x(t)
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Time-Delay y Element x(t - Tl) Tl = Ti Time-Delay D l
Time Response
Time-Delay Element
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Time-Delay Systems
Example 1
Heat cold in
hot out
Heat
cold in
v = velocity y d = distance
b(t) = a(t Tl ) (t
Steel Plate
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Time-Delay Systems
Example 2
d Tl = v
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(a) (b) (c)
sTl
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x(t) ()
Now, e sTl =
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Time-Delay Element
Y (s ) sT =e X (s )
sTl
1 1 sTl 2 1 + 1 sTl 2
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G (s ) = G(s )e
sTl
where G/(s) is the transfer function of the delay free part of the process.
R(s)
e sTl 1 + sT
C(s)
R(s)
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controller Kp + + _
Case Study: Proportional Control of a First-Order Process with Time-Delay (contd ) process
e sTl 1 + sT
C(s)
The Characteristic Eqn. of the C.L. System: Using First-Order Pade Approximation:
1 K p 1 sTl 2 =0 1+ (1 + sT )1 + 1 sTl 2
1+
K p e sTl 1 + sT
=0
1 1 T + Tl K pTl K + 1 2 2 + p =0 s 2 + s 1 1 TT TTl 2 l 2
2 ( K p + 1) TTl ,
s + 2n s + = 0,
n =
(T + T K T ) = 2 ( K + 1) + T
1 2 l 1 2 p l l p
R(s)
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controller Kp + + _
Case Study: Proportional Control of a First-Order Process with Time-Delay (contd ) process
e sTl 1 + sT
C(s)
2T + Tl Kp = T l 2T + Tl Kp > T l
Conclusion: Time-delay may cause instability even in first-order system for large values of Kp.
R(s) + _
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controller Kp process
C(s)
Case I: T >
Tl 2
Kp =Kc
s-plane
Kp = 0
Kp = 0
2 Tl
1 T
2 Tl
2T + Tl = Tl
Kp = Kc
R(s) + _
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controller Kp process
C(s)
Tl 2
K p 2 sTl K p 1 s T Tl 2 = sT (1 + sT ) 1 + l s + 1 s + 2 2 T Tl
Kp =Kc
s-plane
Kp = 0
Kp = 0
1 T
2 Tl
2 Tl
2T + Tl = Tl
Kp = Kc
R(s) + _
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controller Kp process
Critical gain K c
1.67
2T
3T
Tl
Conclusion: The phase plot never crosses 180 line, hence the system is always stable.
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1 T
20 log10Kp odb phase 0 - 90o
Bode Plot
Kp G ( j ) = 1 + j T
G2 ( j) = 1 Tl
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Phase 0
Bode Plot
Slope = - T l
g gain |G (j)| | (j )|
20 log10Kp odb
Phase 0 - 90 - 180o
o
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increasing Kp GM=0, System becomes oscillatory Gain crossover freq. (GCF) 1 T GM (gain margin) with Tl = 0
Bode Plot
(GCF ) T
< PM
increasing Tl
Tl = 0
Tl = 0
PM = 0, oscillatory system
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G ( s ) = G ( s ) e sTl
y(t-Tl)
t
y(t) represents the unit step response of G (s) in G(s) a unity feedback closed loop system.
The unit step response desired from the closed loop system with the delay introduced in y series with G(s) is y (t Tl).
Tl
If response y(t) satisfies the design criteria for the delay-free case, then the response to y , p be designed for the system with time-delay is the same response but delayed by Tl.
The time response from a system with closed loop transfer function :
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controller
process without time-delay R(s)
Smiths Method
+ _
G'c(s)
G'(s)
C(s)
1 + G (s )G (s )
/ c /
Gc/ (s )G / (s )
1 + G (s )G (s )
/ c /
Gc/ (s )G / (s )
e sTl
Let the same response (i.e. y (t Tl)) be available from a controller Gc(s) and the process with time-delay G(s) in a unity feedback closed loop system.
controller
process with time-delay
Substituting G ( s ) = G ( s ) e
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R(s)
Smiths Method
+ _
Gc ( ) (s)
G(s) G( )
C(s)
sTl
For the above realization of Gc(s), knowledge of G(s) and Tl is required. In practice, model estimates of G(s) and Tl are used. p , ()
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Smiths Method
E(s) Error
G'c(s)
G'(s)
11 e-sT l
Model Estimates:
G ( s ) , model of G (s)
Tl
, model of Tl d l f
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Smiths Method
E(s)
G'C(s)
M(s)
G ( s )
1 e sTl
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R(s) + _
C(s)
1 e
sTl
G ( s )
Models
GC(s)
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R(s) + + _ Model of process with time-delay
sTl G ( s ) e
C(s)
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+ + + + _ _ _ +
C(s)
e sTl
G ( s )
Model delay
Smith s Smiths method assumes that models are exact i e G ( s ) = G ( s ) and Tl = Tl . exact, i.e.
In practice, there is always some mismatch between the model and the actual parameters, therefore, the closed-loop response may differ depending upon the degree of mismatch. d f i t h
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+ + + + _ _ _ +
C(s)
e sTl
G ( s )
Model delay
The Th model of d l f d l f delay free process provides an estimate of output f id ti t f t t from d l f delay free process for the controller. The estimate is, in fact, the prediction of the process output. Thus the term Smiths Predictor is used for such controllers.