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Lecture 6 - Feed Forward and Ratio Control

Feedforward control is used to compensate for measured disturbances before they affect the process variable. It works alongside feedback control. A feedforward controller uses a model to calculate the necessary control action based on the measured disturbance. Feedforward is useful when disturbances can be measured and modeled in advance. It is commonly used along with proportional feedback control. The feedforward transfer function must be realizable with the numerator order less than or equal to the denominator order and negative exponents or time constants. Ratio control is a type of feedforward control that maintains the ratio of two process flows at a specified setpoint.

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Surendra Louis Dupuis Naiker
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77 views

Lecture 6 - Feed Forward and Ratio Control

Feedforward control is used to compensate for measured disturbances before they affect the process variable. It works alongside feedback control. A feedforward controller uses a model to calculate the necessary control action based on the measured disturbance. Feedforward is useful when disturbances can be measured and modeled in advance. It is commonly used along with proportional feedback control. The feedforward transfer function must be realizable with the numerator order less than or equal to the denominator order and negative exponents or time constants. Ratio control is a type of feedforward control that maintains the ratio of two process flows at a specified setpoint.

Uploaded by

Surendra Louis Dupuis Naiker
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Process Control

Feed Forward
Control
Chapter 10: Smith & Corripio
Chapter 14: Marlin
Learning Objectives

• Understand some of the limitations of PID control


• Understand feedforward control and uses
• How to set up and select FF control
• How to design a FF controller based on block diagram analysis

2
FeedForward (FF) Example:
Heat Exchangers
• Increase in coolant inlet temp raises the
process outlet temp
Feedback
• Measure outlet temperature
• If outlet T increases, increase coolant
Feedforward
• Measure INLET temp
• Increase coolant flow BEFORE outlet
temp affected.

3
Feedback Control for a heat exchanger

4
Feed-forward Control for a heat
exchanger

Smith 5& Corropio


6
7
8
9
FF/FB block diagram
D
Gd
Signs MUST GF
BE shown
+
SP - V F
E Y
Gc Gv Gp
+ + +
-

Gm
-1 -1
GF = Gd Gp Gv
10
Feedforward control
Feedforward is only used when:
1. Single-loop feedback performance is unacceptable
2. The disturbance can be measured in advance

A measured disturbance variable must:


1. Indicate the occurrence of an important disturbance
2. NOT have a causal relationship from valve to measured
disturbance sensor
3. Be slower to affect the CV than the MV (when combined
with feedback)
-- need time for FF model to calculate and respond to the disturbance

15
FF Control Problems

1. Model errors
• Unaccounted for disturbances
• End up with CV changes
• Model changes a problem
2. Realisability (TF or +ve deadtime)
• Therefore, pure FF systems are rare…
3. THE SOLUTION: Use feedback as well!!

16
Feedfoward AND Feedback Control for
a heat exchanger

Smith & Corropio


17
Feedforward AND Feedback

• Complementary
• pure FF systems are rare, FF+FB is more common
• Example - P control with FF
• Use realisable Gf
• FeedForward control acts on known and modeled disturbances
• Feedback control acts on
• SP changes, unknown disturbances, model errors

18
Tuning FF-FB loops

• FF doesn’t affect stability of FB system


1. Y/SP same as without FF
2. Feed-Forward loop does not affect the feedback loop
• Tune exactly as before

19
Multiple FF loops possible

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Feedforward plus feedback control

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Realisability of FF Transfer Functions

• For transfer functions which are the ratios of polynomials in s


• The order of the numerator must be less than or equal to the order of the denominator
• Denominator time constants may not be negative
• For exponential transfer functions
• The exponent must be negative
• eg: dead time e–qs
• NEVER e+qs

In the
future!
22
Practical implementation of
feedforward: Measurement lag
• So far, the examples have shown only a GF transfer function in the block diagram
• In practice, we need to measure the disturbance
• Measurement will have its own dynamics
• Need to add another measurement block GFM in the diagram

26
Ratio Control

• A “special” type of feedforward control


• Objective is to maintian the ratio of two proces variables at a specified value
• Usually two flowrates
• Manipulated flow u
• Disturbance or “wild” flow d
• Note that u and d are physical variables – NOT deviation variables

R=u/d

28
Typical applications of Ratio control

• Setting the relative amounts of components in blending operations


• Maintaining a stoichiometric ratio of reactants to a reactor
• Keeping a specified reflux ratio for a distillation column
• Holding the fuel-air ratio to a furnace at the optimum value.

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Ratio control, Divisor Method

• Advantage : actual ratio  R  1


R is calculated. Kp     (15-2)
 u d d
• Disadvantage: divider
element must be
included in the loop
• makes the process gain
nonlinear
• not used in block diagram
analysis

30
Ratio Control: Factor method
• Flowrate of d is
measured
• Ratio station (RS)
multiplies this signal by
an adjustable gain, KR
• This output is then used
as the setpoint for a
“normal” FB control loop

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Ratio control summary

• Typically used for maintaining even flowrates of two streams


• Manipulated stream
• Special “static” case of FF control
• factor and divisor methods
• Divisor is non-linear – not used in block diagram analysis
• Looks like FF control block diagram but no dynamics

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