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Seminar Report
Submitted in partial fulfillment of the requirements for the award of the degree of
Master of Technology
In
Instrumentation and Control Systems
(Electrical engineering)
by
Dhanraj Yadav
(Roll No.: M160312EE)
This is to certify that the report entitled Fractional Order PI Controller Design for
Closed Loop System with Time Delay is a bonafide record of the Seminar presented
by Dhanraj Yadav (Roll No.: M160312EE), in partial fulfillment of the requirements
for the award of the degree of Master of Technology in Instrumentation and Control
Systems, Electrical Engineering from National Institute of Technology Calicut.
Faculty-in-charge
Department Of Electrical Engineering
Dr. Ashok S
Professor & Head
Department of Electrical Engineering
LIST OF ABBREVIATIONS ii
LIST OF SYMBOLS iii
LIST OF FIGURES iv
1 INTRODUCTION 1
1.1 Introduction 1
1.2 Literature Survey 1
1.3 Objective 2
1.4 Organisation of Report 2
2 FRACTIONAL CALCULUS THEORY 3
2.1 Introduction 3
2.2 GrunwaldLetnikov definition 3
2.3 RiemannLiouville definition 3
2.4 Summary 5
3 DESIGN OF INTEGER ORDER PI CONTROLLER 6
3.1 Introduction 6
3.2 Relay Auto-Tuning 6
3.2.1 Difficulty in Loop Tuning 6
3.3 Ziegler-Nichols (Z-N) Tuning 8
3.4 Summary 9
4 DESIGN OF FRACTIONAL ORDER PI CONTROLLER 10
4.1 Introduction 10
4.2 Fourier Series Method 10
4.3 Summary 12
5 ILLUSTRATIVE EXAMPLE 13
5.1 First order Transfer Function with delay 13
6 CONCLUSION 17
References 18
i
LIST OF ABBREVIATIONS
PI Proportional Integral
IO Integer Order
FO Fractional Order
Z-N Ziegler-Nichols
TF Transfer Function
ii
LIST OF SYMBOLS
P Proportional
I Integral
D Derivative
Kp Proportional Gain
KU Ultimate Gain
PU Ultimate Period
3
LIST OF FIGURES
3.1 Closed loop control system with PI controller and integer order plant 6
3.2 Relay input-output characteristic 7
3.3 A plant oscillating under relay feedback with the PID regulator temporarily
disabled. 8
4.1 The closed loop control system with FO- PI controller and integer order plant 10
4.2 Step response performance criteria chart 11
5.1 The step response of the closed loop system with unit gain 13
5.2 The output of closed loop control system with relay 14
5.3 The step responses of closed loop control system with FO- PI controller for
different values of 15
4
CHAPTER 1
INTRODUCTION
1.1 Introduction
The fractional calculus has been studied since 1695 (Das, 2008; Xue et al.,
2007). However, it has become an important research because of the increase of
computational facilities and tools (Monje et al., 2010). A fractional order system can
be described by a differential equation where the order of the derivative can be any real
number. Taking the Laplace transform of such a differential equation gives a transfer
function with a fractional order Laplace complex variable. This kind of transfer
function is called a Fractional Order Transfer Function (FOTF) (Monje et al.,
2010).
The importance of fractional order representation is that fractional order
differential equations are claimed to be more adequate to describe real world systems
than those of integer order models (Nonnenmacher et al., 1991). One of the major
difficulties with fractional order representations is the computation of the time response,
such as the step and impulse responses. However, these difficulties have been overcome
using FSM (Fourier Series Method) and IFTM (Inverse Fourier Transform Method)
(Atherton et al., 2015). On the other hand, time delay is also an important problem for
systems and this occurs in many physical systems. Therefore feedback control systems
with time delay need to be considered for convenient results.
1.2 Literature Survey
A.Yce, N. Tan and D. Atherton [1] proposed a method of designing and tuning
fractional order PI controller for time delay systems. They first designed the integer
order PI controller and tuned it using Relay based tuning and Z-N closed loop tuning.
Using these controller parameters and step responses by FSM, they tuned the
fractional PI controller.
