You are on page 1of 25

Fractional Order PI Controller Design for

Closed Loop System with Time Delay

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)

Department of Electrical Engineering


NATIONAL INSTITUTE OF TECHNOLOGY CALICUT
NIT CAMPUS, PO: KOZHIKODE
KERALA, INDIA 673601
WINTER SEMESTER 2016-2017
CERTIFICATE

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

Place : NIT Calicut


Date : 6 March 2017
ABSTRACT

Fractional calculus is a generalization of integration and differentiation to non-integer


orders. The fractional PI controller is designed for a closed loop system having a
plant with time-delay. The ultimate frequency of the system is found using a relay
auto tuning test.
Relay-based auto tuning is a simple way to tune PID controllers that avoids trial and
error, and minimizes the possibility of operating the plant close to the stability limit.
Then the parameters of a PI controller are estimated using this frequency in the Ziegler-
Nichols (Z-N) tuning formula. These parameters are then used for a fractional order PI
controller and the effect of varying the fractional integrator order of the PI controller
on the closed loop step response is examined. Fourier Series Method (FSM) is
implemented for computing step responses. Finally, for a given example, specifications
of the control system for different values has been obtained and according to the
desired specifications, optimum fractional order PI controller is designed.
CONTENTS

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

PID Proportional Integral Derivative

FSM Fourier Series Method

IFTM Inverse Fourier Transform Method

FOPDT First Order Plus Dead Time

IO Integer Order

FO Fractional Order

Z-N Ziegler-Nichols

TF Transfer Function

ii
LIST OF SYMBOLS

P Proportional

I Integral

D Derivative

L(s) Open loop transfer function

P(s) Closed loop transfer function

Kp Proportional Gain

Ti Integral Time constant

Integral Fractional power

Derivative Fractional power

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).

1.4 Organisation of report


The seminar deals with designing and tuning of fractional order PI controller for the
system with time delay.
Chapter 2 discusses the fractional calculus theory with two most popular definitions
of a general fractional differintegral.
Chapter 3 discusses the designing and tuning of integer order PI controller. The
tuning is carried out by using Relay auto tuning and Z-N method.
Chapter 4 discusses the designing and tuning of fractional order PI controller. The
tuning is done by obtaining the step responses by FSM and based on the step response
specifications, choosing the appropriate fractional integral power.
An illustrative example for designing and tuning of fractional order PI controller for
first order system with time delay is explained in chapter 5.
Chapter 6 is the concluding chapter with references.

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.

2.2 Grunwald Letnikov definition


1
aD tf(t)=lim =0 (1)( ) f(t jh) (2.1)
0

2.3 RiemannLiouville definition


1 ()

aD tf(t)= ( )n d (2.2)
() ()
+1

where (n-1) < n Z and a R .


and the operator D defines fractional differentiation or integration depending on the
sign of , (.) being the well-known Eulers Gamma function and h is the finite
sampling interval. G-L definition is particularly useful for digital implementation of
fractional order controllers.

3
For convenience, the Laplace domain notation is usually used to describe fractional
differ-integral operation. When the initializations are assumed to be zero,

L{D(t)}= F(s) ( R) (2.3)

The generic single-input single-output (SISO) fractional order system representation


in the Laplace domain is given as:

(2.4)

where b0,b1,......,bm and a1,a2,......,an are constant model parameters or model


coefficients, while 0 < 1 < ..... < m and 1 < 2 < ..... < n are the fractional powers
or fractional orders (real numbers).
The transfer function given by equation (2.4) can be classified as either a commensurate
transfer function or a non-commensurate transfer function. The transfer function
(2.4) is called commensurate when j , i are integral multiple of a single real (fractional)
number and it is called non-commensurate when j,i can take any arbitrary values.
A fractional-order PID controller is considered as the generalization of the
conventional PID controllers involving an integrator of order and a differentiator of
order . The structure of PID controller with the transfer function (C(s)) is given as:

(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

Where z , q are real parameters and m , n are integer positive numbers.


The open loop transfer function L( s ) of the control system is given as

L(s) = C(s)G(s) (3.2)

3.2 Relay Auto-Tuning


Relay-based auto tuning is a simple way to tune PID controllers that avoids trial and
error, and minimises the possibility of operating the plant close to the stability limit.
3.2.1 Difficulty in Loop Tuning
When you discuss loop tuning with instrument and control engineers, conversation soon
turns to the Zeigler-Nichols (ZN) ultimate oscillation method. Moreover when it did
work, the responses are overly oscillatory.

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)

Fig.3.2 Relay input-output characteristic

7
Fig 3.3 A plant oscillating under relay feedback with the PID regulator temporarily
disabled.

3.3 Ziegler-Nichols (Z-N) Tuning


From the values of Ku and Pu , the controller parameters ( Kp ,Ti , Td ) for the P, PI
and PID gains are computed from Table 1 using the closed-loop Z-N method.

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

A closed loop control system with a FO- PI controller is shown in Fig.

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.

4.2 Fourier Series Method


FSM is based on Fourier series technique that computes very accurate time responses
except for minimized error depending on numerical tolerance.
The Fourier series for the square wave of -1 to 1 with frequency (= 2 )can
be written as

10
4 1
r(t) = sin() (4.2)

=1(2)

where T is the period of the square wave.


If r(t) passes through the transfer function P(s) then the output, which is the unit step
response if T is sufficiently large, can be written as
4 1
ys(t)
=1(2) Re[P(jk)]sin() (4.3)

The proof of this can be done using convolution.


There are some specifications which may be used for all step response graphs.
Typically , These are
1. Rise time ( tr )
2. Peak time ( tp )
3. Settling time ( ts )
4. Maximum percent overshoot ( % Mp )

Fig. 4.2. Step response performance criteria chart

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

5.1 First order Transfer Function with Time delay


Consider a first order system with time constant 16.2 sec, static gain is 26 and time
delay 1 sec.

26
G(s) = 16.2+1
The step response of G(s) for the closed loop system without the controller namely
unity feedback response of the system (only Kp =1) is shown in Fig. 5.1 and is seen
to be almost an oscillation. Firstly, the critical values are obtained using the simulink
diagram given in Fig. 3.3.

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.

The PI controller parameters, using Table 1, are then


Kp = 0.3717
Ti = 3.2373
Thus, integer order PI controller and fractional order PI controller with the same control
parameters are obtained as using (2.6) and (4.1). L( s ) is computed as (3.2) for using
in FSM.
0.3089
C(s) = 0.3717(1+
)

0.3089
Cf(s) = 0.3717(1+ )

( 9 . 66 42 +2 .98 48 )
and L(s) =
16.2+1 +
Step responses of the system are plotted in Fig 5.3 using the FSM for some different
differentof . . Table 2 shows some specification values for the step responses for
values

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 .

Table 2. Step response performance values for different values of

tr tp ts %Mp

%2 %5

1.4 2.553 5.2 56.23 42.22 74.1

1.2 2.520 4.6 19.86 14.1 60.4

1.0 2.448 4.2 10.74 7.239 50.9

15
0.8 2.460 3.9 11.83 8.101 43.4

0.6 2.434 3.7 8.668 8.082 36.8

0.4 2.413 3.5 >200 7.962 30.8

0.2 2.401 3.3 >200 >200 24.8

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.

[3] V. Becerra, "Autotuning of PID controllers: relay feedback approach",


Automatica, vol. 36, no.11, pp. 1773-1774, 2000.

[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

You might also like