IAE Values Research Articles

Study on the automatic control method for evaporation treatment of wet flue gas desulfurization wastewater in power plants

ABSTRACT DRFNN is used to predict the evaporation state of wastewater, and incremental PID algorithm is combined to adjust the control quantity. By real-time monitoring the state and parameter changes of wastewater evaporation treatment process, online adjusting and optimizing the parameters of DRFNN and incremental PID, the automatic control of desulfurization wastewater evaporation treatment is completed. The experimental results show that this method can achieve more accurate and reliable automatic control, short control time, strong ability to deal with emergencies, and can converge to stability in a short time. This method can effectively reduce the number of early alarms and failures of the system and save maintenance costs. The IAE values of chloride ion (Cl) and mercury (Hg) in this method are 0.3558 and 0.3872, respectively, which proves that the difference between the actual output and the expected output of this method is very small, which proves that the system in this paper has high accuracy.

IMPLEMENTATION OF AN ECONOMICAL IoT-BASED LIQUID TANK CONTROL SYSTEM TO SUPPORT ONLINE PROCESS CONTROL PRACTICUM

Due to the pandemic era, many courses in higher education were conducted online to minimize the risk of disease transmission. For several engineering courses that contain practical material, an appropriate method is required to deliver practicum learning materials online to maintain the quality of these courses. Therefore, in this paper, the implementation of an economical IoT-based (Internet of Things) liquid tank control system was introduced to support the online practicum class. The tank system design has a height of 120 cm and a diameter of 50 cm. The tank features a valve, flowmeter, and an 18 LPM water pump. The control systems, consisting of Arduino Uno, an ultrasonic sensor, and a stepper motor, was run on the MATLAB Simulink application. IoT systems can be deployed using the TeamViewer app. After running the simulation, it was found that the lower setpoint change did not make significant changes in the process and produced the same curve shape as the steady state. The curves at steady state and during processing are not much different for the disturbance change. The error can be calculated using IAE and ITAE. The performances of the control system with IAE and ITAE values are 1.460 and 915.122 for setpoint change, respectively. For disturbance change, the IAE and ITAE values are 0.877 and 490.446, respectively. This system can help students better understand the industry 4.0 concept and allow them do practical work effectively from home at a low cost.

Indirect response-based tuning of PID controller with adjustable robustness

The response-based design approach is a straightforward method for proportional–integral–derivative (PID) controller tuning. In this method, an open-loop process response is used to tune the PID controller for fixed robustness. In this article, new response-based PID tuning rules are proposed with adjustable robustness and response. Instead of three PID variables, the proposed PID tuning method allows the user to adjust the process response with a single variable [Formula: see text]. The range of constant [Formula: see text] is provided for ensuring the stability of the process. Three MATLAB/SIMULINK examples and one temperature controller experiment are used to validate the proposed controller performance. The simulation result is also compared with three well-known response-based PID tuning rules Z-N, Cohen-Coon, Astrom et al., and with a model-based PID tuning proposed by Wang et al. Moreover, the proposed tuning provides lesser IAE, ITAE, ISE, and ITSE values than the existing methods.

Characteristics Dynamics and Control of Oxidative and Coupling Methane Catalytic Membrane Reactor

Oxidative and Coupling Methane (OCM) can be a promising technology for converting natural gas to Ethylene. Ethylene itself is an intermediate polymer product which is widely used for various needs of the chemical industry. The Oxidative and Coupling Methane reactor is currently in the researched to produce the most favorable conditions. The reactor configuration that is currently the most advantageous for application to oxidative and coupling methane reactors is the dual catalytic membrane reactor. This research is about controlling Methane and Ethane conversion systems in natural gas to produce Ethylene with the greatest conversion, determining the best tuning parameters for the three control structures, and comparing the three to get the best control arrangement. For this reason, control simulations are carried out on 9 controlled variables using three control structures, namely Proportional-Integral, Proportional Integral-Derivative, and Predictive Control Model. The disturbances given in this study were + 20% and −20% in the composition of the feed flow operating conditions (temperature, pressure, and flow rate). A comparison of the IAE values of each controller is used to determine the best controller configuration.

