Comparative study of PID control tuning rules applied to a small chamber refrigerated by a thermoelectric device
Fernando Augusto Araujo Pinto1; Euler Assunção Costa Fonseca1; André Romero Martins1; Ricardo Nicolau Nassar Koury1; Antônio Augusto Torres Maia2
1 Universidade Federal de Minas Gerais; 2 Universidade Federal de Minas Geraisu
doi:10.20906/CPS/COB-2015-1675
Resumo
Thermoelectric devices have been used in the refrigeration of small chambers in substitution of vapor compression refrigeration systems. One of the advantages of these systems is the direct conversion of electrical energy into heat, which facilitates the temperature control of refrigerating systems based on these devices. In this work is presented the study of the dynamic behavior of a small chamber refrigerated by a thermoelectric device. The system dynamic model was identified and validated employing experimental data. The dynamic model was employed in the PID controller design. The controller tuning was performed using relations obtained from works developed by other researchers. Experimental tests were executed to evaluate the controller performance considering each tuning rule. Then, the results obtained for each method were evaluated regarding to peak time, maximum overshoot, settling time, steady state error, disturbance rejection and robustness. In conclusion, the method with the best settling time, rising time and settling time was the IMC by Skogestad. However, the method by Ziegler-Nichols presented a similar RMSE to it and the method by Vilanova presented the best RMSU.
Palavras-chave: Thermoelectric devices; PID control; Tuning rule