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AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T

Control of C l f Time-Delay Systems Ti D l S t

x(t)

1 0 x(t) y( ) y(t) 0 Tl t t unit step

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
Time-Delay y Element x(t - Tl) Tl = Ti Time-Delay D l

Time Response

Time-Delay Element

Temperature Measurement of Heat-Exchanger O t t T t M t fH tE h Output


b(t) () a(t) Sensor d

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T

Time-Delay Systems
Example 1

Heat cold in

hot out

Heat

hot out Sensor

cold in

v = velocity y d = distance

b(t) = a(t Tl ) (t

Thickness Measurement of R ll d St l Pl t Thi k M t f Rolled Steel Plate


Thickness gauge

Steel Plate

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T

Time-Delay Systems
Example 2

Time delay between change i thi k h in thickness and measurement:

d Tl = v

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(a) (b) (c)

Difference Between Time-Lag and Time-Delay

e In case (c), transfer function of the block = G (s ) = 1 + sT T = time lag, Tl = delay

sTl

Problem due t Presence of Ti P bl d to P f Time-Delay D l in a Process Control Loop


Due to the presence of time-delay, any corrective action from the controller cannot be immediately applied to the process. Thus during that time, process may buildup a deviation, time deviation sometimes quite large, due to any load disturbance or change p in set-point.

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T

x(t) ()

Taking Laplace Transform:

Now, e sTl =

Using First-Order Pade Approximation: First Order

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
Time-Delay Element

Transfer Function of Time-Delay Element


y( ) y(t) = x(t - Tl) (

Y (s ) sT =e X (s )

Transfer Function of a Time-Delay Element


e
1 sTl 2
1 sT 2 l

( sTl ) 1 1 2 sTl + 2! = 2 1 ( 2 sTl ) 1 1 + 2 sTl + 2!


1 2 2

sTl

1 1 sTl 2 1 + 1 sTl 2

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T

Effect of Time-Delay on Process Loop Response


T.F. of a Process with Time-Delay:

G (s ) = G(s )e

sTl

where G/(s) is the transfer function of the delay free part of the process.

Case Study: Proportional C C S d i l Control of a First-Order Process l f i Od with Time-Delay


controller Kp process

R(s)

e sTl 1 + sT

C(s)

Kp = Process Gain T = Process Time Constant

R(s)

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
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 ,

The standard form:


2 2 n

s + 2n s + = 0,

n =

(T + T K T ) = 2 ( K + 1) + T
1 2 l 1 2 p l l p

The Natural Freq.

The Damping Ratio

R(s)

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
controller Kp + + _

Case Study: Proportional Control of a First-Order Process with Time-Delay (contd ) process
e sTl 1 + sT
C(s)

The damping ratio becomes zero when:

2T + Tl Kp = T l 2T + Tl Kp > T l

The system becomes unstable when:

Conclusion: Time-delay may cause instability even in first-order system for large values of Kp.

R(s) + _

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
controller Kp process

Case Study: Proportional Control of a First-Order Process with Time-Delay (contd )


e 1 + sT
sTl

Root Locus Plot

C(s)

K p e sT Loop T.F. of the C. L. System: 1 + sT


K p 2 sT s K p 1 l T Tl 2 = sTl (1 + sT ) 1 + s + 1 s + 2 2 T Tl

Using First Order Pade Approximation: First-Order

Case I: T >

Tl 2

Kp =Kc

s-plane

Kc: Critical Gain


T 2T + l 2 Kc = Tl

Kp = 0

Kp = 0

2 Tl

1 T

2 Tl

2T + Tl = Tl

Kp = Kc

R(s) + _

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
controller Kp process

Case Study: Proportional Control of a First-Order Process with Time-Delay (contd )


e 1 + sT
sTl

Root Locus Plot

C(s)

K p e sT Loop T.F. of the C. L. System: 1 + sT

Using First Order Pade Approximation: First-Order

Case II: T <

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

Kc: Critical Gain


T 2T + l 2 Kc = Tl

Kp = 0

Kp = 0

1 T

2 Tl

2 Tl

2T + Tl = Tl

Kp = Kc

R(s) + _

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
controller Kp process

Case Study: Proportional Control of a First-Order Process with Time-Delay (contd )


e sTl 1 + sT
C(s)

Critical gain K c

1.67

2T

3T

Tl

The Critical gain falls with increasing Tl.

ith t Time-Delay D l Case I Fi t O d S t C I: First Order System without Ti


Kp Open Loop Transfer Function: G (s ) = O L T f F ti 1 + sT
|G (j)|

Conclusion: The phase plot never crosses 180 line, hence the system is always stable.