Extended state observer based robust sliding mode control for fourth order nonlinear systems with experimental validation

It is commonly known that the design of control is difficult for the systems with non-minimum phase behavior, the coupling between the controlled variables and integral instability. The paper presents such a typical class of nonlinear system and propose a new technique generalized extended state observer-based sliding mode decoupling control. The proposed control algorithm is also able to compensate for the matched and mismatched uncertainties encountered in such nonlinear non-minimum phase systems. The decoupling control approach is used to decouple the entire system framework into subsystems. The sliding surface of the individual subsystem was composed using the estimated states of GESO. The proposed technique can nullify the effect of external disturbances, parametric uncertainties and unmodelled dynamics due to the inclusion of disturbance compensation gain in the control law. The proposed methodology enables the system to accomplish asymptotic stability and better dynamic response with lesser IAE and ITAE values than existing decoupling control strategies. An experimental application of the proposed technique to Quanser’s rotary pendulum module is investigated.

Artificial Fuzzy-PID Gain Scheduling Algorithm Design for Motion Control in Differential Drive Mobile Robotic Platforms.

Mobile robots are promising devices which are dedicated to human comfort in all areas. However, the control algorithm of the wheels of mobile robot is entirely challenging due to the nonlinearity. Recently, the classical PID (proportional-integral-derivative) controllers are frequently used in robotics for their high accuracy and the smooth determination of their parameters. A robust approach called fuzzy control which is based on the conversion of linguistic inference sets in a suitable control value is a widely used method in industrial system control in our days. A new challenging method to solve the problem of intelligent navigation of nonholonomic mobile robot is suggested. In this work, the presented methodology is based on three hybrid fuzzy logic PID controllers which are adapted to guarantee target achievement and trajectory tracking. A fuzzy-PID control algorithm is designed with 2 inputs and 3 outputs. By the information given by the system response, error and error derivate can be used to extract and adopt the PID controller parameters: proportional, integral, and derivative gains. Besides, a tuning value A is introduced to improve the resulted response in terms of speeding up and reducing error, overshoot, and oscillation, as well as reducing ISE and IAE values. A modelization of a differential drive mobile robot is presented. The developed algorithm is tested and implemented to this mobile robot model via Simulink/MATLAB.

Determination of optimal PID control parameters by response surface methodology

Proportional–Integral–Derivative (PID) controllers are the most widely used systems in industrial applications and in academic research regarding control engineering. In this study, the optimal PID control parameters of a liquid level control system were determined with Response Surface Methodology. Dynamic analysis was carried out on the liquid level control system to prepare the reaction curve. Accordingly, dead time, time constant and process gain values were determined as 16s, 261s and 0.842, respectively. Based on the dynamic analysis, PID parameters were calculated in accordance with the Cohen-Coon, Ziegler-Nichols, Yuwana-Seborg methods, which are the commonly used tuning methods. The Kp, τI, τD parameters were calculated as 30.77, 29.15 and 5.4 with the Cohen-Coon method, as 0.453, 30.0 and 7.5 with the Ziegler-Nichols method and as 1.63, 686.3 and 117.7 with the Yuwana-Seborg method, respectively. The PID control parameters applied for the 40cm, 50cm and 60cm set points and ISE and IAE control performance values after experiments were calculated. The Kp, τI and τD values were selected as the independent parameters, while the ISE and IAE values were chosen as the dependent variables. The numerical values of the responses for the runs in the design matrices were determined with a closed-loop PID controller with the liquid level system block diagram that was designed in MATLAB/Simulink. The simulations proposed by the trial version of Design Expert 7.0 program were performed in order and the IAE and ISE values were calculated after the simulations were processed. In this study, minimum ISE and IAE values were selected to determine the best PID parameters of a liquid level control system. The optimal PID control parameters of the liquid level system required to obtain the lowest ISE and IAE values were determined as 23.14, 28.31 and 11.50 for Kp, τI and τD, respectively.

Robust optimal centralized PI controller for a fluid catalytic cracking unit

Abstract Fluidized Catalytic Cracking (FCC) is a complex process that arises due to feed composition, non-linearities, and dynamic mass and heat interactions in its components. FCC is difficult to model and monitor in industries, and one of the key reasons is that they are multivariable processes. Such processes are highly interacting and that makes the process of controlling even more difficult. The interaction between loops can be quantified easily by dRGA. An easy and effective way of controlling multivariable processes is to implement a centralized control system, considering the interactions between measured and manipulated variables. In this study, a centralized control system is designed for the riser section of the FCC unit. The dRGA method is modified to enhance the closed-loop response by formulating an optimization problem and obtaining an optimal controller settings. A rigorous simulation studies show an 826% reduction in ISE values, a 309% reduction in IAE values, and a 262% reduction in ITAE value of T r i s ${T}_{ris}$ from the dRGA method to the modified dRGA method. Further, IAE values for Y l p g ${Y}_{lpg}$ are reduced by 29% from dRGA to modified dRGA method and 34% from synthesis to modified dRGA method.

