$EVWUDFWConsidering the characteristics of time-delay,

nonlinear and difficult established precise mathematics model

in greenhouse climate, and a control system based on
predictive-PID cascade control is proposed. It combines the
cascade control structure with predictive control algorithm,
the inner loop uses a general proportion adjuster and the
outer loop uses a Dynamic Matrix Control (DMC). The control
system not only keeps the strong robustness and fast tracking
performance of the predictive control algorithm, but also
rejects the interference rapidly. Simulation result shows that
the control quality and the robustness of the system are
superiors to the general PID system.
Key words: Large time-delay, Cascade control, DMC
I. INTRODUCTION
HE control system oI greenhouse utilizes certain
examination, control method and algorithm to control
environment Iactors such as temperature, humidity,
illumination, CO2 density and so on, based on the
requirements oI crops grows, it enable to keep the
greenhouse crops entire growth cycle in optimum growth
environment. The control precision not only relates with
control algorithm, bus also has close relationship with
hardware. Only when the system used the reasonable control
algorithm, the environment comprehensive Iactor can be
achieved the superior control eIIect, and the system can
achieve the intellectualized level. The greenhouse
environment has the characteristics oI strict nonlinear, slow
time-vary, large time-delay and multi-variables coupling,
the conventional control algorithm is unable to obtain the
satisIied control eIIect.
Predictive control is a new control algorithm developed in
recent years. It can achieve good control eIIect, which uses
the computing power oI digital computers Ior online rolling
optimization without the accurate mathematical model oI
the object. Dynamic matrix control (DMC) algorithm, as
one oI predictive control algorithms, is simple to model,

Manuscript received October 14, 2010. This work was supported by
Supported by Youth Foundation oI southwest university oI science and
technology and Sichuan Provincial Key Laboratory oI Control Technology
(project number: 10zx3116)
Zhang ChunIeng is with the School oI InIormation Engineering, Southwest
University oI Science and Technology, Mianyang, Sichuan 621000 China.
(e-mail:cIzhanglz163.com)
Chen Yonghui is with the School oI Computer Science and Technology,
Southwest University oI Science and Technology, Mianyang, Sichuan 621000
China. (e-mail:mIcclassyahoo.com.cn)

because its prediction Iunction based on open-loop step
response model. DMC utilizes rolling Iinite horizon
optimization strategy, which absorbs the optimization idea
oI modern control theory, to enhance system robustness. The
real-time Ieedback correction technology is used to correct
the uncertainty timely and eIIectively, which caused by
Iactors such as model mismatch, time-varying and
environmental interIerence. However, DMC has
shortcoming in the anti-interIerence, so it can build a new
DMC-PID cascade control system to take advantage oI the
strong anti-interIerence ability oI PID. It Iirstly construct
closed-loop PID control, the controlled objects and close
loops were considered as generalized object and controlled
by DMC |1|.
II. DMC ALGORITHM
DMC is a predictive control algorithm based on step
response model. It can directly handle the object with pure
delay and has strong ability to adapt large inertia; it is
suitable Ior greenhouse environment control because oI
good tracking perIormance and robustness. DMC consists
predictive control model, moving optimization and Ieedback
correction |2|.
A. Preaictive Control Moael
A prediction model is constituted by the limited sampled
values{ } ( ) ( 1, 2, , ) a i i N = " oI unit step response applied
on linear stable object, and the predictive value oI the
controlled variables is deduced |3|.
0
1
( ) ( ) ( 1) ( 1)( 1,2, , )
M
p
f
k i k i
Y Y a i f u k f i p
k k
=
+ +
= + + + =
_
+ "
(1)
Where Yp is the predictive outputs, Y0 is the antecedent
index,
u +
is controlling increment, and the subscript shows
the change times oI controller aIter the moment k.
B. Moving Optimi:ation
The optimal perIormance index at the moment k is:
2 2
1 1
min ( ) ( )*| ( ) ( )| ( )* ( 1)
p M
p
u
i f
k i
J k qi wk i Y r f u k f
k
= =
+
= + + +
_ _
+
+
(2)
Where is output expectation, p is prediction horizon, M is
control horizon, q(i) and r(j) are weights.
The optimal real-time control increment at the moment k
is
Applications of DMC-PID Algorithm in the Measurement and
Control System for the Greenhouse Environmental Factors
Zhang ChunIeng, Chen Yonghui
T
483 978-1-4244-8738-7/11/$26.00 c 2011 IEEE

