Projeto de controle PID descentralizado com desacoplamento.

Abstract

Many industrial processes are multivariable. In these processes, the interaction between the variables makes it difficult to tune the PID controller parameters and the desired performance is not achieved. One way to solve this problem is to use the decoupling control strategy. The decoupled control design is divided into two parts: decoupler design and controller tuning. The decoupler is designed based on the approximate model of the real process, so it becomes effective only at the frequency where the model is accurate, and an adjustment may be necessary. The tuning of the controller is carried out using the proper methods for single-variable processes. The objective of this work is to redesign the decoupler to obtain a more effective decoupling at a relevant frequency, without degrading the steady state. From an approximate FOPTD model of the real process, the initial decoupler is designed. Then, the decoupled system is excited by a square wave plus pulse, in order to evaluate the decoupler. The initial decoupler is then redesigned. Thus, a simplified and inverted procedure for evaluation and redesign of the decouplers using relay-based experiments, for TITO processes, is proposed.