Professional Documents
Culture Documents
Ratio Control
1
Chapter 15
2
Chapter 15
3
Chapter 15
Feedforward Control
• Feedback Control:
• Measure Y, compare it to Ysp, adjust U so as to maintain Y at Ysp.
• Widely used (e.g., PID controllers)
• Feedback is a fundamental concept
• Feedforward Control:
• Measure D, adjust U so as to maintain Y at Ysp.
• Note that the controlled variable Y is not measured. 4
Feedforward vs. Feedback Control
Chapter 15
5
Chapter 15
6
Chapter 15
7
Chapter 15
8
Comparison of Feedback and Feedforward Control
Disadvantages:
•Disturbance must be measured (capital, operating costs)
•Requires more knowledge of the process to be controlled
(process model)
•Ideal controllers that result in "perfect control”: may be physically
unrealizable. Use practical controllers such as lead-lag units
3) Feedforward Plus Feedback Control
FF Control
•Attempts to eliminate the effects of measurable disturbances.
FB Control
•Corrects for unmeasurable disturbances, modeling errors, etc.
(FB trim)
10
4) Historical Perspective :
•1925: 3 element boiler level control
•1960's: FF control applied to other processes
11
•Control Objective:
Maintain T2 at the desired value (or set-point), Tsp,
despite variations in the inlet flow rate, w. Do this by
manipulating ws.
Chapter 15
12
Feedback Control
Chapter 15
Feedforward Control
13
II. Design Procedures for Feedforward Control
•Recall that FF control requires some knowledge of the process
(model).
•Material and Energy Balances
•Transfer Functions
Chapter 15
•Design Procedure
Here we will use material and energy balances written for SS
conditions.
•Example: Heat Exchanger
•Steady-state energy balances
Heat transferred = Heat added to
from steam process stream
w s H v wCT2 T1 (1)
Where,
H v latent heat of vaporization
C specific heat of liquid
14
Rearranging Eqn. (1) gives,
C
ws w T2 T1 (2)
H v
or
Chapter 15
w s Kw T2 T1 (3)
with
C
K (4)
H v
ws KwTsp T1 (5)
15
Equation (5) can be used in the FF control calculations
digital computer).
Let K be an adjustable parameter (useful for tuning).
Simple calculations
•Control system is stable and self-regulating
Dynamic Compensation
to improve control during upset conditions, add dynamic
compensation to above design.
16
Feedforward/Feedback Control of a Heat Exchanger
Chapter 15
17
Hardware Required for Heat Exchanger Example
1) Feedback Control
•Temp. transmitter
•Steam control valve
Chapter 15
2) FB/FF Control
Additional Equipment
•Two flow transmitters (for w and ws)
•I/P or R/I transducers?
•Temperature transmitter for T1 (optional)
18
EXAMPLE: Distillation Column
Chapter 15
•Symbols
F, D, B are flow rates
z, y, x are mole fractions of the light component
•Control objective:
Control y despite disturbances in F and z
by manipulating D.
•Mole balances: F=D+B; Fz=Dy+Bx
19
EXAMPLE: cont.
Combine to obtain
Fz x
D
yx
Chapter 15
20
Chapter 15
21
Analysis of Block Diagrams
• Process
Chapter 15
22
•Analysis (drop the “s” for convenience)
Y Z1 Z 2 (1)
Y Gd D GPU (2)
Y Gd D GPGV G f Gt D (3)
Chapter 15
23
Examples:
For simplicity, consider the design expression in the Eqn. (15-21),
then: G
Gf d
Gt GV GP
Kd KP
1) Suppose: Gd , GP , Gt GV 1
d s 1 Ps 1
Chapter 15
K d P s 1
Gf e s e s - implies prediction
KT KV K P d s 1 of future
(15-25) disturbances
24
The ideal controller is physically unrealizable.
KP
3) Suppose G P , same Gd
1s 12s 1
26
Stability Analysis
•Closed-loop transfer function:
Y Gd GT G f GV GP
D 1 GC GV GP GM
Design Eqn. For GF
Chapter 15
28
Chapter 15
29
30
Chapter 15
Figure 15.13. Comparisons of closed-loop responses: (a) feedforward controllers with and without dynamic
compensation; (b) FB control and FF-FB control. 31
Lead-Lag (LL) Units
•Commonly used to provide dynamic compensation in FF control.
•Analog or digital implementation (Off the shelf components)
•Transfer function: G LL ( s ) K ( 1 s 1 ) lead
2s 1 lag
•Tune 1, 2, K
Chapter 15
K=1
equal areas
above and
below set-point;
small deviations
Examples
Chapter 15
34
Chapter 15