Análise do controle de processos com atraso de transporte utilizando preditor de Smith filtrado
The time delay, or dead-time, is characterized by the difference in time that passes in a system between the application of the input signal and the manifestation of its effect on the output signal. For small values of dead time, there is the possibility of using conventional controller tuning techn...
| Autor principal: | Abitante, Luiz Alexandre |
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| Formato: | Trabalho de Conclusão de Curso (Graduação) |
| Idioma: | Português |
| Publicado em: |
Universidade Tecnológica Federal do Paraná
2022
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| Assuntos: | |
| Acesso em linha: |
http://repositorio.utfpr.edu.br/jspui/handle/1/27602 |
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| Resumo: |
The time delay, or dead-time, is characterized by the difference in time that passes in a system between the application of the input signal and the manifestation of its effect on the output signal. For small values of dead time, there is the possibility of using conventional controller tuning techniques, such as the PID, to adapt its structure and perform the control. However, in cases which the dead-time is very relevant when compared to the system time constant, the use of conventional PID controllers may not be effective. As a result, there is a need to implement more advanced control structures, such as dead time compensators. The Smith Predictor is a type of model-based dead-time compensator, and its main objective is to remove the dead-time from the feedback loop and allow the rejection of possible disturbances that may occur in the system. However, the use of the Smith Predictor presents problems in the dynamics of disturbance rejection, mainly in systems with an unstable or integrative character. A change in the original structure of the Smith Predictor theoretically allows the control of these systems to be achievable. This structure is called the Filtered Smith Predictor. Besides the disturbances in the plant, other unwanted signals can trouble the performance of the systems, and one of the alternatives to perform the filtering of these signals, without inserting a lag in the system, is the Kalman Filter, a state estimator which makes a weighting between a mathematical model and the signals from sensors. Therefore, the purpose of the work is to study the basic characteristics of the Conventional and Filtered Smith Predictor through research in the literature, to simulate the behavior of the structures for different types of system (stable, unstable and integrative) with discrete-time algorithms, and, through the union of these techniques with the Kalman Filter , do the practical implementation in a fluidic processes workbench, considering its original character (stable system of first order) and considering the manual insertion of a pole at the origin, in this system. The results obtained showed a good functioning of the Kalman filter when combined with the structure of the Smith predictor, as well as the implementation of the systems proved to be very satisfactory. Thus, the use of these techniques together is favorable, despite being susceptible to system modeling errors |
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