T.: Atomatic tning of PID controller (ISA, 988) 4. Ziegler, J.G., and Nichol, N.B.: Otimm etting for atomatic controller, Tran. ASME 94, 64, Ho, W.., Hang, C.C,, and Cao, L.S.: Tning of PID controller baed on gain and hae margin ecification, Atomatica, 995, 3, (3), Atrom,.J., and Hagglnd, T.: PID controller: theory, deign, and tning (Intrment Society of America, 995, nd edn.) 7.. Ogata, Modern Control Engineering, Prentice Hall,New Jerey,. 8. R. S. Barboa, J. A. Tenerio, Machado and Iabel. M. Ferreira, Tning of PID controller baed Bode Ideal tranfer fnction, Nonlinear Daynamic, vol. 38,.35-3, D. Xe, Y.Q. Chen, D. P. Atherton Linear Feedback Control Analyi and Deign with MATLAB, Advance in Deign and Control, Siam, 7.. Cvejn, J., 9. Sb-otimal PID controller etting for FOPDT ytem with long dead time. Jornal of roce control 9.. Ho, W.., Hang, C.C., Zho, J.H., 995. Performance and gain and hae margin of wellknown PI tning formla.ieee Tranaction on Control Sytem Technology 3.. Loez, A.M., Mrrill, P.W., Smith, C.L., 967. Controller tning relationhi baed on integral erformance criteria. Intrmentation Technology PID Controller for Time-Delay Sytem Gillermo J. Silva, Anirddha Datta, S.R Bhattacharyya,ringer 5 4. Silva, G. J., Datta, A., and Bhattacharyya, S. P. "Robt Control Deign Uing the PID Controller," Proceeding of the 4t IEEE Conference on Deciion and Control, , December 5. X, H., Datta, A., and Bhattcharyya, S. P. "PID Stabilization of LTI Plant with Time-Delay," Proceeding of the 4nd IEEE Conference on Deciion and Control, , December Y. Lee, PID controller tning for integrating and ntable rocee with time delay, In Chemical Engineering Science, Vol. 55, C.H. Lee and C.C. Teng, Tning of PID Controller for Stable and Untable Procee baed on gain and hae margin ecification, International Jornal of Fzzy Sytem, Vol. 3, No.,

10 6553(Online) Volme 3, Ie, Jly- Setember (), IAEME 8. P.N.Parakevoolo, G.D.Pagiano and.g.arvaniti, PID tye controller tning for ntable firt order l dead time rocee baed on gain and hae margin ecification, IEEE Tran. Control Syt. Technology, vol. 4, no. 5, , Setember Hagglnd. T., and Atrom,.J.: Atomatic tning of PID controller in The control handbook, 996, Vineet Shekher received hi B.E degree in Intrmentation from North Maharahtra Univerity, Jalgoan, Maharahtra,India in 999, an M.E degree in Electrical Engineering (Control and Intrmentation) from Delhi College of Engineering,Delhi Univerity,Delhi,India in 9.He i crrently working toward the Ph.D. degree in Electrical Engineering,Bira Intitte of Technology, Sindri,Dhanbad,Jharkhand,India.Hi reearch interet inclde Linear control ytem, Non-linear control ytem and Proce Intrmentation. Dr. Pankaj Rai ha obtained hi B.Sc. Engg. Degree in Electrical Engg from MIT Mzaffarr, Bihar in 988 in firt cla with ditinction, M.Tech. in in Electrical Engg. (Control Sytem) & Ph.D. degree in from Vinoba Bhave Univerity, Hazaribag, Jharkhand. Hi area of ecialization i Fzzy Logic & Neral Network alication in Control and ower ytem, reently working a head, deartment of Electrical Engg., BIT Sindri, Dhanbad, Jharkhand, India. Dr. Om Prakah obtained the degree of B. Sc. Engg. (Chemical) in 973 from Ranchi Univerity, comleted M. Sc. Engg. (Chemical) ecializing in etrolem Refinery Technology in 98 from Ranchi Univerity. He obtained hi Ph. D. In 996 from the deartment of Chemical Engineering, I. I. T. Delhi. After gradation he joined M/ CI Ltd., Mirzar a Arentice Chemical Engineer, comleted one year training in FCI (Fertilizer Cororation of India at Sindri nit and tared teaching career in 979 joining B I T Sindri a teacher fellow. Became Aitant Profeor in 983, beqently romoted to Lectrer (Senior cale) in 989 and became Aitant Profeor in 996 in the ame college. 93