1
V. Becerra [3] explained and extended the method of relay auto tuning for tuning the
fractional PID controller which was first proposed by Astrom and Hagglund (1984).
They have introduced novel relay tuning method for finding the critical gain and critical
frequency of closed loop process and proposed several tuning rules for PID controllers
based on this information.
D. Atherton, N. Tan and A.Yce [4] proposed the method for computing the time
response of closed loop control systems with fractional order PI controllers using the
frequency response data of the closed loop system. The time response of fractional
order transfer functions from frequency response data was obtained by the authors
using Fourier Series Method (FSM) and Inverse Fourier Transform Method (IFTM).
1.3 Objective
The objective is to design and tune a fractional order PI controller for closed loop
system with time delay using Relay auto tuning method and Fourier Series Method
(FSM).
2
CHAPTER 2
FRACTIONAL CALCULUS THEORY
2.1 Introduction
Fractional calculus is a generalization of integration and differentiation to non-integer
orders. The idea of fractional calculus (FC), which is a generalization of classical
integer order calculus to non-integer orders, is a very old topic in mathematics. Before
the 19th century, the theory of fractional calculus developed mainly as a pure
theoretical field of mathematics useful only for mathematicians. It is only in the last
few decades, that there has been an increasing amount of interest in fractional-order
systems (also called fractal systems). This is because it was observed that there are
many physical systems whose behaviour could be better and more compactly
represented using fractional system models rather than using classical integer order
models. The two most popular definitions used for the general fractional differintegral
are the Grunwald-Letnikov (GL) discrete form of the definition and the Riemann-
Liouville (RL) definition.
3
For convenience, the Laplace domain notation is usually used to describe fractional
differ-integral operation. When the initializations are assumed to be zero,
(2.4)
(2.5)
Where Kc , Ki and Kd are the proportional gain, integral gain and derivative gain,
respectively of the fractional order controller. The main advantage of using fractional-
order PID controllers for a linear control system is that we have more degrees of
freedom in the controller design using the additional parameters of the integral and
differential orders and, as a consequence, it is expected that the use of FO-PID
controllers can enhance the feedback control loop performance over the integer-order
4
controllers. In this work, we study the problem of designing a fractional order
proportional-integral controller ( = 0) of the form
(2.6)
2.4 Summary
In this chapter the theory of fractional calculus is explained with its importance over
classical integer order calculus and brief description about its evolution. The two
most general definitions of fractional differintegral are explained. First one is
Grunwald-Letnikov (GL) discrete form of the definition and the second one is the
Riemann-Liouville (RL) definition. The general SISO fractional order system in laplace
domain is also represented.
In next chapter, an integer order PID controller is designed and tuned using relay
based tuning.
5
CHAPTER 3
DESIGN OF INTEGER ORDER PI CONTROLLER
.
3.1 Introduction
PI controllers are well-known and commonly used controllers in industrial
applications because of their simple structure and acceptable robustness.
fig.3.1 Closed loop control system with PI controller and integer order plant
+
1 + . +
1 0
G(s) = (3.1)
+
1 1 + .+ 0
6
So given the tedious and possibly dangerous plant trials that result in poorly damped
responses, it behaves one to speculate why it is often the only tuning scheme many
instrument engineers are familiar with, or indeed ask if it has any concrete redeeming
features at all.
In fact the ZN tuning scheme, where the controller gain is experimentally determined
to just bring the plant to the brink of instability is a form of model identification. All
tuning schemes contain a model identification component, but the more popular ones
just streamline and disguise that part better. The entire tedious procedure of trial and
error is simply to establish the value of the gain that introduces half a cycle delay
when operating under feedback. This is known as the ultimate gain Ku and is related
to the point where the Nyquist curve of the plant first cuts the real axis.
The problem is of course, is that we rarely have the luxury of the Nyquist curve on
the factory floor, hence the experimentation required.
