JOURNAL OF MECHANICAL ENGINEERING Vol. 5, No.

1 April 2003: 36-42

Control System Performance Comparison baited Feedback (Feedback)

With baited Advanced Control System (Feedfoward)
On the Heat Exchanger Network (Heat Exchanger)

Fendy Santoso
Lecturer at the Faculty of Industrial Technology, Electrical Engineering Department - Petra Christian University
email: fendy@petra.ac.id

Abstract
In the process industry there are many variables that must be controlled. Control actions can be done
manually by the operator, but as in industrial processes there are hundreds of variables that must be controlled,
and consequently it takes hundreds of operators. Therefore the most appropriate step is to implement automatic
control in industrial processes.

Process heat is used for many varied applications. The temperature requirements depending on the type of
o
industry, covering high temperatures up to about 1500 C. The chemical industry is an example of the industry
o
with a temperature between 500-600 C. The non-ferrous metal industry, as well as the production of hydrogen is
o
the applications that use a temperature of between 600 - 1000 C.
This paper examines the comparative performance of the control system with feedforward (feedfoward) with
feedback (feedback) for controlling the heat in the plant heat exchangers. The initial step in the simulation was a
decrease in the mathematical model. After the simulation using Matlab program. From the simulation results
shown that each control strategy has advantages and disadvantages. And a combination of the two will result in a
better response.

Keywords: control systems, feedback, feedforward, heat exchanger network.

Abstract
In the industrial process, there are many variables that must be controlled. Control Action can be done
manually by the operator, but Because in industrial process contains hundred of variables that must be
controlled, so the consequence is hundred of operators are needed. Therefore the best way is applied automatic s
control in industrial process.
Process heat is used for many various applications. Temperatures depend on industry type, such as high heat
o o
up to 1500 C. Chemical industry is an example of the industry with the temperature range between 500-600 C.
Non-iron metal industry, and hydrogen production are applications that use temperature range between 600 -
o
1000 C
This paper explained about the comparison between feedfoward and feedback control system on heat
exchanger plant. After mathematical models can be Obtained, the next step was toSimulate system performance
by using Matlab. From the simulation result, was Obtained that every control strategy had its strength and
weaknesses. So Reviews their combination will give better response.
Keywords: control system, feedback, feedfoward, and heat exchanger,

1. Introduction
There are three basic operations in any control As a result the controller's decision to take action, in
system, namely: measurement (M), decision (D) and this case carried out by the final control element.
action (A). In the act of measurement performed by the In the subsequent discussion the control system will
sensor measuring process. Based on the results of these be represented by its mathematic models.
measurements controller then decide what to dilaku that
you make controlled variable setting value is
2. Mathematical Model System
maintained at pointnya.
Note: Discussion of these papers received prior to July 1, 2003. Modeling means the states system in the real world
The discussion proper fit will be published in the Journal of (real world) into the form of a mathematical equation.
Mechanical Engineering Volume 5 Number October 2, 2003.
Modeling can also be
36 Department of Mechanical Engineering, Faculty of Industrial Technology, Petra Christian
University
http://puslit.petra.ac.id/journals/mechanical/
Control System Performance Comparison baited Feedback (Feedback) with baited Advanced Control System .... (Fendy Santoso)

defined as efforts mimicking behavior  : Time constant (time constant)

process (real world system) in an effort to z : Damping system
understand it. This is done by wn : System natural frequency (rad / s)
arrange relations physical from For the next mathematical model system
real system by using
the laws of natural science. Overall (controller and plant) can diwa-
By modeling can speak volumes swivel model with a second order system.
on a system without having meng-
The present system. by drafting 4. Control Theory
model of the nature (characteristics) system will
more easily analyzed / studied. apart that Modern control theory differs from the theory
modeling is a business that is not mem- control conventional. Theory control modern
need and cost of a lot less risk.
can be applied to multi-input multi system
output, Whose condition is linear or not
3. dynamics System linear, with constant system parameters or
changes with time. while the theories
Order system dynamics can be expressed control conventional could applied
in the form of differential equations: on the system one input, one output,
dy (t) with constant parameters.
t + y (t) = u (t) (1) Equation room state (state space)
dt is a representation of control theory
In the form of the transfer function: modern, while the transfer function model (transfer
T (s) = K (2) function) constitute representation of theory
ts + 1 Conventional control. defined as
While the system's response to in- Function over system
ratio transformation Laplace output
kan ladder unit (unit step):
to Laplace transforms input,
u (t)  1,or u (s) 1 / s with all zero initial condition. transfer function
t /  (t ³ 0) (3) the system is also a mathematical model
y (t) = [1 - e ]
connect variable input with
The dynamics of a second order system can be output variables, however, he did not mem-
expressed
in the form of differential equations: provide information about the physical structure
d 2 y (t) dy (t)  y (t) 2 u (t) (4) the system.
n2
 2n If the highest rank in s in the function
2 dt
n

dt rather is n, then the system is called the n-th order.