DINAMIKA DAN PENGENDALIAN SISTEM QUADRUPLE TANK MENGGUNAKAN CONTROLLER PI-PID DENGAN METODE DETUNING

In general, industrial processes have characteristics as multivariable processes where the variables interact with one another which causes poor performance. Quadruple tank is a Multi Input Multi Output (MIMO) system that can be used to analyze dynamics and process control schemes with strong interactions. The design is simple but can represent complex systems in the industry so that a reliable controller can be tested using this system. Tuning controller parameters using Ziegler-Nichols only work well for single loops, therefore detuning controllers are needed using the BLT and Mc Avoy methods. The research method is to make mathematical models and determine the specifications of quadruple tanks. Next make a process simulation and identify the transfer function with the step test method. Interaction analysis using the Relative Gain Array (RGA) method. Tuning controller parameters using the Ziegler-Nichols method is then detuned using the BLT and Mc Avoy methods. Simulation of quadruple tank systems both open loop and closed loop can run well and can be used to test the reliability of PI-PID controllers with BLT and Mc Avoy detuning. Based on IAE values, controller with Mc Avoy detuning are superior compared to controllers with BLT detuning, both at level and temperature controllers.

Emotional Learning Based Intelligent Controller for MIMO Peripheral Milling Process

During the milling process, one of the most important factors in reducing tool life expectancy and quality of workpiece is the chattering phenomenon due to self-excitation. The milling process is considered as a MIMO strongly coupled nonlinear plant with time delay terms in cutting forces. We stabilize the plant using two independent Emotional Learning-based Intelligent Controller (ELIC) in parallel. Control inputs are considered as forces Ux and Uy in two directions x and y, which are applied by the piezoelectrics. The ELIC consists of three elements; Critic, TSK controller and the learning element. The results of the ELIC have been compared with a Sliding Mode Controller (SMC). The simulation for the nominal plant shows better performance of the ELIC in IAE and ITSE values at least 86% in the x-direction and 79% in the y-direction. Similar simulation for an uncertain plant also shows an improvement of at least 89% in the x-direction and 97% in the y-direction.

Model identification of critically damped second order plus time delay systems

ABSTRACTIn the present work, a simple method is proposed to calculate the parameters of a critically damped second-order transfer function model from the fractional step response of higher order systems. Five simulation examples are given to show the simplicity of the proposed method. The method makes use of a unique property of a critically damped second order plus time delay system (Harriott, Process Control, McGraw Hill, New Delhi), that, a time of 2.58τ is required to reach a fractional step response of 0.73. The time required to reach 0.35 (or any value) of fractional step response is also required. The derivation of the equations for the model parameters is simpler than that proposed by Rangaiah and Krishnaswamy (Ind. Engg. Chemistry Research, V 33, 1994, 1867–1871). The ISE and IAE values for the present method are compared with that of Rangaiah and Krishnaswamy. The method is also modified to get the model parameters of a FOPTD system: .

Inverted Decoupling 2DoF Internal Model Control for Mimo Processes

In general, the multiple-input-multiple-output (MIMO) system is the main method of process control in industry. However, the interaction between variables in the process is a challenge when designing controllers for the system. Strong interaction worsens system performance. Inverted decoupling plays an important role in reducing interaction in the process. Internal model control (IMC) is the controller used in this research. A one degree of freedom (1DoF) IMC controller is only able to provide a good response to set-point tracking, and has a slow response to disturbance rejection. Therefore, a controller that has a good response to set-point tracking and disturbance rejection is a two degrees of freedom (2DoF) IMC. The tuning method uses maximum peak gain margin (Mp-GM) stability criteria based on the uncertainty model. In this study, a reduction in interaction was realized by the addition of inverted decoupling to the 2DoF IMC control scheme. The Wardle & Wood and Wood & Berry column distillation models are given as illustrative examples to demonstrate the performance of the inverted decoupling 2DoF IMC control scheme. A comparison is made of the IAE values of 1DoF IMC, 2DoF IMC, decoupling 2DoF IMC, and inverted decoupling 2DoF IMC, with inverted decoupling 2DoF IMC showing the lowest IAE value.

