Projeto e Implementação de um Controlador FOPI em uma Bancada de Controle de Nível

Abstract

In this work we present the design of a fractional order PI control and a PLC based implementation for an industrial scale level control bench. The system is a first order plus deadtime, with dead zone until it reaches the operating regime, the pump presented saturation power. The controller design used a constrained optimization and took into account the reduction of settling time, null steady state error and robustness specifications. For the implementation, an adaptation of the approximation method of a long memory discrete time PID controller (LDPID) was used. The programming was developed in Ladder logic. Simulations and experimental tests of regulation, tracking and robustness were carried out. The FOPI controller presented the better performance compared to the classic PI both in simulations and in experimental tests.