The transfer function in the form of Transformation The usefulness of the concept of the transfer function is
limited to
Laplace: linear systems, system parameters unchanged
T (s) = 2 (5) against time (time invariant), the system
wn
2
s + 2ZW n s + w 2 one input and one output (input-single
n single output) [1].
dengantanggapansistemuntukmasukan
stair unit (unit step):
5. The error detector circuit (Error)
u (t)  1or u (s) 1 / s (6)
Step response (step response):
0 <z <1 (7)
e nt é 2ù
sinêw t + tan1 ú
y (t) = 1 - 1-V ; (t³ 0)
d
1-V 2 ê V ú
ë û
 t  t
z = 1 -> y (t) = 1 - e n - wn te n (t ³ 0)
c t c t
z > 1 -> y (t) = 1 + (k1 e 1 -k2e 2 ) (T ³ 0)
2
c 1, 2  n  n  1

Specification notation:
y (t): feedback system
u (t): input (input) system
 Figure 1. The detector circuit Error (Error) with Differential
Amplifiers

Department of Mechanical Engineering, Faculty of Industrial Technology, Petra 37

Christian University
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JOURNAL OF MECHANICAL ENGINEERING Vol. 5, No. 1
April 2003: 36-42

m (t) = 1 over in
Error detector circuit can be composed of a working ò e (t) dt function
amplifier which is arranged as shown above. Working R1C1
amplifier output voltage is defined as: Laplace transform form:
V V V V (8) m (s) = 1 (10)
output error Setting Po int censorship
ice) Ti s
by Ti = R1 C1. Excess integral controllers lies in the
6. Process Controller ability to create a zero steady-state error value, but the
feedback controller is slower when compared with
In the system settings, controller functions as an air- Proportional controller.
control system of the brain itself. There are various
types of controllers either analog or digital, for 6.3 PI controller (Proportional and Integral)
example: controller P (Proportional), the controller I
(Integral), controller PI (Proportional-Integral),
controller PD (Proportional Differential), and a
controller PID (Proportional Integral Differential). In
the following discussion in this paper uses a PI
controller.

Proportional Controller 6.1

Figure 4. Controller PI
m (s) = R4R2 R 2 C 2 s + 1 (11)

ice) R3R1 R2C2s

m (s) é 1ù tc s +1
=K
= Kp ê1 + ú c

ice) ë tc s
Tis û
Figure 2. Proportional Controller R4 R2
with value: Kp = Ti = R2C2
m (t) = Kp.e (t), Kp = R 2 / R1, fungsialihdalam
R3 R1
Laplace transform form
m (s) = K p (9) 7. Strengthening
ice) The output signal controller is still too weak to
Proportional controller has the advantage that a fast activate the actuator control. To that for the system to
response time, but the drawback lies in the onset of steady work well needed another circuit which serves to
state error. The greater the value of strengthening (gain) given strengthen the controller output signal.
then, the steady-state error smaller and faster output reaches a
steady state, but the gain is too large tends to cause system
instability. 8. Process Control
6.2 Integral Controller In general, the chemical process is a multi-multi-
output system. Input quantities can be disturbances
(disturbances) or the amount of manipulated variable

Figure 3. Integral Controller Figure 5. Process Industries

38
Control System Performance Comparison baited Feedback (Feedback) with baited Advanced Control System .... (Fendy Santoso)

Fh (s) ex s  1
t is the time of death process.
From the figure above shows that the output process In this paper plant transfer function is expressed
is influenced by a control input signal (manipulated
as:
input) and signal interference (disturbance input).

8.1 Thermal Process

Modeling of industrial process always starts with
the balance quantity of mass or energy conservation,
with the assumption that the fluid flow in and out has a
constant velocity, fluid density is constant, the heat
capacity of the liquid is constant. Energy balance in a
state of steady state in the tank will describe the
relationship between the input temperature and output
temperature,
dT
VC p dt  FC p (To  Q)  Q  W (12)
Q  UA (T  (Thin  Tout) / 2)
The mathematical model of the system after
dilinieri-sasi:
 dT ' TK F' (13)
ex c
ex dt
Heat Exchanger transfer function can dinyata-kan in
the form of order system:
T (s)  K pex  Gex (s) (14)
Fh (s) ex s  1

Because there is a time delay / death time at the

plant then the plant transfer function becomes:
T (s)  K pex ets  G ex (s) ,
 Figures 7 and 8 are representative of plant and
disruptions in its mathematical form in Matlab. 9.Sistem Image Control feedback and Feedfoward on
Heat Exchanger

This unit aims to heat from the process fluid intake

temperature Ti (t) be the value of the output fluid temperature
T (t), through the heating medium flow F h(S). Media heating
using steam is condensed. The purpose of control is to keep
the temperature of the system at a certain point setting value.

