CN3121 AY2022/2023 Semester 1

Week 13 Tutorial: (Chapter 16 Cascade Control)

Cascade Control (lecture example)

Consider the above heating system for the jacketed kettle with transfer functions:

1 1 1
𝐺𝐺𝑣𝑣 = ; 𝐺𝐺𝑗𝑗𝑗𝑗𝑗𝑗𝑗𝑗𝑗𝑗𝑗𝑗 = ; 𝐺𝐺𝑘𝑘𝑘𝑘𝑘𝑘𝑘𝑘𝑘𝑘𝑘𝑘 =
𝑠𝑠+1 𝑠𝑠+1 𝑠𝑠+1

(a) Sketch the Feedback control loop block diagram for the above system.
(b) Suggest and sketch a cascade control block diagram for the system

Simulate the following:

(c) Response to step change in set-point with:
i. Conventional feedback control with PI (Kc=2.84, τI =5.0)
ii. Cascade control with Kc,p = 1.0, τI =0.63 and Kc,s =10)

(d) Response to step change in disturbance/load with:

i. Kc=2.84, τI =5.0 (Feedback only)
ii. Cascade control with Kc,p = 1.0, τI =0.63 and Kc,s =10)