Application of Adaptive Feedforward-Feedback Control on Multiple Effect Evaporator Process

Abstract Evaporation is one of the most standard procedures in many industrial processes. Although its importance, this operation is quite expensive and, to minimize costs, it is applied multiple effect evaporators. In terms of process control, this configuration is more susceptible to disturbances and also more complicated to control due to process non-linearity. In this paper, a two effects evaporator in a feedforward pattern of feeding was controlled by different adaptive strategies of regulatory control. It was developed feedback and feedforward-feedback control loops in which their PID and lead-lag control parameters were modified according to a gain scheduling strategy based on process variable value. It was shown that adaptive strategy used in feedback control led to a better performance against non-adaptive control, reducing ISE, IAE and ITAE criteria by 12.60%, 7.86% and 13.98% respectively, but also the settling time. However, the final control element was affected leading to 59.77% increase of control effort (ISU). On the other hand, feedforward-feedback allowed even more disturbance rejection than adaptive feedback. As example, IAE values were reduced by 29.96% and 48.17% for feedforward-feedback using non-adaptive and adaptive lead-lag control, respectively. Although their better performance, both feedforward-feedback loops increased control effort, reaching even 70 times of feedback ISU value.

Time-varying sliding-coefficient-based decoupled terminal sliding-mode control for a class of fourth-order systems

A time-varying sliding-coefficient-based decoupled terminal sliding mode control strategy is presented for a class of fourth-order systems. First, the fourth-order system is decoupled into two second-order subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients. Then, the control target of one subsystem to another subsystem was embedded. Thereafter, a terminal sliding mode control method was utilized to make both subsystems converge to their equilibrium points in finite time. The simulation results on the inverted pendulum system demonstrate that the proposed method exhibits a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods.

Time-varying sliding-coefficient-based terminal sliding mode control methods for a class of fourth-order nonlinear systems

This paper presents a decoupled terminal sliding mode control (DTSMC) and a nonsingular decoupled terminal sliding mode control (NDTSMC) method for a class of fourth-order nonlinear systems. First, the nonlinear fourth-order system is decoupled into two (primary and secondary) second-order subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients, which are computed by linear functions derived from the input–output mapping of the one-dimensional fuzzy rule bases. Then the control target of the secondary subsystem was embedded to the primary subsystem by the help of an intermediate signal. Thereafter, the DTSMC and the NDTSMC methods were utilized separately to ensure that both subsystems converge to their equilibrium points. The inverted pendulum system was used in the simulations and results were given to show the effectiveness of the proposed methods. It is seen that the proposed methods exhibit a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods in the literature.

Nonsingular decoupled terminal sliding-mode control for a class of fourth-order nonlinear systems

This paper presents a nonsingular decoupled terminal sliding mode control (NDTSMC) method for a class of fourth-order nonlinear systems. First, the nonlinear fourth-order system is decoupled into two second-order subsystems which are referred to as the primary and secondary subsystems. The sliding surface of each subsystem was designed by utilizing time-varying coefficients which are computed by linear functions derived from the input–output mapping of the one-dimensional fuzzy rule base. Then, the control target of the secondary subsystem was embedded to the primary subsystem by the help of an intermediate signal. Thereafter, a nonsingular terminal sliding mode control (NTSMC) method was utilized to make both subsystems converge to their equilibrium points in finite time. The simulation results on the inverted pendulum system are given to show the effectiveness of the proposed method. It is seen that the proposed method exhibits a considerable improvement in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods.

In vitro efficacies of various isothiocyanates from cruciferous vegetables as antimicrobial agents against foodborne pathogens and spoilage bacteria

