Auto-Tuning Parameters of Fractional PID Controller Design for Air-Conditioning Fan Coil Unit
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Auto-Tuning Parameters of Fractional PID Controller Design for Air-Conditioning Fan Coil Unit LI Shaoyong ∗ (), WANG Duo ( ), HAN Xilian (), CHENG Kang ( ), ZHAO Chunrun () (School of Civil Engineering, Lanzhou University of Technology, Lanzhou 730050, China)
© Shanghai Jiao Tong University and Springer-Verlag GmbH Germany, part of Springer Nature 2020 Abstract: The traditional integer order PID controller manipulates the air-conditioning fan coil unit (FCU) that offers cooling and heating loads to each air-conditioning room in summer and winter, respectively. In order to maintain a steady indoor temperature in summer and winter, the control quality cannot meet the related requirements of air-conditioning automation, such as large overshoot, large steady state error, long regulating time, etc. In view of these factors, this paper develops a fractional order PID controller to deal with such problem associated with FCU. Then, by varying mutation factor and crossover rate of basic differential evolution algorithm adaptively, a modified differential evolution algorithm (MDEA) is designed to tune the satisfactory values of five parameters of indoor temperature fractional order PID controller. This fractional order PID control system is configured and the corresponding numerical simulation is conducted by means of MATLAB software. The results indicate that the proposed fractional order PID control system and MDEA are reliable and the related control performance indexes meet with the related requirements of comfortable air-conditioning design and control criteria. Key words: air-conditioning fan coil unit (FCU), fractional order PID control, modified differential evolution algorithm (MDEA), auto-tuning parameters of controller CLC number: TU 831.5 Document code: A
Nomenclature a— Value of initial condition for fractional calculus e— Error of indoor temperature, ◦ C e(t)— Control system error at time t E(s)— Transfer function of error of the indoor temperature f (·)— Function for fractional calculus F — Disturbance of fresh air volume and pressure GIT-FOPID (s)— Transfer function of the indoor temperature fractional order PID controller JBS — Corresponding best solutions for J Kp , Ki , Kd — Proportional, integral, derivative gains K1 , K2 — Gains L1 , L2 — Time constants L(·)— Laplace transform of f (·) nMF — Mutation factor
Received: 2019-12-23 Accepted: 2020-03-23 Foundation item: the National Natural Science Foundation of China (Nos. 61364004 and 51808275), the Chinese Scholars to Study Overseas Sponsored by China Scholarship Council Foundation (No. 201408625045), the Doctoral Research Funds of Lanzhou University of Technology (No. 04-237), and the Alumni Foundation Civil Engineering 77, Lanzhou University of Technology (No. TM-QK1301) ∗E-mail: [email protected]
nCR — Crossover rate nNP — Number of population nNI — Number of iterations qv — Measured value of the flow rate of chilled and hot water flowing through fan coil unit, m3 /s s— Laplace operator t— Upper limit of integral in fractional order calculus t
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