Lecture 6

Dynamics of controlled systems

(closed systems)

L06 - 1 Control of Chemical Processes

 Case A: Proportional action

Gc = Kc

control parameter to be tuned

L06 - 2 Control of Chemical Processes

 Kp Kd
Open system y(s) = m(s) + d(s)
τ ps + 1 τ ps + 1

K p′ K ′d
Closed system y( s) = y ( s) + d( s)
τ p′ s + 1 sp τ p′ s + 1

still first still first

order order

K pK c
K p′ = < 1
1 + K pK c

Kd (Preferred value of KNd = 0)

0< K ′d = < Kd
1 + K pK c

τp
τ p′ = < Jp (faster system)
1 + K pK c

L06 - 3 Control of Chemical Processes

 Regulatory response
ysp(s) = 0, d(s) = 1/s

y(t)
Kd
without control

with control
KNd
offset

time

offset = [(set point) - (steady state response)]

-Kd
= [0 - KNd] = -KNd = 1 + K K
p c

L06 - 4 Control of Chemical Processes

 Servo response
d(s) = 0, ysp(s) = 1/s

y(t)
1
offset
KNp

time
offset = [(new set point) - (steady state response)]

Kp Kc 1
= [1 - KNp] = 1 - =
1+Kp Kc 1+Kp Kc
L06 - 5 Control of Chemical Processes
 Large control action (Kc 6 4)

System

Follows desired changes C Immediate response Disturbances are

eliminated
C no offsets J’p 6 0
C K’d 6 0
C K’p 6 1 C System becomes more
sensitive

L06 - 6 Control of Chemical Processes

 Case B: Integral action

Kc Control parameters
Gc = to be tuned
JI s

L06 - 7 Control of Chemical Processes

 Closed system

Open system
Kp Kd
y(s) = m(s) + d(s)
τ ps + 1 τ ps + 1

Closed system
K p′ K ′d
y(s) = y sp (s) + d(s)
τ 2s 2 + 2ζτs + 1 2 2
τ s + 2ζτs + 1

second order second order

τ= τ I τ p K pK c K p′ = 1

ζ= 1
2 τ I τ pK pK c

Y System: from first to second order

L06 - 8 Control of Chemical Processes

 Important remarks

(1) There is no offset with integral action

(i.e. KNp = 1)
(2) Integral action changes the dynamics (first 6 second order) and
results in slower systems
(3) Originally “quick” systems (Jp small) remain overdamped
(damping factor ~ 1 τ p )
(4) Originally “slow” systems (Jp large) are bound to oscillate
(damping factor ~ 1 τ p )

L06 - 9 Control of Chemical Processes

 Case C: Derivative action

Gc = KC JD s

control parameters to be tuned

L06 - 10 Control of Chemical Processes

 Open system (no disturbances)

Kp
y(s) = m( s)
τ p′ s + 1
Closed system
K p′ s
y( s) = y sp ( s)
τ p′ s + 1

KNp = Kp Kc JD

JNp = Jp + K p Kc JD > Jp

L06 - 11 Control of Chemical Processes

 Remarks

C First order system remains first order

(no change in the order)

C System becomes slower (JNp > Jp)

C As time passes by (s 6 0) the control system does not take any

action

Y never to use by itself (only in combination with other

actions).

L06 - 12 Control of Chemical Processes

 Summary of control features

Proportional action Integral action Derivative action

C accelerates response C eliminates offsets C anticipatory action

C produces offsets C slow, long, oscillating C slower, stabilising

response performance

L06 - 13 Control of Chemical Processes

 Questions
C Which ones to use?

C Single action or combinations?

C What control parameters to use?

Single-input-single-output Multiple-input-multiple
systems (SISO) output systems (MIMO)

Y simple rules are usually Y analysis requires more

enough knowledge.

L06 - 14 Control of Chemical Processes

 Basic rules: SISO systems

C Try to keep things simple

(ie no sophistication unless necessary)

C Only consider
- proportional action (P-controller)
- proportional integral action (PI controller)
- proportional integral derivative action (PID controller)

C Guideline aspects: offsets and process response times

L06 - 15 Control of Chemical Processes

 Guidelines to select control systems

Offsets acceptable? Is the Process fast?

Yes No Yes No

P controller PI or PID PI or PID Do not use

(PI, PID (only canditates to are acceptable PI controller (for a
unnecessary) eliminate offsets) (integral action will slow system output
maintain acceptable may become
performance) oscillatory)

L06 - 16 Control of Chemical Processes

 Flow control

ysp
Gc +
-

PT

Fast response
Y PI controller
Offsets are not welcome
(Although a P controller is usually a better choice
for a secondary flow loop in a cascade system)
L06 - 17 Control of Chemical Processes
 Separation flash: Pressure control

Vapour PT

Liquid

Offsets are ok Y PI or P
Relatively fast response

L06 - 18 Control of Chemical Processes

 Exothermic reactor temperature control

F2 F1
Coolant

TT

System slow (why?)

Y PID control
Offset not welcome

L06 - 19 Control of Chemical Processes

 Level control

F LT Controller

FD

Offsets are ok
Y P control
System fast/slow

L06 - 20 Control of Chemical Processes