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Identificationof Model Lightening Systemand Designof PIDControllersforthe
Identificationof Model Lightening Systemand Designof PIDControllersforthe
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Zuzana Palkova
Slovak University of Agriculture in Nitra - Slovenska posnohospodarska univerzita v Nitre
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1.. Introductioon
Lightninng conditions of
o growing plaaces by cultivattion of crops are
a
toggether with nuutritional and consumptive conditions
c thee most importaant
prresumptions byy creating off plants biomaass. Sunshine intensity variies
duuring the day due
d to the angeel of sunrays im mpact on earthh surface whatt is
the result of yeaar season channging. The ligh ht intensity is changing during
the day also, ass a result of weather,
w cloudss, or the naturral movement of
suun on the sky. For the plannts is most useeful light withh spectral wavve-
lenngth 400–7100 nm (Photosyynthetically Acctive Radiatioon PAR). Indooor
cuultivation areass are significannt consumers of electrical ennergy especiallly
duuring winter seeason. Some plantp species for the optimaal growth neeeds
ligght energy flow w 12–16 hourrs per day. Durring the day cchanges the ligght
inttensity. The illlumination wiith constant ligght flow ensurres optimal ligght
coonditions but ono the other siite with big en nergy costs. O One way how to
248 Ľubomír Nagy, Zuzana Palková, Jan Valíček, Marek Kiedrowicz, et al.
reduce the energy costs is choice of the right type of controller mediated
the supplemental lightening according to actual PAR light conditions and
PAR necessary for optimal plant growth. For the correct work of control-
lers important our model systems identify and describe with transfer
function. For identification we used “response on unit step” method on
the input and LabVIEW program with measuring card for measuring the
output of the system.
on the actuating device (electrical bulb). Measured data are archived into
file and are prepared for next processing. In the software is possible to
change sampling frequency, number of samples per measurement and
numbers of measurements figure 2.
a) b)
Fig. 3. a) Step response of illumination system; b) Response of second order
system „S“ course
Rys. 3. a) odpowiedź jednostkowego skoku na system oświetlenia;
b) odpowiedź drugiego rzędu na przebieg S
Where:
T1 = T
T2 = L
Fig. 4. Measured and real course of system response after unit step application
Rys. 4. Zmierzony i rzeczywisty przebieg reakcji systemu na skok jednostkowy
With step response of „S“ type. We can then determine for ampli-
fication KP = 0,374183 and time constants T1 = L = 0,0066 s,
T2 = T = 0,0439 s, τ = 0,1301 a Tar = 0,0505 s PID parameters after:
252 Ľubomír Nagy, Zuzana Palková, Jan Valíček, Marek Kiedrowicz, et al.
b) Aström Hägglund
T 0,0439
K = 3,8 exp(−8,4τ + 7,3τ 2 ) = 3,8 exp(−8,4.0,1301 + 7,3.0,13012 )
KPL 0,374.0,0066
=25,62 (7)
TI = 5,2 exp( −2,5.0,1301 − 1,4.0,13012 ) = 0,024 (8)
TD = 0,89.0,0066 exp( −0,37.0,1301 − 4,1.0,13012 ) =0,0052 (9)
c) PI Aström Hägglund
T 0,0439
K = 0,29 exp(−2,7τ + 3,7τ 2 ) = 0,29 exp(−2,7.0,1301 + 3,7.0,13012 )
KP L 0,374.0,0066
=3,86 (10)
TI = 8,9 exp( −6,6.0,1301 + 3,0.0,1301 ) =0,026
2
(11)
D parameter for PID controller we calculate:
TD ≤ TI / 4 =0,026/4 ≤ 0,0065 (12)
Balanced setting
1 ⎡ 2τ ⎤ 1 ⎡ 2.0,1301 ⎤
K= ⎢1 − ⎥= ⎢1 − ⎥ = 2,33 (13)
KP ⎣ 1 + 1 + 2τ
2
⎦ 0,37 ⎢⎣ 1 + 1 + 2.0,13012⎥⎦
⎡1 + 1 + 2τ 2 ⎤ ⎡1 + 1 + 20,01301 2 ⎤
TI = ⎢ − τ ⎥Tar = ⎢ − 0,1301⎥ 0,0505 = 0,0443 (14)
⎢⎣ 2 ⎥⎦ ⎢⎣ 2 ⎥⎦
a) b)
c) d)
e)
Fig. 7. Courses of calculated PID controllers with methods: a) Fruehauf and
col., b) PID Aström Hägglund c) PI Aström Hägglund d) Balanced
method e) Ziegler-Nichols
Rys. 7. Obliczone przebiegi regulatora PID metodami: a) Fruehauf and col.,
b) PID Aström Hägglund c) PI Aström Hägglund d) Balanced method
e) Ziegler-Nichols
Identification of Model Lightening System and Design of PID… 257
(PID)
PI Aström Balanced Fruehauf Ziegler -
Controller Aström
Hägglund method and col. Nichols
Hägglund
Rise time (s) 5,391 17,045 4,364 2,622 5,016
11. Conclusion
The parameters of PID controllers we calculated by using of men-
tioned ways and their functionality tested in the MATLAB program. On
the figure 6 are courses of systems after unit step MATLAB simulation.