0
1
( ) ( ) *| ( ) ( )|
p
i
k i
u k a i w k i Y
k
=
+
= +
_
+
(3)
where
1
| (1), (2), , ( )| |1,0, ,0|( )
T T
a a a p A QA R A Q

= + " "
| (1), (2), , ( )| Q aiag q q q p = " ,
| (1), (2), , ( )| R aiag r r r p = "
(1)
0
(1)

( ) ( 1)
a
A a
a p a p M
(
(
(
( =
(
(
(
+

# %
# %
# #

C. Feeaback Correction
0 0
( ) ( ) ( )* ( ) ( )* ( 1) ( 1,2, , )
1
k i k i
Y Y a i u k h i e k i p
k k
+ +
= + + + =
+
+ !
(4)
Where the last term is the error compensation Ior Iuture
output projections, which utilizes the error messages at the
moment (k 1) to calibrate weights h(i). While
0
1
( 1) ( 1) ( ) (1) * ( )
k
e k Y k Y a u k
k
+
+ = + +
(5)
III. DMC-PID CASCADE CONTROL STRUCTURE AND
SIMULATION OF THE CONTROL SYSTEM OF GREENHOUSE
A. DMC-PID Cascaae Control
DMC algorithm is an important representative algorithm
oI predictive control. Its particularity is determined by
utilizing step response as model which is easily measured.
The algorithm is simple and small computational burden
and strong robustness, so that it can be applied in
non-minimum phase system with pure time delay and
open-loop gradually stabilization. As the convolution oI the
model makes it diIIicult to utilize short sampling period as
PID control, the random sudden interIerence suppression is
oIten ineIIective. This paper introduces predictive control to
the cascade control structure, which suppresses the main
interIerence in inner circle by high Irequency PID control,
while it utilizes DMC control to achieve good tracking
perIormance and robustness in outer circle |4|.
The traditional PID controller is widely applied in
industry on account oI simple algorithm, conveniently
adjusting parameter and strong anti-interIerence. The
predictive control, especially DMC, has the characteristic oI
direct processing controlled object with pure time delay,
good tracking perIormance and robustness Ior unmatched
model. It takes advantage oI anti-interIerence oI PID control
system to acquire signal at the location where interIerence
easily occurred. It Iirstly construct closed-loop PID control,
the controlled objects and close loops were considered as
generalized object and controlled by DMC which is the
second level oI control. Compared to traditional PID cascade
control, they both applied PID control in inner circle, but in
outer circle DMC-PID cascade control used DMC algorithm
to replace PID algorithm. ThereIore, their respective
advantages are developed. Fig.1 shows the structure oI
greenhouse environment control system.


