Proceedings of the 6th World Congress on Intelligent Control

and Automation, June 21 - 23, 2006, Dalian, China

Temperature Control of Electric Heating Dryers Using

Hybrid Control with the Immune and PD
Jun Ye, Weiqiang Zhao, Yaping Zhao
Department of Mechatronic Engineering, Shaoxing College of Arts and Sciences, Shaoxing 312000
(E-mail: yejun@mail.sxptt.zj.cn)
AbstractA hybrid control method with the immune and proportional-derivative (PD) control was presented aiming at the
temperature control characteristics of electric heating dryers. The hybrid control consists of the parallel construction of the two-cell
immune control and conventional PD feedback control. The immune controller has strong robustness and adaptability, and one-order
integral characteristics. Therefore, The immune controller can realize the adaptive and constant control of the system with no error, and
the PD controller can realize stability and rapidity. Simulation for the temperature control of electric heating dryer was carried out
under such a control that has parameter uncertainty. The results verify that this hybrid control is better rapidity, smaller overshoot, and
better robustness than a proportional-integral-derivative (PID) control. The temperature control obtains satisfactory control
effectiveness.
Keywordstwo-cell immune controller, PD controller, hybrid control, electric heating dryer, temperature control

3'



3' 3'

3'
3,'
3'

>@

>@>@
>@>@>@


0

1-4244-0332-4/06/$20.00 2006 IEEE

6257

>@>@

3'

3'
3,' 

  

$3&

e( t )

| e|

| un|

1
s

&'7

1
s

un( t )

7K



 

K( t )

 UW
XQWXW
\W

HW UW\W

I(t )


Ts

Th

r(t)

e(t)

un(t)
u(t)

+
PD

y(t)


R( t )

CD4+T










u( t ) = u n ( t ) + k p e( t ) + k d

>@

de( t )

dt

XQWNS NG


R( t ) I( t ) = ( I ( t ) + K ( t ))I ( t )


K ( t ) = K ( t ) + ( R( t ) I ( t ))

,W W 5W W
.W W


>@ 
4 N9F

9P N7P

5D



&D

K( t ) = K ( t ) + ( I ( t ) + K ( t ))I ( t ) 

!!! ,W
HW .W

5P
&P
5I
&H
7D7P7H

>@

XW 
u( t ) = u( t ) + ( e( t ) + u( t ) )e( t ) 

6258

G2 ( s ) =

Rf Ce

Vm

1
1 + RmCm s

Cm

5D &:5P &:5I &:4PD[

Ca

Rm

Ra

:&D -&&P -&&H 7H &N :9

N 9& U 9F 9 &

3,' NS NL 

Vc

NG  3'
 3'
NS NG   D 3,'



7P E

7D 7P 

>@

 
dT
dT
T Te
Q = Ca a + Cm m + a

dt
dt
Rf
Tm = Ta RmCm

dTm

dt



Ta = ( Q +

R f ( 1 + Rm Cm s )
Te
)
R f 1 + ( RmC m + R f C m + R f C a )s + R f RmC mC a s 2



Tm
1

=
Ta 1 + RmCm s

Ra

Rf

Ta

Te

Tm

(a)

Rm
Q
Ca

Cm

Ce






Tc
1/Rf
Vc

k1

Qa

G1(s)

Ta

G2(s)

Tm

Vm

k2

(b)

3,' 




G1( s ) =

R f ( 1 + RmCm s )
1 + ( RmCm + R f Cm + R f Ca )s + R f RmCmCa s


&D -R&



3,' 

6259

[1]
YROQRSS

[2] R. Rywotycki, Food frying process control system, Journal of
Food Engineering, vol. 59, no. 4, pp. 339-342, 2003.

[3]V. M. Milosevic and S. B. Radakovic, Application of

temperature fuzzy controller in an indirect resistance
furnace, Applied Energy, vol. 73, no. 2, pp. 167-182,
2002.
[4]J. S. Torrecilla, L. Otero and P. D. Sanz, A neural
network approach for thermal/pressure food processing,
Journal of Food Engineering, vol. 62, no. 1, pp. 89-95,
2004.

(a)

[5]C. J. Lin, A GA-based neural fuzzy system for temperature

control, Fuzzy sets and Systems, vol. 143, no. 2, pp. 311-333,
2004.
[6]3,
YRO
QRSS

[7]C. T. Lin, C. F. Juang and J. C. Huang, Temperature control of

(b)

rapid thermal processing system using adaptive fuzzy network,

 3,' 

Fuzzy Sets and Systems, vol. 103, no. 1, pp. 49-65, 1999.


3,'

[8]

 



 


SS

 

  
 
3,'

7P 7D



3'

6260

[9]

Mohand M, Michel M 0$7/$%

6,08/,1.