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Analytical design of discrete PI-PR controllers via dominant pole assignment
Ayşe Duman Mammadov1, Emre Dincel1, Mehmet Turan Söylemez1
1Control and Automation Engineering Department, Istanbul Technical University, Istanbul, Turkey.
ISA Transactions
|June 4, 2021
Summary
A novel discrete proportional integral-proportional retarded (D-PI-PR) controller is introduced, replacing PD with PR elements for improved discrete-time control. This method enhances system transient response and stability in time-delayed systems.
Area of Science:
- Control Systems Engineering
- Discrete-Time Systems
- Automation and Robotics
Background:
- Classical PI-PD controllers face limitations in handling time delays.
- Discrete-time control systems require specialized design methods for stability and performance.
- The impact of controller zeros on transient response needs careful management.
Purpose of the Study:
- To propose a new discrete proportional integral-proportional retarded (D-PI-PR) controller design method.
- To enhance the transient response and stability of time-delayed systems.
- To provide a systematic approach for controller parameter determination.
Main Methods:
- Replacing the proportional-derivative (PD) controller with a proportional-retarded (PR) controller in a discrete-time PI-PD structure.
- Implementing dominant pole assignment using a modified Nyquist plot approach.
- Determining controller parameters (Ki, Kr, Kp) based on desired closed-loop performance and delay parameters.
- Transforming a D-PIR structure to D-PI-PR to mitigate zero impacts.
Main Results:
- Successful design and implementation of the D-PI-PR controller for first, second, and third-order systems with time delays.
- Demonstration of improved transient response and stability compared to other PID-type controllers.
- Validation of the dominant pole assignment method for guaranteed performance.
Conclusions:
- The proposed D-PI-PR controller offers an effective solution for controlling time-delayed systems.
- The modified Nyquist plot approach provides a robust method for controller design and parameter tuning.
- This controller design method shows significant potential for enhancing the performance of various industrial control applications.
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