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Received January 16, 2020
Accepted March 16, 2020
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시간최적제어 기법을 이용한 계단응답 실험시간 단축 방법
Experimental Test Time Reduction Method for Step Responses Using the Time-Optimal Control Technique
경북대학교 화학공학과, 41566, 대구광역시 대학로 80
Department of Chemical Engineering, Kyungpook National University, 80, Daehak-ro, Buk-gu, Daegu, 41566, Korea
jtlee@knu.ac.kr
Korean Chemical Engineering Research, May 2020, 58(2), 190-196(7), 10.9713/kcer.2020.58.2.190 Epub 4 May 2020
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Abstract
공정 실험을 통하여 공정 동특성 모델을 얻는 과정은 제어시스템 설계에 있어 시간과 비용이 드는 매우 중요한 과정이다. 이를 위한 계단응답은 공정의 동특성을 이해하고 동특성 모델을 얻는 데 사용되는 오래된 하나의 정형화된 공정응답이다. 계단응답에 근거한 방법에서는 공정입력에 계단 변화를 주었을 때 나타나는 공정출력을 측정하여야 하는데, open-loop 상태로 장시간 운전해야 하는 것이 단점으로 지적된다. 이 단점을 완화하기 위하여 시간최적제어 기법을 이용하는 계단응답을 얻는 시간을 최소화 하는 방법이 제안되어 있다. 이 최적화에는 반복 계산이 필요한데, 여기서는 반복 계산이 필요 없는 방법을 제안한다. 계단응답을 위한 시간이 획기적으로 줄어드는 것을 보여주는 모사 결과들을 얻었으며, 이 방법을 제어기 자동튜닝에 응용하여 이 자동튜닝에 널리 채택되고 있는 relay feedback 자동튜닝과 비교한 모사 결과들을 제시하였다.
The step to obtain a process dynamic model through process experiments is very important because it needs times and expenditures. Step response method is one of the standard methods to have long been used for understanding process dynamics, obtaining dynamical models and designing control systems. For the step response, it is usually required to measure process output for a step input change in the open-loop manner. Its disadvantage criticized is the long open-loop operation. For this, a method based on the time-optimal control technique to minimize the test time for obtaining the step response has been recently presented. However, the method requires iterative computations for the minimization of test times. Here, a method where iterative computations are not required is proposed. Simulation results are presented to show that test times to obtain step responses are reduced considerably and an autotuning method based on the proposed method is compared with the relay feedback autotuning method accepted widely for the autotuning of controllers.
Keywords
References
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Edgar TF, Lapidus L, AIChE J., 18, 774 (1972)
Lee FY, Edgar TF, Baldea M, Lee J, I&EC Research 58, 12116-12123(2019).
Brener J, Hagglund T, Astrom KJ, Control Eng. Practice, 54, 231 (2016)
Lee J, Sung SW, Lee FY, Baldea M, Edgar TF, ACS Omega, 4, 18760 (2019)
Rao KR, Kim DN, Hwang JJ, Fast Fourier Transform - Algorithms and Applications, Springer, New York, 2010.
Skogestad S, J. Process Control, 13(4), 291 (2003)
