Dead-Time Compensation

(纯滞后补偿)

Lei Xie

Institute of Industrial Control,

Zhejiang University, Hangzhou, P. R. China
 Contents
 Introduction
 Smith Predictor for Dead-Time
Compensation
 Improved Smith Predictor
 Simulation Examples
 Summary
 Problem Discussion
(1) For the controlled processes, configure your
Simulink model & compare their results.
(2) Can you provide some compensation approaches for
processes with variable & notable dead-time ?
D (s)
Process +
R (s) Y (s)
 s +
+ _
Gc(s) Kpgp (s) e

Process 2.0  2s 2.0 8s

G p (s)  e ; G p (s)  e .
Models: 4s  1 4s  1
 Conventional PID Control Systems
D (s)
Process +
R (s) Y (s)
 s +
+ _
Gc(s) Kpgp (s) e

Process 2.0  2s 2.0 8s

G p (s)  e ; G p (s)  e .
Models: 4s  1 4s  1
Question：Use Ziegler-Nichols or Lambda tuning method to obtain
PID parameters and compare their values.

Please see the SimuLink model …SISODelayPlant / PIDLoop.mdl

 Simulation Example #1
Output of Transmitter
78

2.0  2s
G p (s)  e ; 76

4s  1 74

72

For PID Controller, 70

%

68
Z-N tuning: Kc = 1.2,
Ti = 4 min, Td = 1 min 66

64
Lambda tuning: 62
setpoint
Kc = 0.83, Ti = 4 min , 60 Ziegler-Nichols Tuning
Lambda Tuning
Td = 1 min 58
0 20 40 60 80 100 120 140 160 180 200
Time, min
 Simulation Example #2
Output of Transmitter
80
2.0 8 s
G p ( s)  e ; 78

4s  1 76

74

For PID Controller, 72

70
Z-N tuning: Kc = 0.3,
%

68

Ti = 16 min, Td = 4 min 66

64 set point
Lambda tuning: Z-N tuning
62 Lambda tuning, Td = 1 min
Lambda tuning, Td = 4 min
Kc = 0.2, Ti = 4 min , 60

Td = 1 min 58
0 20 40 60 80 100 120 140 160 180 200
Time, min
 Smith’s Idea (1957)
D (s)

+
Process
R (s) Y (s)
e  s
+
Gc(s) Kpgp (s)
+ _

D (s)

+
Process
R (s) Y (s)
+  s
+ _
Gc(s) Kpgp (s) e
 Basic Smith Predictor
D (s)

Process
R (s) U(s)
+ Y (s)
e  s
+
Gc(s) Kpgp (s)
+ _

+
_
 m s
Km gm (s) e
Y 1(s) +
+
Y 2(s)

Smith Predictor
 Smith Predictor #2
D (s)

U (s) + Y (s)
R (s) +  p s
Gc(s) K p g p ( s )e
+ _

+
+ _
K m g m (s ) K m g m ( s )e  m s
+

Please see the SimuLink model …SISODelayPlant / PID_Smith.mdl

 Results of Basic Smith Predictor
with an Accurate Model
Output of Transmitter
80
Gm ( s )  G p ( s ) 78

2.0 8 s 76
 e ;
4s  1 74

72
Simple PID: 70
%

Kc = 0.2, Ti = 4 min , 68

Td = 1 min 66

64
set point
PID + Smith: 62 PID with Smith compensator
Simple PID
Kc = 2, Ti = 4 min , 60

Td = 1 min 58
0 20 40 60 80 100 120 140 160 180 200
Time, min
 Results of Basic Smith Predictor
with an Inaccurate Model
Output of Transmitter
2.0 8 s
Gm ( s ) 
85
e ;
4s  1
80
2.0 6 s
G p (s)  e
4s  1
75

Simple PID:
%

70

Kc = 0.2, Ti = 4 min ,
Td = 1 min 65

set point
PID + Smith: 60 PID + Smith
Simple PID
Kc = 2, Ti = 4 min ,
Td = 1 min 55
0 20 40 60 80 100 120 140 160 180 200
Time, min
 Improved Smith Predictor
D (s)
+ Y (s)
R (s) U (s) +  p s
Gc(s) K p g p ( s )e
+ _

+
+ _
K m g m (s ) K m g m ( s )e  m s
+

Gf(s)

1
Prediction Error Filter：G f (s) 
Tf s 1
 Results of Improved Smith
Predictor with an Inaccurate Model
Output of Transmitter
80
2.0 8 s
Gm ( s )  e ; 78

4s  1 76

2.0 6 s
G p (s) 
74
e ;
4s  1 72

1 70
G f ( s) 
%

4s  1 68

66

64
PID + Smith: set point
PID + Smith with Gm =Gp
62
Kc = 2, Ti = 4 min , PID + Smith with Gm <> Gp
Simple PID
60
Td = 1 min
58
0 20 40 60 80 100 120 140 160 180 200
Time, min
 Summary
 The principle of Smith predictor for dead-
time compensation
 Improved Smith predictor for a controlled
process with an inaccurate model
 Comparison of the Simple PID and the PID
with a Smith predictor
 Next Topic: Coupling of Multivariable
Systems and Decoupling
 Concept of Relative Gains
 Calculation of Relative Gain Matrix
 Rule of CVs and MVs Pairing
 Linear Decoupler from Block Diagrams
 Nonlinear Decoupler from Basic Principles
 Application Examples
 Problem Discussion
for Next Topic
F1SP F2SP
For the two-input-two-input F1m F2m
FC FC
controlled system, design 01 02
FT FT
your control schemes. 01 02

Suppose that F1, C1 F2, C2

C1 F1  C2 F2
F  F1  F2 , C  ;
F1  F2 u1 u2

e 5 s
AC FC
Fm 0.5 C 1 Am
 ,  
11 03
ASP FSP
, ;
F s  1 C 4s  1 C 2s  1 Am Fm
AT FT
11 03
Initial states:
F10  75, F20  25, C1  60%, C2  40%. C F