The best result reached the PI Astrom Hagglund and Balanced controller
although they work with permanent control deviation. Remaining con-
trollers reached the steady state too but with a large variable overshoot.
This can be the reason of instability by controlling of real process figure
7 a, b, e.
By the controlling of real process the best controller was PI As-
trom Hagglund and from hand tuned controllers PID Astrom Hagglund.
Their rising times on requested value is the best from all five controllers
table 3. By quality controlling process assessment (variable overshoot-
ing) were the best controllers PI Astrom Hagglund and PID Astrom
Hagglund too table 4. Remaining controllers after hand tanning works
properly and with their parameters are suitable for controlling investi-
gated process. From the site of energy saving by controlling the process
were the also these controllers (PI Astrom Hagglund and PID Astrom
Hagglund) the best. PID Astrom Hagglund controller saves more than
7% of energy compared to the balanced method controller.
The difference between theoretically counted values and real in-
stability of controllers by measuring in LabVIEW was caused with the
different conception of real PID and software PID used in LabVIEW.
Software PID controller does not work on the traditional base and with
its implementation into PC it becomes PSD controller. Another problem
260 Ľubomír Nagy, Zuzana Palková, Jan Valíček, Marek Kiedrowicz, et al.
was the delay of measured signal carrying data from measured process.
Cycle time was approximately 437 ms after which the controller set the
output process values. With this delay the controlling process lost its con-
tinuity. By decreasing of the cycle time we improve the behaviour of
counted controllers and its suitability for controlling investigated process.
References
1. Olejár M., Hrubý D., Lukáč O.: Metódy riadenia mikroklimatických
podmienok v uzavretých priestoroch a ich vplyv na úsporu elektrickej en-
ergie. Vydavateľstvo SPU v Nitre, 2009, ISBN 978-80-552-0316-4.
2. Havlíček J., Vlach J., Vlach M., Vlachová V.: Začíname s LabVIEW.
BEN – technická literatúra, 2008, ISBN 978-80-7300-245-9.
3. Němec Z.: Prostředky automatizovaného řízení – elektrické. Ústav auto-
matizace a informatiky, Brno 2002.
4. Klán P.: Moderní metódy nastavení PID regulátorú. Časopis AUTOMA
2000, číslo 9.
5. Olejár M., Hrubý D., Lukáč O., Bystriansky P.: Vplyv rôznych regu-
lačných metód na úsporu elektrickej energie. In Acta technologica agricul-
turae. SPU v Nitre, 2009, ISSN 1335-2555, 2008, roč. 11, č. 2, 49-53.
6. Veselý V., Drahoš P.: Inžinierske metódy nastavovania parametrov
regulátorov (1). ATP juornal 2/2004. Dostupné na internete:
http://www.atpjournal.sk/buxus/docs/atp-2004-02-74_77.pdf
7. GREENHOUSE HORTICULTURE. 2005. [online] Computer control
systems, sensors and monitoring equipemement in greenghouse. Primary
Industries Agriculture. Internet source:
http://www.dpi.nsw.gov.au/agriculture/horticulture/greenhouse/structures/c
omputer-control
8. RUNKLE, E. 2006. [online document]. Daily Light Integral Defined.
Technically speaking. Internet source:
http://www.hrt.msu.edu/Energy/Notebook/pdf/Sec1/Daily_Light_Integral_
Defined_by_Runkle.pdf
9. DORAIS, M. 2003. [online document]. The use of supplemental lighting
for vegetable crop production: light intensity, crop response, nutrition, crop
management, cultural practices. Canadian Greenhouse Conference October
9, 2003. Internet source:
http://www.agrireseau.qc.ca/legumesdeserre/Documents/CGC-Dorais
200fin2.PDF
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Identification of Model Lightening System and Design of PID… 261
Streszczenie
System sterowany jest częścią pętli i konieczne jest rozważenie go jako
osobnej części z konkretnej nieruchomości. Podczas wyboru właściwego regu-
latora PID ważne jest, aby zrozumieć dynamiczne właściwości kontrolowanego
systemu. Na opis tego obiektu zostały opracowane różne metody bilansów
energii i następnych modeli matematycznych korygujących przejęcie funkcji
transferowych. W praktyce lepiej jest użyć metod, których obserwujemy za-
chowanie dla konkretnych warunków systemowych (na przykład odpowiedzi na
jednostkowy skok na wejściu lub częstotliwość sygnału). Według Behaving
wiemy jak matematycznie opisać systemu i następnie wybrać właściwy rodzaj
regulatora PID z jego parametrami. Ten artykuł skupia się na identyfikacji sys-
temu oświetlenia dla uprawy roślin szklarniowych oraz prawidłowego zaprojek-
towania parametrów regulatora PID do sterowania oświetleniem, tak aby zo-
rientowany był on na oszczędności energii.