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
1 T
20 log10Kp odb phase 0 - 90o

Bode Plot

Kp G ( j ) = 1 + j T

ith Time-Delay D l Case II Fi t O d S t C II: First Order System with Ti


l

K p e sT K p sT Open Loop Transfer Function: G (s ) = O L T f F ti = e = G1 (s )G2 (s ) 1 + sT 1 + sT


l

Frequency Response of Time-Delay Unit:

G2 ( j) = 1 Tl

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
Phase 0

Bode Plot

Slope = - T l

ith Time-Delay D l Case II Fi t O d S t C II: First Order System with Ti


l

K p e sT K p sT Open Loop Transfer Function: G (s ) = O L T f F ti = e = G1 (s )G2 (s ) 1 + sT 1 + sT


l

g gain |G (j)| | (j )|

20 log10Kp odb

Phase 0 - 90 - 180o
o

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
increasing Kp GM=0, System becomes oscillatory Gain crossover freq. (GCF) 1 T GM (gain margin) with Tl = 0

Bode Plot

For a particular g p gain Kp, for stability, y,

(GCF ) T

< PM

increasing Tl

Tl = 0

(as Tl is the phase of time-delay) PM or Tl < GCF

PM (phase margin) with Tl = 0

Tl = 0

PM = 0, oscillatory system

Process with time-delay:


y(t)

Smith s Smiths Principle:

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
G ( s ) = G ( s ) e sTl
y(t-Tl)
t

Smiths Principle for Control of Time Delay Time-Delay Systems


G(s) is the T.F. of the delay free part of the process and Tl is the time-delay.

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.

Let the controller in the delay free case be Gc(s).

The closed loop transfer function:

The time response from a system with closed loop transfer function :

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
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 )

with time response y(t).

1 + G (s )G (s )
/ c /

Gc/ (s )G / (s )

e sTl

will b y (t Tl) ill be ).

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

The closed loop transfer function: According to Smiths Method

Substituting G ( s ) = G ( s ) e

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
R(s)

Smiths Method

+ _

Gc ( ) (s)

G(s) G( )

C(s)

Gc (s )G (s ) Gc/ (s )G / (s )e sTl = 1 + Gc (s )G (s ) 1 + Gc/ (s )G / (s )

Gc (s )G (s ) with time response y (t Tl). 1 + Gc (s )G (s )

sTl

Gc/ (s ) Gc (s ) = 1 + Gc/ (s )G / (s ) 1 e sTl

Gc (s ) : T.F. of the required controller for the process with time-delay

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 , ()

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T

Smiths Method

The R li i f h C Th Realization of the Controller Gc( ) ll (s)


Gc(s)

E(s) Error

G'c(s)

M(s) Controller output

G'(s)

11 e-sT l

Model Estimates:

G ( s ) , model of G (s)

Tl

, model of Tl d l f

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T

Smiths Method

The R li i f h C Th Realization of the Controller Gc( ) ll (s)


Gc(s)

E(s)

G'C(s)

M(s)

G ( s )

1 e sTl

G c ( s ) : The Controller for Delay-Free Process G(s)

Realisation of the Closed Loop System with Gc(s)


Scheme I:
Controller (designed for G (s)) Process with G'(s)) time-delay G'C(s) G(s)

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
R(s) + _

C(s)

1 e

sTl

G ( s )

Models

GC(s)

Realisation of the Closed Loop System with Gc(s)


Scheme II:
Controller (Process with time delay) G'C(s) G(s)

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
R(s) + + _ Model of process with time-delay
sTl G ( s ) e

C(s)

Model of delay free process G ( s )

Realisation of the Closed Loop System with Gc(s)


Scheme III:
R(s) Controller G'C(s) Process G(s)

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+ + + + _ _ _ +

C(s)

e sTl

G ( s )

Model delay

Model of delay free process

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

Realisation of the Closed Loop System with Gc(s)


Scheme III:
R(s) Controller G'C(s) Process G(s)

AN EL JAN EC R TR AK IC SH JA AL IT D E an KO AV NG d A LK PU INE MI AT R U ER TA A, NI IN VA IN VE G C D R DE HA IA S P T IT A T Y R E TM RJ E N EE T
+ + + + _ _ _ +

C(s)

e sTl

G ( s )

Model delay

Model of delay free process

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.

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