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Centralized PID Control by Decoupling of A Boiler-Turbine Unit
Centralized PID Control by Decoupling of A Boiler-Turbine Unit
Proceedings of the European Control Conference 2009 Budapest, Hungary, August 2326, 2009
I. INTRODUCTION
ISBN 978-963-311-369-1
Copyright EUCA 2009
u1(s)
g11(s)
+
+
k21(s)
g21(s)
k31(s)
g31(s)
k12(s)
+ y1(s)
g12(s)
u2(s)
r2(s) +
r3(s) +
k22(s)
+
k11(s)
r1(s) +
g22(s)
+
k32(s)
g32(s)
k13(s)
g13(s)
k23(s)
g23(s)
k33(s)
u3(s)
g33(s)
+
+
+ y2(s
)
+
+ y3(s
)
4007
WeA16.1
G s
249.1
358.7
10s 1
44.96211255.3s 1
139.1
10s 1
41.49
59.79
10s 1
9/8
x2 0.073u2 0.016 x1 0.1x2
y1 x1
y
2 x2
y3 0.05 0.13073 x3 100acs qe / 9 67.975
(1)
qe
398.6 s 1
(4)
(5)
The high number of RGA values which are far of the unit
shows a process with great interactions, as it was expected.
Furthermore, its high condition number of 58722 is
indicative of an ill-conditioned plant. So, scaling the process
should be advisable in order to reduce this number.
Nevertheless, scaling is not used because it is integrated in
the proposed design methodology.
III. PID DECOUPLING CONTROL
(2)
G (s)
0 d ui d 1 i 1, 2, 3
2 d u2 d 0.02
u1 d 0.007
(3)
u3 d 0.05
g 21 ( s ) g 22 ( s ) g 23 ( s )
g ( s) g ( s) g (s)
32
33
31
(6)
u2 ( s )
u ( s)
3
k21 ( s ) k22 ( s ) k23 ( s ) r2 ( s ) y2 ( s )
k (s) k (s) k (s) r (s) y ( s)
32
33
3
31
3
(7)
4008
WeA16.1
Proceedings of the European Control Conference 2009 Budapest, Hungary, August 2326, 2009
L( s )
0
0
l1 ( s )
l2 ( s )
0
0
0
0
l3 ( s )
(8)
G ( s ) 1 L( s )
G 31l3
G 32 l3
G 33l3
g 111l1
1
g 12 l1
1
g 13 l1
1
g 21
l2
1
g 22
l2
1
g 23
l2
1
g 31
l3
1
g 32
l3
1
g 33
l3
(9)
ki li ( s )
1
s
(10)
hi ( s )
ki
s
1
Ti s 1
k
1 i
s
(11)
k i s zi
s 2 k i s k i zi
(12)
k i zi
ki
4 zi
(13)
4009
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Singular Values
0
0.08
s
0
0.0004 100 s 1
s2
60
40
(14)
20
L( s )
0.04
TDji s
1
k ji ( s ) ki K Pji 1
T s T s 1
Iji
ji Dji
(15)
-20
-40
-60
-80
-4
10
-3
10
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Fig. 2. Singular value plots of the ideal controller (solid line) and the
reduced KPI controller (dotted line)
K f K( s )
(17)
K PI (s)
0.041
0.041
1176
.2 s
5.81710
7
7
5.81710
0.003s
0.021
0.021
5525.8s
0.0061
19.9s
0.0056
0.0056
10s
0.0424
0.0424
88.2s
0.0061
0.822
95.7 s
(16)
0
4.9331
4.9331
95.8s
0.822
Usat(s)
E(s)
+
+
Constraints
K f1
-
K( s )
Fig. 3. Conditioning anti wind-up scheme
4010
WeA16.1
Proceedings of the European Control Conference 2009 Budapest, Hungary, August 2326, 2009
y1 (kg/cm2)
115
110
50
100
150
200
250
300
350
400
450
500
50
100
150
200
250
300
350
400
450
500
50
100
150
200
250
300
Tiempo (s)
350
400
450
500
120
100
80
60
0
0.2
125
y1 (kg/cm2)
120
y2 (MW)
y3 (m)
0.1
0
-0.1
0
Fig. 5. Output signals of the system for a change from nominal operating
point to a near operating point (Proposed control: solid line; Tan: dotted
line; MNC: dashed line)
120
115
110
0
100
200
300
400
500
0.8
600
u1
0.6
100
y3 (m)
100
200
300
400
500
600
0.4
100
150
200
250
300
350
400
450
500
50
100
150
200
250
300
350
400
450
500
50
100
150
200
250
300
Tiempo (s)
350
400
450
500
0.9
0.8
0.7
0.2
0
-0.2
0
50
1
u2
60
0
0.4
0.2
0
80
100
200
300
Tiempo (s)
400
500
600
u3
y2 (MW)
120
Fig. 4. System output responses for two set point changes from nominal
operating point (Proposed control: solid line; Tan: dotted line)
0.5
0
0
4011
Fig. 6. Input signals of the system for a change from nominal operating
point to a near operating point (Proposed control: solid line; Tan: dotted
line; MNC: dashed line)
WeA16.1
y1 (kg/cm2)
100
200
300
400
500
600
700
800
900
1000
V. CONCLUSION
In this paper, we describe the application of a new design
methodology of multivariable PID controls to a boilerturbine unit. The design procedure consists of three steps:
first, an ideal decoupler including integral action is
determined. Second, the decoupler is approximated with PID
controllers. Third, three proportional gains are tuned to
achieve specifications. Due to the hard inputs constraints of
the plant, the multivariable controller is implemented with
an anti wind-up compensation.
Simulation results show that the controller introduced in
this paper is well done for the nonlinear boiler-turbine
system. Interactions are reduced, zero tracking error is
achieved and it can operate well in a wide operating range.
The results have been contrasted with other controllers in
literature and the proposed control shows a similar or better
performance.
y2 (MW)
150
REFERENCES
100
[1]
50
0
0
100
200
300
400
500
600
700
800
900
1000
[2]
y3 (m)
[3]
0
-1
0
100
200
300
400
500
600
Tiempo (s)
700
800
900
1000
[5]
Fig. 7. Output signals of the system for a large operating point change
(Proposed control: solid line; Tan: dotted line; MNC: dashed line)
[6]
1
u1
[4]
0.5
[7]
0
0
100
200
300
400
500
600
700
800
900
1000
[8]
u2
0.8
[9]
0.6
0.4
0
100
200
300
400
500
600
700
800
900
1000
[10]
u3
1
0.5
0
0
[11]
100
200
300
400
500
600
Tiempo (s)
700
800
900
1000
[12]
[13]
Fig. 8. Input signals of the system for a large operating point change
(Proposed control: solid line; Tan: dotted line; MNC: dashed line)
[14]
4012
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