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Dead-Time Compensation ( 纯滞后补偿 )

Dead-Time Compensation ( 纯滞后补偿 ). Lei Xie Institute of Industrial Control, Zhejiang University, Hangzhou, P. R. China. Contents. Introduction Smith Predictor for Dead-Time Compensation Improved Smith Predictor Simulation Examples Summary. Problem Discussion.

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Dead-Time Compensation ( 纯滞后补偿 )

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  1. Dead-Time Compensation (纯滞后补偿) Lei Xie Institute of Industrial Control, Zhejiang University, Hangzhou, P. R. China

  2. Contents • Introduction • Smith Predictor for Dead-Time Compensation • Improved Smith Predictor • Simulation Examples • Summary

  3. Problem Discussion (1) For the controlled processes, configure your Simulink model & compare their results. (2) Can you provide some compensation approaches for processes with variable & notable dead-time ? Process Models:

  4. Conventional PID Control Systems Process Models: Question：Use Ziegler-Nichols or Lambda tuning method to obtain PID parameters and compare their values. Please see the SimuLink model …SISODelayPlant / PIDLoop.mdl

  5. Simulation Example #1 For PID Controller, Z-N tuning: Kc = 1.2, Ti = 4 min, Td = 1 min Lambda tuning: Kc = 0.83, Ti = 4 min , Td = 1 min

  6. Simulation Example #2 For PID Controller, Z-N tuning: Kc = 0.3, Ti = 16 min, Td = 4 min Lambda tuning: Kc = 0.2, Ti = 4 min , Td = 1 min

  7. Smith’s Idea (1957)

  8. Basic Smith Predictor

  9. Smith Predictor #2 Please see the SimuLink model …SISODelayPlant / PID_Smith.mdl

  10. Results of Basic Smith Predictor with an Accurate Model Simple PID: Kc = 0.2, Ti = 4 min , Td = 1 min PID + Smith: Kc = 2, Ti = 4 min , Td = 1 min

  11. Results of Basic Smith Predictor with an Inaccurate Model Simple PID: Kc = 0.2, Ti = 4 min , Td = 1 min PID + Smith: Kc = 2, Ti = 4 min , Td = 1 min

  12. Improved Smith Predictor Prediction Error Filter：

  13. Results of Improved Smith Predictor with an Inaccurate Model PID + Smith: Kc = 2, Ti = 4 min , Td = 1 min

  14. Summary • The principle of Smith predictor for dead-time compensation • Improved Smith predictor for a controlled process with an inaccurate model • Comparison of the Simple PID and the PID with a Smith predictor

  15. Next Topic: Coupling of Multivariable Systems and Decoupling • Concept of Relative Gains • Calculation of Relative Gain Matrix • Rule of CVs and MVs Pairing • Linear Decoupler from Block Diagrams • Nonlinear Decoupler from Basic Principles • Application Examples

  16. Problem Discussion for Next Topic For the two-input-two-input controlled system, design your control schemes. Suppose that Initial states:

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