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ABC of DDE PDF
ABC of DDE PDF
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Control of Multivariable Processes
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Chapter 18
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Chapter 18
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Controlled Variables: xD , xB , P, hD , and hB
Manipulated Variables: D, B, R, QD , and QB
Note: Possible multiloop control strategies = 5! = 120
Chapter 18
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In this chapter we will be concerned with characterizing process
interactions and selecting an appropriate multiloop control
configuration.
Definitions:
Y1( s ) Y1( s )
= GP11( s ), = GP12 ( s )
U1 ( s ) U2( s )
(18 1)
Y2 ( s ) Y2 ( s )
= GP 21( s ), = GP 22 ( s )
U1 ( s ) U2( s )
Thus, the input-output relations for the process can be
written as:
Y1( s ) = GP11( s )U1( s ) + GP12 ( s )U 2 ( s ) (18 2 )
Y2 ( s ) = GP 21( s )U1( s ) + GP 22 ( s )U 2 ( s ) (18 3)
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Or in vector-matrix notation as,
Y ( s ) = G p ( s )U ( s ) (18 4)
Chapter 18
GP11( s ) GP12 ( s )
G p( s ) =
G ( s ) G ( s )
(18 6)
P 21 P 22
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Chapter 18
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Control-loop Interactions
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Chapter 18
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Chapter 18
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Block Diagram Analysis
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Chapter 18
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Chapter 18
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Chapter 18
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Relative Gain Array
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Example of RGA Analysis: 2 x 2 system
y2 = K 21u1 + K 22u2
The RGA, , is defined as:
11 12
=
21 22
i j
For a 2 x 2 system,
1
11 = , 12 = 1 11 = 21 (18-34)
K12 K 21
1
K11K 22
Example 1:
Chapter 18
Example 2:
2 1.5 0.64 0.36
K = =
1.5 2 0 .36 0. 64
Recommended pairing is Y1 with U1 and Y2 with U2.
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Chapter 18 EXAMPLE: Thermal Mixing System
Wh Wc Wh Wc
T Tc Th T Wc Wh
W W
Th Tc Th Tc Wc + Wh Wc + Wh
K= and =
Th T T Tc Wh Wc
T T
Th Tc Th Tc Wc + Wh Wc + Wh
# # # % #
yn n1 n1 " nn
Each ij can be calculated from the relation,
ij = Kij H ij (18 37 )
where Kij is the (i,j) -element of the steady-state gain K matrix,
y = Ku
Hij is the (i,j) -element of the H = K ( ).
-1 T
Note :
KH
Example: Hydrocracker
u1 u2 u3 u4
y1 0.931 0.150 0.080 0.164
y2 0.011 0.429 0.286 1.154
=
y3 0.135 3.314 0.270 1.910
y4 0.215 2.030 0.900 1.919
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Singular Value Analysis
Any real m x n matrix can be factored as,
T
K=WV
Matrix is a diagonal matrix of singular values:
= diag (1, 2, , r)
Chapter 18
1 0
K = = I
10 1
If K12 changes from 0 to 0.1, then K becomes a singular
matrix, which corresponds to a process that is difficult to
control.
RGA and SVA used together can indicate whether a process
is easy (or difficult) to control.
10.1 0
(K ) = CN = 101
0 0.1
K is poorly conditioned when CN is a large number
(e.g., > 10). Thus small changes in the model for this
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process can make it very difficult to control.
Selection of Inputs and Outputs
Arrange the singular values in order of largest to
smallest and look for any i/i-1 > 10; then one or
more inputs (or outputs) can be deleted.
Chapter 18
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0.5714 0.3766 0.7292
W = 0.6035 0.4093 0.6843
0.5561 0.8311 0.0066
CN = 166.5 (1/3)
Chapter
Question:
How sensitive are these results to the scaling of inputs and
outputs?
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Alternative Strategies for Dealing with Undesirable
Control Loop Interactions
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Decoupler Design Equations
1. Partial Decoupling:
Use only one cross-controller.
2. Static Decoupling:
Chapter 18
CT
Feed F
Reflux R Distillate D,
composition (wt. %) XD
Steam S
CT
Bottoms B,
composition (wt. %) XB
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Wood-Berry Distillation Column Model
12.8e s 18.9e 3s
16.7 s + 1 21s + 1
y1 ( s ) u1 ( s )
y ( s) = u ( s ) (18 12)
Chapter 18
2 7 s 2
6.6e 19.4e 3s
10.9 s + 1 14.4 s + 1
where:
y1 = xD = distillate composition, %MeOH
y2 = xB = bottoms composition, %MeOH
u1 = R = reflux flow rate, lb/min
u1 = S = reflux flow rate, lb/min
3737
Chapter 18