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
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.
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 1 1.1 Research Background 1 1.2 Problem Statement 2 1.3 Objective of Research 3 1.4 Scope of Research 4 1.5 Contribution of the Research 4 1.5 Thesis Outline 5 2 LITERATURE REVIEW 6 2.1 Inverse Response Behavior 6
viii 2.2 Approximation of the RHP zeroes 7 2.3 Tuning Methods 10 2.3.1 Smith Compensators 10 2.3.2 Internal Model Control (IMC) 13 2.3.2.1 PID Chen et al (2006) proposed method 14 2.3.3 Chien et al (2003) method 15 2.3.3.1 Tuning for PID controller 15 2.3.3.2 Tuning for PI controller 16 2.3.4 Alfaro et al (2012) method 17 2.3.5 Direct Synthesize Design 19 2.3.5.1 Tuning for PID controller 21 2.3.5.2 Tuning for PI controller 22 2.3.6 Thyagarajam et al (2010) proposed method 23 2.3.7 Matlab PI/PID Tune (Eryilmaz et al, 2010) 24 2.4 Summary 25 3 METHODOLOGY 26 3.1 Introduction 26 3.2 Problem Statement and Identification of the Process 28 Variables 3.3 Varying the parameters 28 3.4 Tuning methods 3.4.1 Matlab PI/PID Tune (Eryilmaz et al, 2010) 3.4.1.1 Matlab PID Tune 3.4.1.2 Matlab PI Tune 3.4.2 Relay Feedback Test (Thyagarajam et al, 2010) 3.4.3 Direct Synthesize Design Method (Chien et al, 2003) 3.4.4 PID Internal Model Control (Chen et al, 2006) 3.4.5 Direct Synthesize Design method attributed by 28 29 30 30 31 31 33 33 Pai et al (2010) 3.5 Matlab Simulation 34
ix 3.6 Performance Criteria 3.6.1 Set Point Tracking 3.6.2 Disturbance Rejection 3.7 Summary 35 35 35 36 4 RESULTS AND DISCUSSION 37 4.1 Introduction 37 4.2 Inverse Response Behavior Process 38 4.3 Set Point Tracking 4.3.1 Matlab PI/PID Tune (Eryilmaz et al, 2010) 4.3.1.1 Matlab PID Tune 4.3.1.2 Matlab PI Tune..4.3.1.3 Comparisons of PI and PID Controller 4.3.2 Thyagarajam et al (2010) proposed method 4.3.3 Direct Synthesize Design Method (Chien et al, 2003) 4.3.4 Direct Synthesize Design method attributed by Pai et al (2010) 4.3.5 PID IMC Chen et al (2006) proposed method 39 40 40 43 44 45 47 49 53 4.4 Disturbance Rejection 4.4.1 Matlab PI/PID Tune (Eryilmaz et al, 2010) 4.4.2 Thyagarajam et al (2010) proposed method 4.4.3 Direct Synthesize Design Method (Chien et al, 2003) 4.4.4 Direct Synthesize Design method attributed by Pai et al (2010) 4.4.5 PID IMC Chen et al (2006) proposed method 54 54 57 60 62 64 4.5 Selection of Optimal Tuning Method 66 4.6 Summary 68 5 CONCLUSION AND RECOMMENDATIONS 71 5.1 Conclusion 71 5.2 Recommedation 72
x REFERENCES 73 APPENDICES A-B 74
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