9. Open Loop Control Systems

Gp 1
e 14 7 s
(15) Figure 10. Block Diagram of the open loop Exchanger
Network
Hot
21,3s  1
From the block diagram above shows that the
magnitude of the output value y directly affected by the
plant transfer function Gp and Gd disorder without a
feedback mechanism.
Figure 7. The circuit simulation Plant
While system disorders expressed in the transfer
function:
Gd 1 (16)
e 35s
25s  1

Figure 8. The circuit simulation Nuisance Plant Figure 11. Open Loop Response Network Exchanger
Hot

Department of Mechanical Engineering, Faculty of Industrial Technology, Petra 39

Christian University
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JOURNAL OF MECHANICAL ENGINEERING Vol. 5, No. 1 April 2003: 36-42

Fluid temperature to be maintained constant at a

value set pointnya. But the system that Gd gets disorder
that causes the system output will be affected by the
amount of interference. Because there is no feedback
mechanism so the system can not compensate for the
disruption.

10. Behind baited Control System

(Feedback)

Figure 12. Feedback Control

One way to meet the goal of control is to measure the

output fluid temperature T (t) and compared with the value
of the desired temperature. Based on the results of these
comparisons can decide what action should be done in
order to avoid deviation of temperature T (t).

Figure 13. Block Diagram baited Feedback Control System
(feedback) On Heat Exchanger
In the closed-loop control systems such as the block
diagram above, the controller propor-sional, Integral
(PI) controller to function as a process that will
minimize the error signal, and bring the system to the
value of the setting.
If the temperature T (t) exceeds the setting value,
then the steam valve is closed so that the fluid that
comes out has the temperature decreased. If the
temperature T (t) below its setting value then the steam
valve is opened, so that the mem-influenced steam
flowing fluid in the tank.
Figure 14. Response System with Feedback Controller for
Measurable disorder, and has been known
Caption:
d = U = disturbance
control signal
y = controlled variable
Of the 14 pictures visible, due to a disturbance
(disturbance) the value of the controlled variable in this
case the fluid temperature decreases, thus increasing the
PI controller control signal u, to bring the system back
to its set point value.

Figure 15. Response System with Feedback Controller for

Different Variations Disorders

From Figure 15 it was found that the control system

can compensate baited behind all the existing problems
either interference on the part of the system output, the
disorder is not scalable and not previously known.

11. Feedfoward Control

The aim is to measure the disturbance feedfoward
control and compensate ter-hadapnya so that the value
of the controlled variable does not deviate from the
setting poin

40
Control System Performance Comparison baited Feedback (Feedback) with baited Advanced Control System .... (Fendy Santoso)

Figure 16.Diagram Box Control Systems with Feed Forward ( Figure 19.Respon System with Feedfoward Controller
Feedfoward ) for Interference in Section Output

Feedfoward controller using a compensator with a On 19 visible image with feedfoward controller
transfer function: system response to gang-guan that are not in the input
GFF (s)  Gd (s) ; G f (S)  K d( ps 1) (17) section, not measurable, and not previously known. The
figures show that the system can not compensate for the
G p (s) K p(ds 1) disorder.

Gf (S)  (21,3s 1) e20 s = KFF (21,3s 1)

es
25s  1) 25 s1
by KFF is a feedforward controller gain and  a delay
time controller.

Figure 17. The circuit simulation controller feedfoward

 12. The Joint Control System (Feedback Figure 20 is a combination of feedback control
and Feedfoward) systems and feedfoward.

After the obtained graph system simulation system

response to a measurable disturbance and the input
section, as shown below.

Figure 20. BlokDiagramGabunganSistemKontrol

feedback and Feedfoward In Heat Exhanger

Caption:
Gff: feedfoward transfer function controller
Gd: the transfer function disorders (disturbance)
Gc: transfer function controller
Gp: plant transfer function

Figure 18.Respon System with Feedfoward Controller
and Interference in the Input section, Measured
(Measured Disturbance), and Unknown
From Figure 18 shows that the response of the
system is quite good, and can compensate for
interference on the part of a measurable input
(measured disturbance) and unknown (known
disturbance).
Figure 21 is a circuit simulation and feedfoward
feedback control systems using Matlab,
Control system response is shown as in Figure 22.
shown that the combined feedback control system and
feedfoward able to compensate all the existing
problems, so that the output value can be maintained at
the setting point value.

Department of Mechanical Engineering, Faculty of Industrial Technology, Petra 41

Christian University
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JOURNAL OF MECHANICAL ENGINEERING Vol. 5, No. 1
April 2003: 36-42

Figure 22. Response and a feedback control system with a

variety of disorders feedfoward

21.Rangkaian image control system simulation feed-baack

and feedfoward to use you-kan MATLAB- 13. Conclusion
Simulink
From the results of the above discussion it is stored-
pulkan:
1. The control system with feedforward (feedfoward)
can only compensate for the disturbance, which is react if the location of the disturbance away from
part of the system input, measurable and predictable the controlled variable.
throughout Previously.
2. If the disturbance is not related to the amount of
system inputs (input), not measurable, or unknown References
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