Persona: Sánchez Moreno, José
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Sánchez Moreno
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Publicación Asymmetric delayed relay feedback identification based on the n-shifting approach(Taylor and Francis Group, 2021-08-20) Sánchez Moreno, José; Dormido Bencomo, Sebastián; Miguel Escrig, Oscar; Romero Pérez, Julio Ariel; https://orcid.org/0000-0002-2405-8771; https://orcid.org/0000-0002-2472-2038; https://orcid.org/0000-0003-3397-2239The paper presents an improvement of the n-shifting technique to identify the frequency response of an industrial process using a fully asymmetric and delaying relay. The n-shifting approach allows the calculation of n + 1 points of G(s) by an asymmetric relay experiment. This set of n points is composed of G(0), G(jωosc), . . . , G(jnωosc), being ωoscthe oscillation frequency, and where G(jωosc) is in most cases located in the third quadrant of the Nyquist map. By delaying the relay output and repeating a similar experiment it can be generated n additional points of G(s) where the first point is G(jω’ osc) with 0 < ω’osc < ωosc. In this way, it is possible to depict the full output spectrum of G(s) from zero to very high frequencies by a short relay experiment. An example of identification and tuning of a PID controller with data from the n-shifting are presented to show the validity of the approach.