Professional Documents
Culture Documents
PROJECT 2020-30
CONTEXT
A continuous stirred tank (CSTR) is part of a company’s process line, and they have been
monitoring its outlet temperature. Even though this process variable is economically
unimportant, it is related to safety, production rate, yield, and other operational objectives.
Additionally, this temperature is easy to measure, and therefore it is controlled to control
the reactor performance indirectly. You have been hired to design and implement a
control strategy for the CSRT outlet temperature.
PROCESS DESCRIPTION
The reactor shown in the Figure is a CSRT where the exothermic reaction A → B. occurs.
To remove the heat of reaction, the reactor is surrounded by a jacket through which a
cooling liquid flows. Let us assume that the heat losses to the surroundings are negligible
and that the thermodynamic properties, densities, and heat capacities of the reactants and
products are both equal and constant. The heat of reaction is constant and is given by
∆ H r , in BTU /lbmole of A reacted. Let us also assume that the liquid level in the reactor
tank is constant; that is, the rate of mass into the tank is equal to the rate of mass out of
the tank. Finally, the rate of reaction is given by
−E
RT ( t )
r A ( t )=k 0 e c2A (t)
where the frequency factor, k 0, and the energy of activation, E , are constants. Table 1
gives the steady-state values of the variables and other process specifications.
The following non-linear ordinary differential equations (ODE) describe the behavior of the
system:
dT (t)
f ( t ) ρC p T i ( t ) −hi A i [ T (t )−T m ( t ) ]−f ( t ) ρ C p T ( t )−V r A ( t ) (∆ H r )=VρC v
dt
−E
1 dT (t)
( f ( t ) ρ C p T i ( t )−hi A i [ T ( t ) −T m ( t ) ]−f ( t ) ρC p T ( t )−V ( ∆ H r ) k 0 e RT (t ) c 2A ( t ))=
Vρ C v dt
d T c (t )
f c ( t ) ρc C p T c ( t ) +h o A o [ T m ( t ) −T c ( t ) ]−f c ( t ) ρc C p T c ( t ) =V c ρ c C v
c i c c
dt
d T m (t )
hi Ai [ T ( t )−T m ( t ) ]−h O A O [T m ( t )−T c ( t ) ]=V m ρm C v m
dt
−E
RT ( t ) d c A (t)
f ( t ) C Ai ( t )−f ( t ) C A (t )−V k 0 e c 2A (t)=V
dt
CONTROL REQUIREMENTS
To control the outlet concentration indirectly, the outlet temperature must be controlled.
The control strategy must be capable of reaching any user-defined temperature setpoint
within the operating range. The nominal setpoint will correspond to the nominal operating
outlet temperature value. The strategy must be a cascade loop, where the master
(temperature) controller defines the flow setpoint for the cooling water flow, which must be
regulated by a control valve.
You must size/select/tune and model all the instrumentation, i.e., the sensor/transmitters,
the final control element, and the feedback controllers. For that purpose, you must build a
simulation of the process and connect it with the modeled instrumentation components.
Moreover, you must carry out a process identification and tune the controllers to operate in
closed loop. Finally, select some assessment criteria and compare your cascade strategy's
performance against a single-loop feedback strategy to control the outlet temperature. Use
your criteria to assess two scenarios: i) Temperature setpoint changes, ii) Disturbance
changes.
PROBLEM DATA
Table 1 presents the nominal steady-state values for the input/output variables and their
operating ranges, and Table 2 presents the process parameters.
DELIVERABLES
Table 3 presents all the deliverables for the final presentations. Further details will be
discussed and agreed upon with your laboratory instructor.
Table 3 - Deliverables.
Week Description
The final report must contain:
1. Introduction.
2. Problem description.
3. Non-linear model (describing its implementation in SIMULINK)
4. Instrumentation and final control elements: Description of the
models used to represent sensors/transmitters and valves. Including
16 the procedure to define their parameters.
5. Controller and Tuning
6. Results: Assessment of the controller’s performance
7. Conclusions
8. Simulink file containing the model implementation and
simulation.
15 pages maximum
Sensor de flujo
El cuarto método disponible para sintonizar sistemas de control en cascada fue desarrollado
por Austin (1986) y ampliado por López (2003). El método proporciona la manera de sintonizar
tanto el controlador primario como el secundario con una sola prueba escalón. Se dan las
ecuaciones de sintonización para el controlador primario, PI o PID, cuando el controlador
secundario es P o PI. El método consiste en generar un cambio escalón en la señal a la válvula
de control, como se explica en el capítnlo 7, para después registrar las respuestas de las variables
secundaria y primaria. La respuesta de la variable secundaria se usa para calcular la ganancia,
K2 en %TT-102/%CO, la constante de tiempo, r 2, y el tiempo muerto, t02 , del lazo interior.
La respuesta de la variable primaria se usa para calcular la ganancia, K1 en % TT-10 l/%CO, la
constante de tiempo, r 1, y el tiempo muerto, to!' del lazo primario. Con los valores de K2 , r2 y
t02 se sintoniza el controlador secundario usando alguno de los métodos del capítulo 7. En la
tabla 9-3 .1 se presentan las ecuaciones para sintonizar el controlador primario. Este método
ofrece un procedimiento sencillo para obtener una sintonización casi óptima del controlador
pnmano.
Para sintonizar el PID coloque el lazo secundario en automatico e hice un cambio en escalon en el SP desde el
estado estable 14.61833 a 4.61833,