Fig.1 the Structure oI DMC-PID Control System

B. Mathematical Moael of the Control System of the
Greenhouse
The simpliIied mathematical model oI greenhouse is |5|
( )
s
e
G s
as k
W
=
+
(6)
Where k is the heat loss oI greenhouse (w/m
2
, per K), a is
the heat capacity oI greenhouse (J/m
2
, per K), W is the delay
time (s).
This model is similar to the real system, the parameters is
inaccurate which can be obtained by practice and
accumulate experience. Here,
2
10.3 / a J m = ,
2
0.0263 / k w m = and 119s W = .
IV. SIMULATION
The DMC control system based on above objects is
designed and simulated PID-PID and DMC-PID cascade
control system respectively. DMC-PID cascade control
system implements PID in its minor loop and DMC in its
outer loop. The greenhouse`s temperature is set at 22.5,
sampling time is set at 20 T s = , prediction horizon is set
at 20 P = , and control horizon is set at 3 M = . The
simulation results are shown in Fig.2.
The simulation results oI integral-separation PID are
shown in Fig.3, smith control shown in Fig.4 and DMC
control shown in Fig.5.
Comparing with the simulation results:
1) Integral-separation PID has some shortages, such as
slow response, long time response (about 1000s), large
overshoot. The response result surpasses the setting
temperature about 8, reduced system perIormance and can
not be good to meet the requirements oI control.
2) The result show smith compensation control response
Iast and reactive time slow (about 250s). The steady
484 2011 Chinese Control and Decision Conference (CCDC)

perIormance is improved.

0 100 200 300 400 500 600 700 800 900 1000
0
2.5
5
7.5
10
12.5
15
17.5
20
22.5
25
Time(s)
G
r
e
e
n
h
o
u
s
e

t
e
m
p
e
r
t
u
r
e

(
)

Fig.2 the System Response oI DMC-PID Control

0 500 1000 1500 2000 2500 3000 3500 4000
0
2.5
5
7.5
10
12.5
15
17.5
20
22.5
25
time(s)
G
r
e
e
n
h
o
u
s
e

t
e
m
p
e
r
t
u
r
e
(
)

Fig.3 the System Response oI integral-separation PID

0 100 200 300 400 500 600 700 800 900 100011001200130014001500
0
2.5
5
7.5
10
12.5
15
17.5
20
22.5
25
time(s)
G
r
e
e
n
h
o
u
s
e

t
e
m
p
e
r
t
u
r
e
(
)

Fig.4 the System Response oI smith Control

0 100 200 300 400 500 600 700 800 900 1000
0
2.5
5
7.5
10
12.5
15
17.5
20
22.5
25
Time(s)
G
r
e
e
n
h
o
u
s
e

t
e
m
p
e
r
t
u
r
e
(
)

Fig.5 the System Response oI DMC Control

3) Predictive control although has little overshoot and
good steady-state accuracy, but it made the temperature oI
the greenhouse increased gradually and has long time
response (about 400s).
4) Prediction PID control overcome the shortness, it not
only has small overshoot, rapid response, non-oscillation,
good stability, but also has slight steady-state error.
This shows that the dynamic and static characteristics oI
prediction PID control is the most excellent.
V. CONCLUSION
DMC-PID cascade control structure integrated the
characteristics oI DMC and PID which widely applied in
industry. Simulation results demonstrate prediction PID
control overcome the shortness oI the traditional PID and
predictive control, it not only has small overshoot, rapid
response, good stability, but also has slight steady-state error.
It shows that the dynamic and static characteristics oI
prediction PID control is excellent, which veriIies the
Ieasibility oI the method to apply in greenhouse
environment control system.
REFERENCES
|1| WANG Yong-lan, WANG Wen-lan, WEI A-ming. Boiler Drum Level
Control System Based on DMC-PID Bunches Control |J|. Journal oI
Power Engineering, 2009, 29(8): 761-764.
|2| Shu Diqian. Predictive Control System and Its Application |M|. BeiJing:
China Machine Press, 1996.
|3| Xi Yugeng. Predictive Control|M|. BeiJing: National DeIense Press,
1993.
|4| Liu Hongjun, Han Pu, Wang DongIeng, etc. Computer Simulation oI a
Main Stream Temperature Control System Based on DMC-PID Cascade
Control |J|. Techniques oI Automation and Applications, 2002, 21(6):
11-13.
|5| REN Xue-ling, XU Li-hong. A New Control Algorithm oI Delay System
in the Greenhouse Condition's Control |J|. Journal oI Xiamen University
(Natural Science), 2001, 40(1):192-195.
2011 Chinese Control and Decision Conference (CCDC) 485