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Abstract A modified disturbance observer based control
scheme is proposed to control the processes with inverse
response and dead-time. The two parts of proposed control
scheme have explicit physical meanings: prefilter acts as a
predictor of future control signal, and disturbance observer is
used to reject the disturbance. It is a two degree-of-freedom
control scheme. Two adjustable parameters are directly
related to the performance of set-point response and
disturbance rejection. Two disturbance observer design
methods are proposed to reject step and ramp disturbances.
Robustness of the closed-loop system is discussed. The
proposed method is implemented on control software and
applied on the dual-process simulator. Simulation and
experimental results demonstrate the effectiveness of proposed
method.
I. INTRODUCTION
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C(s)
d +
G(s)
d -
Gm0(s)
Prefilter F(s)
QGinv (s)eW ms
y
+
n
+
Modified
Disturbance Observor
Gm 0 ( s )Ginv ( s )e W m s (1 Q ( s )Ginv ( s )e W m s )
Q( s )Ginv ( s )e
W m s
(3)
Since both the steady-state gains of Q(s) and Ginv(s) are one,
d ( f ) d , which means the disturbance can be rejected.
G2 ( s )
(7)
(4)
K mZ m2
( Tinv s 1)e W m s
s 2 2[ mZ m s Z m2
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Table I
Tuned parameters for controller C(s)
Gm0(s)
Km
Tm s 1
Kp
Ti
Td
Tm
2[O K m
Tm
2[m
[m
K mZ m2
2
2
s 2[ mZ m s Z m O[ KmZ m
Zm
2[Z n
TF
1
2[
1
2[
dr d 2
O 2 s 2 2[O s 1
1
1
(20)
Q( s)
1
dr ! 2
dr 2
2 2
( O1 s 2[O1s 1)( O1s 1)
lim
s o0
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Ds 1
O 2 s 2 2[O s 1
1
1
Q( s)
Ds 1
dr
(21)
dr ! 1
(27)
(22)
For the process which transfer function is (6), dr equals 1.
If the closed-loop system is designed to reject step
1
. If Q(s) is
disturbance, Q(s) is chosen by 2 2
O1 s 2[O1 s 1
set to
(2[O1 W m Tinv ) s 1
, the closed-loop system can
O12 s 2 2[O1 s 1
0.8
Q ( s )Ginv ( s )e W m s
Tinv s 1
e W m s
O s 2[O1 s 1
2 2
1
(25)
f
Tinv jZ 1
K
e jW mZ m
1 O12Z 2 2[O1 jZ
'K
(26)
[ =0.707
[ =0.5
[ =1
0.7
'K/K
IV.
0.9
0.6
0.5
0.4
0.3
0.2
0.1
0
10
O1/Tinv
4829
(28)
'Tinv 2[O1
'Tinv jZ
e jW mZ 1
1 O12Z 2 2[O1 jZ
O1 / Tinv , Z
Denote D
(29)
TinvZ ,and E
'Tinv / Tinv .
(30)
1/ D , i.e.
'Tinv 2[O1 .
20
[ =0.707
[ =0.5
[ =1
15
10
'Wm/Tinv
5
Robust stable region
0
-5
-10
-15
-20
4
O1/Tinv
1.5
Process output
sup
'Tinv jZ 1
e jW mZ ( e 'W jZ 1) 1 .
1 O12Z 2 2[O1 jZ
0
-0.5
Dead-time varies to 6
0
50
100
1.5
(32)
nominal case
Gain varies to 1.3
T varies to 3
inv
0.5
Control action
sup
Dead-time varies to 6
1
0.5
0
Z (33)
150
200
nominal case
Gain varies to 1.3
T varies to 3
inv
50
100
Time (s)
150
200
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[6]
Process output
40
[7]
30
20
[8]
10
0
20
40
60
80
100
120
140
160
180
[9]
Control action
100
[10]
80
60
40
20
0
[11]
0
20
40
60
80
100
Time (s)
120
140
160
180
[12]
[13]
VI. CONCLUSION
In this paper, a modified disturbance observer is proposed
to control processes with inverse response and long
dead-time. It is a two degree-of-freedom control scheme.
The two parts of control scheme have explicit physical
meaning: prefilter part acts as predictor of future control
4831