Projektiranje i implementacija proporcionalno-integracijsko-derivacijskog regulatora za proces s aperiodskom dinamikom

master's thesis

• Title (english): Design and implementation of proportional-integral-derivative controller for a process with aperiodic dynamic
• Author: Danijel Gotovac
• Mentor: Danijel Pavković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2019-03-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Regulacija temperature i protok fluida su često karakterizirani sporom aperiodskom dinamikom i mrtvim vremenom, i najčešće su modelirani uz pomoć sustava prvog reda s mrtvim vremenom (Engl. First-Order Process with Dead-Time, FOPDT). Da bismo dobili prikladniji modela procesa bez mrtvog vremena, FOPDT modela procesa se moţe aproksimirati vremenski-kontinuiranim PTn modelom procesa, karakteriziran istim nagibom (derivacija po vremenu) u točki infleksije aperiodskog odziva procesa. U ovom radu je predstavljena jedna od analitičkih metoda sinteze PID regulatora temeljena na vremenski-kontinuiranom modelu objekta upravljanja dobivenog postupkom identifikacije dinamičkog modela procesa aperiodskog tipa. Korištenjem PTn modela procesa kao osnove za sintezu sustava upravljanja, izvedeni su izravni analitički izrazi za parametre PID regulatora primjenom kriterija optimuma dvostrukog odnosa. Dobiveni parametri PID regulatora su uneseni u regulator implementiran u programibilnom logičkom kontroleru (PLC-u) te je provedena eksperimentalna verifikacija projektiranog regulatora.

Abstract (english)

Heat and fluid flow processes are characterized by slow aperiodic dynamics and dead-time, which are frequently modeled by a first-order plus dead-time (FOPDT) process model. In order to obtain a more convenient dead-time free process model, the FOPDT process model can be aproximated with the more continuous-time PTn process model, characterized by the same response slope (time-derivative) at the flexion point. This master's thesis presents an analytical method of PID tuning based on time continuous process model identification comprising aperiodic dynamics. By utilizing the PTn process model as the basis for the control system design, straightforward analytical expressions have been derived for the PID controller parameters based on damping optimum criterion. Thus-obtained PID controller parameters were used within the programmable logic controller (PLC) based controller, which has been experimentally verified.

• Keywords: PID regulator; PTn model procesa; optimum dvostrukog odnosa; identifikacija; PLC
• Keywords (english): PID controller; PTn process model; damping optimum criterion; identification; PLC
• Language: croatian
• URN:NBN: urn:nbn:hr:235:839183
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-23 00:40:17