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## controlling the temperature in the pipeline with fractional order PID

### Jakub Piotr Petryszyn

#### Abstract

The PIλDµ fractional regulators, a generalization of classic PID controllers, have been known for years. However, despite the benefits of using this solution, they are not widely used in industry. The purpose of this work is to use the developed solutions for PIλDµ regulators on a real object. In this case, the temperature in the pipeline with forced air flow was controlled. The station was also allowed to introduce disturbances of the process. These tests were designed to demonstrate whether the solutions already developed are sufficient to be used on an industrial scale. In the first chapters, a mathematical description of the PIλDμ controller is introduced. The notions necessary for the use of equations and fractional order systems have been described, as well as the operation of the PIλDμ controller. For this purpose, fractional order integrals and differentials were presented, and the notion of differential-integral was introduced. As it is not possible to use fractional order calculus in controllers, it was necessary to describe the approximation methods of both continuous and discrete time. This part ends with two main issues related to the fractional order PID controllers, i.e. stability and the problem of optimal controller design. The following chapters deal with the implementation of the algorithm described earlier. Tests were carried out on simulations and then on the real object. First, implementation of the tested algorithm in the MATLAB / Simulink environment is presented. Then obtained algorithm was compared to the classic integer order PID controller. The fractional order regulator allowed to obtain shorter adjustment times and reduce overshoots, which confirms the effectiveness of the developed solutions. Then, using the extension to Simulink called PLC Coder, the code from the MATLAB environment was transferred to the TIA-Portal program using the SCL language (Structured Control Language). The next step was to examine the regulator's operations using a simulated PLC controller and the model simulated in Simulink. For this purpose, an external OPC server and the NetToPLCSim extension were used. Finally, the algorithm was tested on the real object. The work ends with conclusions that summarize the results obtained. The reasons for the discrepancies in theoretical and practical results have been indicated and possible further steps have been proposed to increase the application of the PIλDµ algorithm on an industrial scale.
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Jakub Piotr Petryszyn (FM) Jakub Piotr Petryszyn,, Faculty of Mechatronics (FM)
Title in Polish
Regulacja temperatury w rurociągu z wykorzystaniem regulatora PID ułamkowego rzędu
Supervisor
Jakub Możaryn (FM/IACR) Jakub Możaryn,, The Institute of Automatic Control and Robotics (FM/IACR)Faculty of Mechatronics (FM)
Certifying unit
Faculty of Mechatronics (FM)
Affiliation unit
The Institute of Automatic Control and Robotics (FM/IACR)
Study subject / specialization
, Automatyka i Robotyka (Automation and Robotics)
Language
(pl) Polish
Status
Finished
Defense Date
22-05-2019
Issue date (year)
2019
Reviewers
Jakub Możaryn (FM/IACR) Jakub Możaryn,, The Institute of Automatic Control and Robotics (FM/IACR)Faculty of Mechatronics (FM) Paweł Wnuk (FM/IACR) Paweł Wnuk,, The Institute of Automatic Control and Robotics (FM/IACR)Faculty of Mechatronics (FM)
Keywords in Polish
Regulator PID ułamkowego rzędu, testy, obiekt rzeczywisty, CFE, PSE, filtr Oustaloup’a
Keywords in English
fractional order PID controller, tests, real object, Continuous Fractional Expansions, Power Series Expansion, Oustaloup filter
Abstract in Polish
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Identyfikator pracy APD: 34019

Uniform Resource Identifier
urn:pw-repo:WUTbc085a6adba04681bbac31977c7a5579