Process Control Design for Time Delay Systems from Similarity Point of View
Typ dokumentu
habilitační prácehabilitation thesis
Autor
Fišer, Jaromír
Instituce přidělující hodnost
České vysoké učení technické v Praze. Fakulta strojní.Metadata
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The habilitation thesis presents author’s research results in the areas of process control design
for time delay systems and in the similarity theory application in this design. The motivation
and objectives of the habilitation thesis are presented in Chapter 1. The thesis is motivated by
open problem - applicability of dominant pole placement method to the PID controller tuning
for higher-order plants with delay. In Chapter 2 the time delay systems in control and
estimation are surveyed and at the beginning of Chapter 3 the dimensional analysis
application to control design is surveyed, too. In Chapter 4 the generalized dominant threepole
placement as the design method is presented together with resulting PID controller
setting common for a set of dynamically similar plants with delay. The same design method is
applied in Chapter 4 to the PID controller tuning for a set of integrating plants with delay. At
the end of Chapter 3 the third- and fourth-order plants are investigated as samples of higher-order plants with delay. This thesis as the study on applicability of the dominant three-pole
placement method to the PID controller tuning for higher-order plants with delay reveals that
the PID controller is still tunable for the admissible third- and fourth-order plants while in
case of the inadmissible third- and fourth-order plants the PID controller is not already
tunable by this method as concluded in Chapter 4. This revelation is mainly enabled by the
dimensional analysis application thoroughly in Chapter 3 which gives the control engineering
design the capability of its versatility in the area of reasonably constrained (i.e. admissible)
similarity numbers. The reasonable constraints are due to dynamic relevance and practical
controllability of the considered higher-order systems with delay. Conclusions to Chapter 3
summarize that the constrained similarity numbers are oscillability, retardedness,
dampeningness and stiffness, in particular. Conclusions to Chapter 4 sum up that once the
retardedness number is not negligible the PID controller provides admissible control solution
to the plants of maximum order – four, including the integrating plants up to the fourth-order.
Moreover the admissible third and fourth-order plants with delay allow assigning the natural
frequency number greater than the ultimate frequency number without the loss of three-pole
dominance while the inadmissible third and fourth-order plants do not. In fact the
inadmissible fifth-order PID control loops with delay show that one is already behind the
capability of the PID controller, independently of tuning method applied, to cope with higher-order dynamics because the control loop responses are with extreme overshoot and take
overlong. In Chapter 5 the thesis as a whole is concluded that the generalized dominant three-pole placement technique provides the delayed fourth- and fifth-order PID control loop
response with low overshoot in contrast to well-known PID tuning method based on idealrelay feedback test.
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