As it turns out, under relay feedback, most plants oscillate with a modest amplitude
fortuitously at the critical frequency. The procedure is now the following:
1. Substitute a relay with amplitude h for the PID controller as shown in Fig. 3.3.
2. Kick into action, and record the plant output amplitude a and period P.
3. The ultimate period is the observed period, Pu = P, while the ultimate gain is
inversely proportional to the observed amplitude,
4h
Ku = a (3.3)
7
Fig 3.3 A plant oscillating under relay feedback with the PID regulator temporarily
disabled.
8
Table 1. Z-N Tuning Formula
3.4 Summary
In this chapter, an integer order PI controller is designed and tuned. The tuning is
done by using Relay based tuning and Ziegler-Nichols (Z-N) tuning. The relay auto
tuning is used to find the critical gain and ultimate period. After finding these values,
the formulas of closed loop Z-N tuning are used to calculate the proportional gain and
integral time constant.
In next chapter, fractional order PI controller is designed and tuned using Fourier series
method.
9
CHAPTER 4
DESIGN OF FRACTIONAL ORDER PI CONTROLLER
4.1. Introduction
Fig.4.1 The closed loop control system with FO- PI controller and integer order plant
Where
1
Cf(s)= kp (1+ ) (4.1)
is a FO-PI controller .
The step responses of the FO-PI controller for different values are plotted using the
PI controller parameters obtained in previous chapter.
The step response of the closed loop TF can be plotted using the FSM.
10
4 1
r(t) = sin() (4.2)
=1(2)
Thus, one can obtain specifications on each step response plotted with FSM for
different values and tabulate them. This technique can be called tuning based on
Z-N method for a fractional PI controller and the value of which gives the best
desired step response is chosen.
11
4.3 Summary
In this chapter, the fractional order PI controller is designed and tuned using Fourier
series method. The step responses of the system for different fractional powers is
obtained by Fourier series method and are plotted. Based on the step response
specifications like rise time, peak time etc. the proper fractional integral power is
chosen. This method is called tuning based on Z-N method for a fractional PI
controller.
12
CHAPTER 5
ILLUSTRATIVE EXAMPLE
Fig. 5.1. The step response of the closed loop system with unit gain.
Thus, amplitude ( a ), oscillating period ( Pu ) and critical gain (Ku) are computed
from Fig. 8, as a = 1.5570 , Pu = 3.8847 and Ku = 0.8178 .
13
Fig. 5.2. The output of closed loop control system with relay.
14
Fig.5.3. The step responses of closed loop control system with FO- PI controller for
different values of .
Table 2 shows that overshoot, rise time, peak time and settling time decrease with
decreasing . However, the settling time increases again for low values of . For
0.6-0.8 band, is very convenient for this example. In this range,the step responses
show reasonable performance than integer order PI controller. Thus, one can obtain
good results using integer order PI controller parameters selecting the .
tr tp ts %Mp
%2 %5
15
0.8 2.460 3.9 11.83 8.101 43.4
16
CHAPTER 6
CONCLUSION
FSM method is implemented for computing step responses. Thus, time responses of
complex structured transfer functions (fractional order and time delay) can be exactly
computed.
Ziegler-Nichols and Relay method are used for integer order PI controller design.
Using FSM, the step responses of the closed loop system with fractional order PI
controller which includes the parameters of designed integer order PI controller are
easily plotted for different values.
As a result, if the settling time is ignored, when tends to zero, the systems give best
step response performance for all of transfer function structure. Example show that
1.2-0.8 band of shows generally best time response performance for 2% and 5%
settling time value.
17
REFERENCES
[1] A. Yce, N. Tan and D. Atherton, "Fractional Order PI Controller Design for
Time Delay Systems", IFAC Papers Online, vol. 49, no. 10, pp. 94-99, 2016.
[2] Y. Luo, Y. Chen, C. Wang and Y. Pi, "Tuning fractional order proportional
integral controllers for fractional order systems", Journal of Process Control, vol.
20,no. 7, pp. 823-831, 2010.
[4] D. Atherton, N. Tan and A.Yce, "Methods for computing the time response of
fractional-order systems", IET Control Theory & Applications, vol. 9, no. 6, pp. 817-
830, 2015.
18