FEEDBACK CONTROL SYSTEMS CHAPTER 7

Process Identification

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Process Identification
y Introduction :
The objective of the process identification is to obtain a model of process given in transfer function . The objective of different identification methods is to give a model close to the output response of the process. To reach this, two experiences can be realized : Open loop identification Closed loop identification

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Open Loop Process Identification

y Introduction :
Process identification contains 4 steps: : Application of test signal in view to obtain the response of actual system. Choice of model which approximate the actual system, Computation of parameters of the model, function of the obtained response. Comparison of the outputs of actual system and model in view to validate the model.

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Open Loop Process Identification

{ Empirical

dynamic models :

This methods are based on step response of the output of actual system. Two cases can be : The system contains an integration, the response is time invariant. The system is unstable. The system is stable and the response is constant at operating point.

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Open Loop Process Identification

{ Empirical

Models :
YES Slope at origin YES NO First Order Particular Points
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Is the output periodical ? YES Second Order System Overshoot Pseudo-period Strejc

Order > 1

Broda

Ziegler-Nichols Other methods Abdel Aitouche, Feedback Control Systems, 2007-2008

Open Loop Process Identification

{ Identification
z

of stable systems

First order system :

G (p ) = K 1+ T p

Model :

We determine : - Gain K = sf / E0
- time constant T since 63,2 % of sf

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Open Loop Process Identification

z

First Order System : Once the values of k and T deduced, we plot the model and we compare it to the step response of actual system Example :

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Open Loop Process Identification

z

First order system :

G (p ) = K 1+ p 1+ b p

Model :

We determine b, and we deduce and .

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Open Loop Process Identification

z

First order system with delay : Model of BROIDA

Model :
K e p G (p ) = 1+ T p

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Open Loop Process Identification

z

First order system with delay : Model of BROIDA

T = 5.5 (t2 t1)

= 2.8 t1 1.8 t2
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Abdel Aitouche, Feedback Control Systems, 2007-2008

Open Loop Process Identification

System with delay : Model of STREJC
Model :

K e p G (p ) = ( 1+ T p ) n

The model is possible if the actual output response is periodical with horizontal asymptote and have only one inflexion point.

THIS METHOD DEPENDS ON THE PLOT OF INFLEXION POINT

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Open Loop Process Identification

Method :
1 Determine he steady state gain K 2 Find the inflexion Yq 3 Plot the slope and determine Tu and Ta 4 Compute Tu / Ta
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Open Loop Process Identification

5 From Tu / Ta of the table, deduce the order of the system. The weak order is chosen 6 From table, deduce the time constant T. 7- The time delay is given by: = Tu Tu
real table

if < 0 then = 0

Exercise : K = 5, Tu = 3 s and Ta = 11 s
Give the model of Stejc
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Open Loop Process Identification

Exercise:
Give the model of Broida and Strejc
Random Number

2 ],[2 1 ]), conv Step

3 2.5 2 1.5 1 0.5 0 -0 . 5

Scope

Transfer Fcn
S t e p re s p o n s e

10

15

20

25

30

35

40

45

50

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Open Loop Process Identification

{

Identification of unstable system with integration z Integrator system

Model :

G (p ) =

K p

K = slope

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Open Loop Process Identification

z

First order system with integration

Model :

G (p ) =

K p ( 1+Tp )

K = slope T = intersection of asymptote with time axis

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Open Loop Process Identification

z

Identification of unstable system with integration N order system with integration

Model :

G (p ) =

K p ( 1+Tp )n

Plot the asymptote which cut the time axis in To Plot the parallel of this asymptote issued at the origin. In To, we define the points les A, B and C.
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Abdel Aitouche, Feedback Control Systems, 2007-2008

Open Loop Process Identification

z

Identification of unstable system with integration: N order system with integration

We compute the ratio AB / AC in view to obtain the order of the system with the help of the following table :

K is the slope T = T0 / n

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Open Loop Process Identification

z

Exercise :

We consider a steam boiler. y = water level in the boiler Qe = input water flow

1 The impulse response :

t h(t) 0 0 0.5 0.75 1 1.1 1.5 2 2.5 3 4 6

0.061 0.146 0.252 0.297 0.468 0.646 0.773 0.858 0.946 0.992

- Show that the system contains an integration, - Give the transfer function - Identify by Strejcs Method

- Plot the output response,

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Open Loop Process Identification

1 The step response is given by the following table :
t h(t) 0 0 0.5 0.005 0.75 0.034 1 0.084 1.1 0.117 1.5 0.265 2 0.546 2.5 0.903 3 1.312 4 2.21 6 4.1 74

- Plot the output response. - Identify the system.

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Closed Loop Process Identification

The system to be identified is KsG(p) controlled by a proportional gain Kreg. + E(p) Kreg KsG(p)
Process

S(p)

The open loop transfer function is:

T ( p ) = K reg K s G ( p )

The limit of stability is obtained for Kreg=Kcrit The frequency corresponds to the values of phase and gain :

T ( j ) = 1 ( ) =
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Closed Loop Process Identification

Strejc model without delay Kreg Ks Ks T ( j) = KsG( p) = (1 + p)n (1 + j)n The objective is to identify Ks, and n. The steady state gain Ks can be identified in open loop or closed loop To identify n and , we must resolve the following equation system:

K s K c rit
2 2 (1 + ) n

=1

( ) = n.a tan( ) =

1 n = ( ) K K s crit cos( ) n 1 = tan( n )

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Abdel Aitouche, Feedback Control Systems, 2007-2008

Closed Loop Process Identification

Broida model
K reg K s e j K s e p T ( j ) = K sG ( p) = (1 + p) (1 + j )

The objective is to identify Ks, and . The steady state gain Ks can be identified in open loop or closed loop. To identify and , we must resolve the following equation system:
K s Kcrit (1 + )
2 2 n

=1

( ) = a tan( ) =

1 2 ( ) = 1 K K s crit 1 = a tan ( K s K crit ) 2 1

)]

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