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Note:
u, r, y, d are variables
of G(s)
Disturbances d
Manipulated Controlled
Variables u Process Variables y
Set point r
Disturbances d
Manipulated Measurable
Process variable ym
variables u
Steam
Flow
Oil
Input Temp Output Temp
Flow
Controller
Principle:
– Assumption: Model is accurate, disturbances are measurable
– Measure the disturbance d, then calculate u in order to y ≈ r :
=u K r (s)(r −Gd (s)d ) (3.1)
K r (s) ≈ G(s)−1
– Do not measure y
e) The model have zero point on the right haft of complex plane
→ The ideal controller is unstable, needed to approximate!
1− s
Example: System model: G( s) =
1+ s
= (0)−1 1
K r 2 G=
u (K2 ––
y (K1 approximate)
unstable) y (K2 – approximate)
Time Time
1 − s + s2 s
K r ( s) = e
1+ s
The ideal controller is non-causal
G) Unstable process: The ideal controller eliminates the unstable pole → The system is
not internal stable, if there is a little input noise, the system may become unstable.
y=
G (u + du ) + Gd d =+
r Gdu (3.6)
Cp (3.8)
=Fs Fo (SP − T1 )
λ
w1 (SP − c1 ) (3.10)
w2 =
c2 − SP
Steam
Feed Oil
Control principle: Control the steam flow (manipulated variable) based on the
deviant between the output oil temperature (controlled variable) and the set
point
=
y GK (r − y − n) + Gd d (3.11)
(1 + GK ) y = GKr + Gd d − GKn (3.12)
Close-loop response:
L G L (3.13)
y= r+ d d− n=
Tr + Gd Sd − Tn
1+ L 1+ L 1+ L
Control deviant
1 Gd GK
e =r − y = r− d+ n = Sr − Gd Sd + Tn (3.14)
1 + GK 1 + GK 1 + GK
Steam
Feed Oil
Steam
Feed Oil
Subject
Subject
Close-loop response:
K 1 L2 Gd 2
y2= (r − Gd1d1 ) + d2 , L1= K 1G1 , L2= K 2G2
1 + L2 + L1 L2 1 + L2 + L1 L2
L1 L2 (1 + L2 )Gd1 G1Gd 2
y1 = r+ d1 + d2
1 + L2 + L1 L2 1 + L2 + L1 L2 1 + L2 + L1 L2
L1 (1 + 1/ L2 )Gd1 G G /L
= r+ d1 + 1 d 2 2 d2 (3.15)
1/ L2 + 1 + L1 1/ L2 + 1 + L1 1/ L2 + 1 + L1
With L2 1 in the consider frequency range (of L1), we have:
L1 G G1Gd 2 The effect of d2 has (3.16)
y1 ≈ r + d1 d1 + d2 s
1 + L1 1 + L1 L2 (1 + L1 ) been reduced
10/18/2017 Chapter 5: Control Strategies HMS 2006-2017 29
When using cascade control?
Single-loop controller doesn’t meet the quality requirements.
It’s easy to measure and control another process variable
(that have relation with the first variable)
The second manipulated variable shows the clear effect of the
noise that is hard to measure.
There is a casual relationship between controlled variables
and the second manipulated variable (maybe the same
variable)
The dynamic characteristic of the second manipulated
variable is faster than of the first variable.
Steam Steam
Oil Oil
Set point
T
max
TT TT TT Cold water
115 116 117
t
UC
101
FC
100
z
10/18/2017 Chapter 5: Control Strategies HMS 2006-2017 35
Override Control
- Controller 1
Process
Control configurator
Controller 2
-
PC
100
FY
102
LC
101
Steam
Valve opening
TT TC
100 100 100%
Controller
Process
TT
UYC
102
bottom product 101
composition XD and
XB,
– Controlled variables:
Distillate and bottoms
XB
product temperature
– Manipulated variable:
Reflux and feed flow
Heating medium
K2 SP2
SP3
K3
Process
Definition
A control system that consist of many
independent feedback controller, each
connects to a set(not sharing) of output
variables (measurable) and set points
with a set of manipulated variables
– Control-needed
XD
variables: Distillate & Feed fuel TC
XB,
– Controlled variables:
Distillate and bottoms
product temperature XB
– Manipulated variable:
Reflux and feed flow
Heating medium
10/18/2017 Chapter 5: Control Strategies HMS 2006-2017 43
Comparisons
Centralized control
+ High quality (if the model is accurate)
+ Lots of modern design methods and tools
– Complex model construction
– Complex digital controller implementation (lack of available block library,
various sampling cycle...)
– Difficult for user to follow → Difficult to accept
– Low reliability
Decentralized control
+ Traditionally industrially used approach, therefore high acceptance
+ Presumably high transparency
+ Easy re-adjustment of the control parameters (also auto-tuning)
+ High reliability
– Structure design is complex (one has to select the right coupling of control and
controlled variables)
– (Usually) low performance, not always available
g11 g12
G (0) =
g 21 g 22
λ11 λ12 λ11 1 − λ11 1
=
Λ(G ) = 1 − λ = , λ (3.19)
λ 21 λ 22 11 λ11 11 1 − g12 g 21 / g11 g 22
When u2 = 0:
∆y1 u =
g11 ∆u1
2 =0 (3.20)
Then the i control loop is unstable. With n=2, the above condition is
necessary and sufficient
∏g
i =1
ii (0) ∏g ii (0)
i =1
−12,8 ⋅19, 4 + 18,9 ⋅ 6,6 −18,9 ⋅ 6,6 + 12,8 ⋅19, 4
= 0, 498 = = −0,991
−12,8 ⋅19, 4 −18,9 ⋅ 6,6
Ax 2
σ ( A ) max
= = max Ax 2 (3.25)
x ≠0 x2 x 2=
1
Ax 2 (3.26)
σ ( A ) min
= = min Ax 2
x ≠0 x2 x 2=
1
Explanation:
– With the input vector x, the matrix A maps to y = Ax with the maximum
gain factor is and the minimum gain factor is
– The gain factor depends onσthe direction of vector x σ
σ /σ
σ k
σ = σ 1 ≥ σ 2 ≥ ... ≥ σ k = σ , k = min(m, n)
⇒ AV =Σ U , Av1 = σ u1 , Avk = σ uk (3.28)
1 0 10.1 0
A= Σ(A ) = , cond(A ) = 101
10 1 0 0.1
If A12 changes from 0 to 0.1, then A becomes degenerate
In system theory, cond(G(jω)) is related to the ability to control, limits
the control quality.
– The bigger the condition number, the more sensitive the system is with the
model error.
– The condition number is related to the reachable quality criteria (frequency
domain)
– The condition number depends on the scale selection/normalization.
1.618 0 0
∑ = 0 1.143 0
0 0 0.0097
→ May consider to remove a input/output pair (u3 and y1 or y2)
10/18/2017 Chapter 5: Control Strategies HMS 2006-2017 59