The antimicrobial activities of ten isothiocyanates (ITCs), namely sulforaphane, iberin, allyl-, benzyl-, methyl-, phenyl-, phenylethyl-, propyl-, 3-methylthiophenyl-, and 3-methylthiopropyl-ITC, were tested against a range of pathogenic and food spoilage bacteria. The activities of six ITCs were investigated for the first time. The growth of the bacteria was monitored by turbidimetry in a culture broth with increasing concentrations of ITCs. An antimicrobial efficacy index (IAE) was calculated based on the observed growth delay, reduction in maximum growth rate and reduction in population size. ITCs inhibited pathogenic and food spoilage bacteria including species from Bacillus, Escherichia, Klebsiella, Listeria, Salmonella, Serratia and Staphylococcus. Gram-negative bacteria were overall more sensitive to ITCs than their Gram-positive counterparts: the three most sensitive species with five ITCs, and two out of three most sensitive species with the other ITCs. Yet, the species of a bacterium seemed to play a more important role, since considerable variations in sensitivity were observed between species even within the same Gram type. All ITCs investigated displayed antimicrobial activity, but with levels that depended on the target bacteria and the molecule considered. The highest IAE values were obtained with Benzyl-ITC, followed by phenylethyl-ITC, but this was not necessarily the case with all aromatic ITCs. An aliphatic compound, 3-methylthiopropyl-ITC, was much more active than phenyl-ITC and 3-methylthiophenyl-ITC. Within a structural group, the activity of ITCs varied dramatically, and structural features, like the presence of a sulfinyl group, the molecule size, and the length of the hydrocarbon chain, seem to be of importance.

Decoupled sliding-mode controller based on time-varying sliding surfaces for fourth-order systems

This paper presents a decoupled control strategy using time-varying sliding surface-based sliding-mode controller for fourth-order nonlinear systems. The time-varying sliding surface slope computations are performed by linear functions which are derived from the input–output mapping of the one-dimensional fuzzy rule bases. It is shown that the proposed method not only exhibits a simpler structure compared with the existing decoupled control methods, but also eliminates the need for using fuzzy rules without degradation in performance. Moreover, the proposed method is shown to be asymptotically stable. In order to verify the theoretical considerations and demonstrate the performance of the proposed method, a cart-pole (single-inverted pendulum) system is simulated. Simulation results have shown a considerable improvement of the proposed method in terms of a faster dynamic response and lower IAE and ITAE values as compared with the existing decoupled control methods employing time-invariant sliding surfaces.

Characterization of Wafer Level Metal Thermo-Compression Bonding

The process of wafer-level bonding is being successfully used to form MEMS devices. Wafer level bonding may be realized by different methods such as thermo compression, transient liquid phase, anodic, glass frit, or polymer bonding. These methods have different requirements and the choice of wafer level bonding method is defined by the application type. Metal TCB has a wide variety of applications with materials of choice including Au, Cu and Al. 3D electrical connections are created by the use of Cu-Cu TCB; while CMOS MEMS devices may be realized by Al-Al TCB. In this study the wafer level bonding process of Cu-Cu and Al-Al TCB are characterized. The effects and significance of various bonding process parameters and surface treatment methods are reported on the final bond interfaces integrity and strength. Analysis methods include SAM, SEM, AFM, and four point bending test. Al-Al TCB samples were investigated on the interfacial adhesion energy and bond quality. IAE and bond quality were found to be positively correlated with bonding temperature. A bonding temperature of 500 °C or greater is necessary to obtain bond strengths of 8–10 J/m2. A positive relation between IAE and bonding temperature was observed for Cu-Cu TCB. IAE's of greater then 10 J/m2 were obtained on bonded samples that do not show a post bond residual seam on the bonding interface. An acid based pre treatment was shown to impact the surface properties of the initial metal surface hence affecting the IAE. Post bond annealing processes showed the most significant impact on the IAE of the Cu-Cu TCB system. To obtain comparable IAE values the Al-Al TCB method requires a higher bonding temperature. However the Cu-Cu TCB is sensitive to the initial metal surface condition and requires surface treatment processes prior to bonding to obtain high quality bonding results.

Experimental application of linear/nonlinear dynamic matrix control to a reactor of limestone slurry titrated with sulfuric acid

In this work, pH control of CaCO 3 –sulfuric acid neutralization process was realized in a stirred continuous reactor under optimum operating conditions in which the solubility of CaCO 3 was maximum. The pH of the solution was controlled by using linear and nonlinear dynamic matrix control algorithm with an on-line computer control system in the reactor. A step response model was used for the dynamic matrix control. For this purpose a unit step effect was given to the manipulated variable and the changes in the pH value were obtained on-line. In the nonlinear dynamic matrix control NARMAX model was developed as an addition to the above model. When the system was in open loop, random loads were given to the manipulated variable and input and output values were obtained on-line. Using these values, NARMAX model parameters were obtained with nonlinear regression. Developed DMC and NLDMC algorithms were applied to the neutralization process and the success of the algorithms was tested according to ISE and IAE values.