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L17 Feedforward Ratio

This document discusses feedforward and ratio control. It begins by introducing feedforward control and the five design rules for feedforward control. It then provides an example of designing feedforward control for a continuous stirred tank reactor (CSTR) process. Key aspects of feedforward control covered include using block diagram algebra to determine the feedforward controller, how the lead-lag element in the feedforward controller provides compensation, and the complementary relationship between feedforward and feedback control. The document concludes by discussing ratio control as a common feedforward application to control the ratio of flow rates between multiple streams.

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19 views33 pages

L17 Feedforward Ratio

This document discusses feedforward and ratio control. It begins by introducing feedforward control and the five design rules for feedforward control. It then provides an example of designing feedforward control for a continuous stirred tank reactor (CSTR) process. Key aspects of feedforward control covered include using block diagram algebra to determine the feedforward controller, how the lead-lag element in the feedforward controller provides compensation, and the complementary relationship between feedforward and feedback control. The document concludes by discussing ratio control as a common feedforward application to control the ratio of flow rates between multiple streams.

Uploaded by

taufiqurrahman mohd yunus
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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EEB5213 Plant Process Control

Systems

Feedforward & Flow


Ratio Control
Objectives

z At the end of this lecture, students should be able to:


– Identify situations for which feedforward is a good control
enhancement
– Design feedforward control using the five design rules
– Propose suitable control scheme for flow ratio balance
CSTR Example
Performance against Disturbance
Evaluation of Cascade Design For
CSTR
Cascade design criteria T1

Single-loop control not acceptable OK

Variable is measured OK

Indicates a key disturbance OK

Causal relationship with valve KO

Secondary dynamics faster than primary


KO

Cascade is not possible. We need another enhancement !


CSTR Example
Let’s think about the process behavior.
z There is a causal relationship from feed temperature changes, T0
to outlet temperature, TC (without control).
z How can we manipulate valve to compensate ?

T0
Feedforward Control
Feedforward Control
z We use block diagram algebra to determine the controller to
achieve the desired performance.
Feedforward Control
CV’(s) = CVA’(s) + CVB’(s) = 0
= [Gd(s) + Gff(s)Gp(s)] Dm(s) = 0

Not a PID MV ( s ) Gd ( s )
algorithm. G ff ( s ) = =−
Why ? Dm ( s ) G p (s)
Feedforward Control

z If Gp(s) and Gd(s) are both first-order with dead time, then:

MV ( s ) Gd ( s )
G ff ( s ) = =−
Dm ( s ) G p (s)
becomes
Deadtime

MV ( s ) Tld s + 1 −θ s
G ff ( s ) = = − K ff e ff

Dm ( s ) Tlg s + 1
Gain
Lead-lag
function
Feedforward Control
MV ( s ) Tld s + 1 −θ s
G ff ( s ) = = − K ff e ff

Dm ( s ) Tlg s + 1

Tld s + 1 −θ s
Lead − lag = e ff

Tlg s + 1

Kd
FF controller gain = K ff = −
Kp How do we
get these
Controller dead time = θ ff = θ d − θ p ≥ 0 parameters?

Lead time = Tld = τ p

Lag time = Tlg = τ d


Feedforward Control
z Typical dynamic responses from the lead-lag element in the
feedforward controller. It synchronizes the compensation and
disturbance effects.
Lead-Lag Function

z Notice that the initial response increases proportionally to the


ratio of τld/τlg, then exponentially approaches the final steady-state
value.

τld/τlg > 1,
initial response >
than final s-s value

τld/τlg < 1,
initial response <
than final s-s value
Feedforward Control
Feedforward Control
z Feedforward and feedback are complementary.

Feedforward Feedback

Pros z Compensates for z Provides zero steady-state


disturbance before CV is offset
affected z Effective for all disturbances
z Does not affect the stability
of the system

Cons z Cannot eliminate steady- z Does not compensate until CV


state offset deviates from its set point
z Requires a sensor and z Affects the stability of the
model for each disturbance control system
Feedforward Control
Feedforward Control
Feedforward Design
Criteria
z Feedforward is desired when :
– Single loop performance is unacceptable
– A measured variable is available

z A measured disturbance variable must :


– Indicate the occurrence of an important disturbance
– NOT have a causal relationship from valve to measured
disturbance sensor
– NOT be significantly faster than the MV-output variable
dynamics (feedback)
Feedforward Example
Feedforward Example
z Design feedforward control to improve the performance.
Feedforward Example
Feedforward design criteria A2 F1 F2 T1 T2 T3
Single-loop control not acceptable
Variable is measured
Indicates a key disturbance
NO causal relationship with valve
Variable dynamics due to disturbance
NOT much faster than feedback loop

Let’s use the feedforward design rules!

Remember: The significant disturbance is the feed composition.


Feedforward Example
Feedforward design criteria A2 F1 F2 T1 T2 T3
Single-loop control not acceptable Y Y Y Y Y Y
Variable is measured Y Y Y Y Y Y
Indicates a key disturbance Y N N N N N
NO causal relationship with valve Y Y N Y Y N
Variable dynamics due to disturbance Y N/A N/A N/A N/A N/A
NOT much faster than feedback loop

A2 satisfies all the rules


and can be selected as
the feedforward variable.
Feedforward Example

AY
1
Control Performance Comparison
Feedforward Control
z How does the feedforward and feedback system respond to the
following disturbances?
A disturbance in
heating medium
inlet pressure

AY
A disturbance 1
in feed
A disturbance in
temperature
heating medium
inlet temperature

A change to set
point, AC1
Feedforward Control
z We can combine cascade and feedforward to gain the advantages
of both.
Questions on Feedforward Control

z Why do we retain the feedback controller?


z When would feedforward give zero steady-state offset?
z Why does the feedforward controller sometimes delay its
compensation? Don’t we always want fast control?
z What is the additional cost for feedforward control?
z What procedure is used for tuning the feedforward control?
Ratio Control
z Ratio control is a simple and frequently used feedforward
application.
z This strategy is used to control ratio of the flow rates of two or
more streams.
Ratio Control

z Commonly used in situations such as :


– maintaining constant ratio between two ingredients
– blending additives / solvents into feed or base chemical
material
– holding the ratio of a recycle stream to the forward stream
constant, and
– maintaining fuel-air ratio of a burner for most efficient
combustion.
z Negligible dynamics, no dead time and no lead/lag required.
Ratio Control
z All stream flow rates are measured and all, but one, stream is
controlled.
z Uncontrolled stream is usually called wild stream.

Ratio
computation
Ratio Control

z Another configuration of ratio control :

Flow set
point
computation
Ratio Control

z A slight modification to accurately control the blended stream


composition (zero offset between actual and desired
composition) :
What Next ?

z Next Lecture : Multivariable Systems Control

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