Smith Predictor with PI-Controller

Function block Simatic S7

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Smith Predictor Block

1.0 Smith Predictor with PI controller............................................................. 3

1.1 General.....................................................................................................................3 1.2 Application ................................................................................................................3 1.3 Description................................................................................................................4 1.4 PLC information ........................................................................................................5 1.5 Variables...................................................................................................................7 1.6 Controller tuning .......................................................................................................8

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Smith Predictor Block

1.0 Smith Predictor with PI controller

1.1 General O.J Smith developed in 1950 controller structure to compensate process time delay. The Smith Predictor controller structure contains the process mathematical model in the feedback loop.

Compensator uses first order process added with time delay as a mathematical model. Function block "FB401 PI_Smith" is used in the SIMATIC S7 PLC as a continuous controller to adjust processes witch has long dead time. The parameters of the controller and state can be changed during the normal use to adapt smoothly to controlled process. 1.2 Application The controller can be used as a single loop controller of the fixed set point value or as main controller of several control circuits as a cascade controller, mixing controller or proportional controller. Smith Predictor Controller contains the PI controller and dead time compensate algorithm witch operate cyclically at desired sample time. The manipulated value of the controller operates with the analog signal but if necessary, a pulse generator (PULSEGEN) can be connected to it in which case the output of the controller is a modulated pulse or step action.

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Smith Predictor Block

1.3 Description In addition to a Set point and Process Value loop, the controller carries out the PI controller with continuous output (analog output) witch can be changed with a manual value. In the following, there is a description of the controller functions: Set Point The set point value is given as a real number to the input SP_INT. Process Value The process value is given as a real number to the input PV_INT. The controller uses range 0-100 internally so the process value must be scaled with the variables PV_FAC and PV_OFF correct. The variable that has been internally used is PV_IN * PV_FAC + PV_OFF. For example measure range 0-400 => PV_FAC = 4.0 and PV_OFF=0.0. Error value The difference between set point and process value is in the variable err. The small oscillation of the error value is prevented with a variable DEADB_W. The controller does not change the output inside the area DEADB_W . Manual Value When the controller is switched to MAN, the controller output will get the value Y_MAN and the integrator of the PI controller is reset (bumbles change). Manipulated Value The manipulated value of the controller can be limited with variables LMN_HLM (high limit) and LMN_LLM (low limit) Process model The parameters of the compensator process model are obtained as follows according to the process step response
100 90 80 70 63,2% 60 50 40 30 20 10 t1 taud tau
Process step response

28,3%

t2 time

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Smith Predictor Block

Km =

Model Gain : Time constant :

Pr ocess Value Manipulated Value

tau = 1.5 * (t 2 t1 ) 1 taud = 1.5 * t1 t 2 3

Dead time :

The controller parameter Km is process gain, the parameter tau is process time constant and the parameter taud is the process dead time. 1.4 PLC information Block can be executed on all the CPUs of the S7 300/400 programmable logic controllers with a CPU 314 or higher. The data required for cyclic calculation is stored in data block assigned to the FB. FB can be called as often as necessary.

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Smith Predictor Block

1.5 Object

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Smith Predictor Block

1.5 Variables
Variable COM_RST PV_IN PV_FAC PV_OFF SP_INT AUTO LMN_LLM LMN_HLM Kc TI DEADB_W h Km tau taud LMN LMN_PER state err par_err Description Complete restart executed Process Value Process Value Factor Process Value offset Set Point Controller AUTO/MAN (FALSE=AUTO/TRUE MAN) Manipulated Value low limit Manipulated Value high limit PI controller Gain PI controller integration time Controller Dead band area Sample time Process Gain Process Time Constant Process Dead Time Manipulated value Manipulated value (periphery) Controller State (TRUE=MAN/FALSE=AUTO) Error Parameter Error (Dead Time / Sample Time > 30) Default FALSE 0-100 1.0 0.0 0.0 FALSE 0% 100% 1.0 1.0 1.0 1.0 1.0 1.0 1.0 Data. BOOL REAL REAL REAL REAL BOOL REAL REAL REAL REAL REAL REAL REAL REAL REAL REAL DEC BOOL BOOL BOOL Type IN IN IN IN IN IN IN IN IN IN IN IN IN IN IN OUT OUT OUT OUT OUT Attr.

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Smith Predictor Block

1.6 Controller tuning In the literature there are many different ways for the tuning of the controller but one must remember that the optimum tuning of the controller succeeds only on the ideal process of the first order added with dead time. The following tuning rules give the starting values to the parameters.

Kc =
Gain

0,984 tau * Km taud

0 , 986

Integration time

tau taud * Ti = 0,608 tau

0 , 707

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