Enhanced Single-Loop Control Strategies
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meseret sisayEnhanced Single-Loop Control Strategies
Uploaded by
meseret sisayEnhanced Single-Loop Control Strategies
Chapter 16
Chapter 16
Chapter 16
Cascade Control (multi-loop)
• Distinguishing features:
1. Two FB controllers but only a single control valve (or
other -final control element).
2. Output signal of the "master" controller is the set-
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point for “slave" controller.
3. Two FB control loops are "nested" with the "slave"
(or "secondary") control loop inside the "master" (or
"primary") control loop.
• Terminology
slave vs. master
secondary vs. primary
inner vs. outer
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Y1 Gp1Gd 2
(Eq.16-5)
D2 1 Gc 2GvGp 2Gm 2 Gc1Gc 2GvG p 2G p1Gm1
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Time Delay Compensation
• Model-based feedback controller that improves
closed-loop performance when time delays are present
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• Effect of added time delay on PI controller performance
for a second order process (t1 = 3, t2 = 5) shown below
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No model error: G G*e s G*e s
GC Y GC G
GC
1 GC G* 1 e s Ysp 1 GC G
Y GC G*e s GC G
(16 22)
Ysp 1 GC G* 1 GC G *
(sensitive to model errors > +/- 20%)
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Direct Synthesis Approach (Smith Predictor)
Y GC GP
Q( s)e s
Ysp 1 GC GP
Assume time delay between set-point change and controlled
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variable (same as process time delay, ).
If G P P(s)es
C
GC R 1 1
then
1 C G P P Pes
R
Q
1
From Block Diagram, GC
1
P Pes
GC
Q
Equating... GC
P(1 Q)
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SELECTIVE CONTROL SYSTEMS (Overrides)
For every controlled variable, there must be at least one manipulated
variable.
In some applications
NC N M
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# of controlled # of manipulated
variables variables
•Low selector:
•High selector:
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Figure 16.13 Control of a reactor hot spot temperature by using a high selector.
multiple measurements
one controller
one final control element
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Figure 16.15 A selective control system to handle a sand/water slurry.
Override using PI controllers - “old way” (vs. digital logic)
2 measurements, 2 controllers, 1 F.C.E.
Split Range Control
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2 Manipulated Vars.: 1 Controlled Var.:
V1 and V2 Reactor pressure
While V1 opens, V2 should close
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3
6
9
15
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Inferential Control
• Problem: Controlled variable cannot be measured or has
large sampling period.
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• Possible solutions:
1. Control a related variable (e.g., temperature instead
of composition).
2. Inferential control: Control is based on an estimate
of the controlled variable.
• The estimate is based on available measurements.
– Examples: empirical relation, Kalman filter
• Modern term: soft sensor
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Gain Scheduling
• Objective: Make the closed-loop system as linear as possible.
• Basic Idea: Adjust the controller gain based on current measurements of
a “scheduling variable”, e.g., u, y, or some other variable.
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• Note: Requires knowledge about how the process gain changes with this
measured variable.
Examples of Gain Scheduling
• Example 1. Once through boiler
The open-loop step response are shown in Fig. 16.18 for two
different feedwater flow rates.
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Fig. 16.18 Open-loop responses.
• Proposed control strategy: Vary controller setting with w, the
fraction of full-scale (100%) flow.
Kc wKc , t I t I / w, t D t D / w, (16-30)
• Example 2. Titration curve for a strong acid-strong base
neutralization.
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