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AUTOMATION, ROBOTICS
T 125
AUTOMATIZAVIMAS, ROBOTECHNIKA
The method for evaluating the parameters of an object The identification of the parameters of the heat
exchange transfer function
The overall system structure of the estimation of the
parameters of an object is shown in Fig. 2. Below there is presented an approach for identifying
the parameters of the object for the heat exchange in the
Object ymodel reactor vessel model. In fact, the object model obtained
Model through the described procedure is generally good.
Firstly, a temperature control PI controller is designed
Parameters
in the PLC for the product of the chemical reaction vessel
Matlab
estimation model. The controller output the manipulated variable u
(inflow valve AV2) is determined through the discrete PID
g u y closedloop control algorithm, based on the controlled
+ Controller Unknown
Object variable y (product C1 temperature) and reference variable
- g (desired product C1 temperature) (see Fig. 3).
Programmable logic controller
34
variations that were reproduced by the ARX models varied
from 62 to 95.
Another choice is to use the Output-error (OE) model
[2], which estimates the parameters of the output-error
model and their co-variances from input u and output y
data
B(q)
y (t ) = u (t n k ) + e(t ) , (4)
A(q)
35
It can be concluded that the response of the model of approximated by Output-error (OE) model, when the order
the object follows the systems response to the step control of the model is at least two times bigger, than the order of
input with a small error. The arithmetical mean of the the process.
response error value is 0.1351. The accuracy of the model of the object is mostly
Based on the responses (see Fig. 4 and Fig. 5) of the influenced by the accuracy of the measurement of the
system and the model of the object to the step control signals.
signal it can be concluded that after the settling time, the There was no significant increase in the AME value
error between the output values of the process and the after changing the feeding level of a real process. Such
model fluctuates in a fixed interval, because the control observed behaviour is valid in the analyzed case, and the
signal is constantly changing. AME could be higher in the case of high-order object if its
In addition, it can be stated that the vessel level parameters were different from those chosen in the present
influenced the response accuracy of the model of the work.
object. The accuracy of the model of the object and the
response error also are affected by the temperature References
measurement accuracy (it depends on the update time of
the PLC analog modules), PLC program cycle and data 1. Balasevicius L., Dervinis G. and Siozinys M.
interchange speed. Communications between programmable logical controllers
and Matlab/Simulink // Proceedings of International
Conference Electrical and Control Technologies 2008.
Conclusions
Kaunas, 2008. P. 58.
2. Ljung L. System Identification Theory for the User.
The identification problem has been a long-lasting Prentice Hall PTR, Upper Saddle River, NJ, 2nd edition,
problem in the PLC applications. The ultimate goal of this 1999. 609 p.
research is to provide a method for identifying possible 3. Balaeviius L., Janueviius V. S., Zakarait S. State
industry models. Controller Design in Programmable Logic Controllers //
The following observations were made based on such Electronics and Electrical Engineering. Kaunas:
results: the reaction of the most carefully examined Technologija, 2008. No. 1(81). P. 1922
controlled process to a changing reference signal is
Received 2010 02 15
. , . , . , . . //
. : , 2010. 4(100). C. 3336.
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