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CHE3007s - Process Control - Lecture 15 - Review

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8 views15 pages

CHE3007s - Process Control - Lecture 15 - Review

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khmern002
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHE3007S Block3

Lecture 15
Review
What are Laplace Transforms?
𝑓 𝑡 = ℒ −1 𝐹 𝑠

t Domain s Domain

Equations in the s-domain can be solved with simple manipulation for F(s) and
converted back to the time domain to give a function f(t)
• Laplace transform is a linear operator
• the transform of the sum is the sum of the transform
• ℒ 𝑓 𝑡 + 𝑔(𝑡) = ℒ 𝑓 𝑡 + ℒ 𝑔(𝑡)
• Can only be applied to continuous functions
• Can only be applied to linear functions (Recall linearization from 2nd year maths)
What are transfer functions?
• A transfer function is an algebraic expression for the dynamic relation
between a selected input and output of a process.

O(s) – Output
𝑂(𝑠) = 𝑮 𝒔 𝐼(𝑠) G(s) – Transfer function
I(s) – Input

• A transfer function is defined in such a way that it is independent of


the initial conditions, the function of the disturbance and or the
manipulated variable i.e. it is general.
What are transfer functions?
• If a transfer function is written in standard form, then the dynamic
properties of the process become apparent
• e.g. time constant of the process and process gains.

𝐾
𝜏𝑠 + 1
• Transfer function models are only directly applicable to processes that
exhibit linear dynamic behaviour
How can we linearize?
• Linearization of non-linear process models provides a linear approximation of the
process model at points closest to the point of linearization (steady state
conditions).

• Taylor series expansion of the first order is used for this purpose:
𝑑𝑦 𝜕𝑓 𝜕𝑓
= 𝑓 𝑥, 𝑦 ≈ 𝑓 𝑥1 , 𝑦1 + ቤ 𝑥 − 𝑥1 + ቤ 𝑦 − 𝑦1 Near 𝑥1 , 𝑦1
𝑑𝑡 𝜕𝑥 𝑥 𝜕𝑦 𝑥
1 ,𝑦1 1 ,𝑦1

In terms of deviation variables from steady state


𝑑𝑦 ′ 𝜕𝑓 𝜕𝑓
= 𝑓 𝑥′, 𝑦′ ≈ ′ ቤ 𝑥′ + ቤ 𝑦′
𝑑𝑡 𝜕𝑥 𝑥ҧ ,𝑦ത 𝜕𝑦′ 𝑥ҧ ,𝑦ത
Feedforward Control Loop
Disturbance Variable (DV)
Measuring device

e.g. thermocouple

Set Point (SP)


Desired value
for Controlled
Feed Forward Final control Controlled
variable Controller element (FCE) Process Variable (CV)

Automatically adjusts e.g. control valve e.g. tubular heat


FCE to account for which responds to exchanger
disturbances (DV) signal from controller
Feedback Control Loop
Disturbance Variable (DV)

Set Point (SP)


Desired value
Controller Final control Controlled
for Controlled
variable element (FCE) Process Variable (CV)
+ Automatically adjusts
- FCE so that CV = SP. e.g. control valve e.g. tubular heat
Uses control which responds to exchanger
algorithm signal from controller

Measuring device

e.g. thermocouple
PID Controller
Proportional Control
• proportional to the error value
𝐾𝑃 𝑒(𝑡)

Integral Control 𝑒𝑟𝑟𝑜𝑟 𝑡 𝑂𝑢𝑡𝑝𝑢𝑡


• proportional to both the 𝐾𝐼 න 𝑒 𝑡 𝑑𝑡
magnitude of the error and the 0

duration of the error


𝑑𝑒 𝑡
𝐾𝐷
𝑑𝑡
Differential Control
• predicts system behaviour and thus
improves settling time *Note that this is in the t domain
PID Controller
Proportional Control
• proportional to the error value

Integral Control
• proportional to both the
magnitude of the error and the
duration of the error

Differential Control
• predicts system behaviour and thus
improves settling time
Feedback control loop stability
Controller Plant

𝑌𝑆𝑃 + GC GP 𝑌
-

𝑌 𝐺𝐶 𝐺𝑃
=
𝑌𝑆𝑃 1 + 𝐺𝐶 𝐺𝑃

How do I change 𝐺𝐶 such that 1 + 𝐺𝐶 𝐺𝑃 is a stable system while


meeting my control criteria?
What is stability?
The transfer function G(s) of a system is typically of the form:

𝑁 𝑠
𝐺 𝑠 =
𝐷(𝑠)

where D(s) is the characteristic equation

The roots of the characteristic equation will determine the stability of a


transfer function
How can we tune a controller?
Theoretical methods
• Direct Synthesis method (DS)
• Internal Mode Control method (IMC)
• Controller tuning relations
• Frequency response techniques
• Computer simulation

Empirical methods (See Control Prac)


• On-line tuning after the control system has been installed
Cascade control loop
Second Loop P T in
kPa K

GPD1 GPD2
Controller Controller Valve Process Process

T set point T Out


+ +
+ GC + GC GV GP1 + GP2 +
- -

Measurement
device

GM

Measurement
device

GM
Cascade control loop
T in
K

GPD2
Controller Second Loop Process

T set point T Out


+
+ GC GSecond Loop GP2 +
Kg/m3 - mA Kg/m3

Measurement
device

GM
mA
What is system time delay?

𝑥 𝑡 = 𝐶(𝑡) 𝑦 𝑡 = 𝐶(𝑡 − 𝜃)

Point A Point B

0 𝑡≤𝜃
𝑦 𝑡 =ቊ
𝑥 𝑡−𝜃 𝑡>𝜃

𝑦 𝑡 =𝑥 𝑡−𝜃 𝑆 𝑡−𝜃
𝑡

ℒ 𝑦 𝑡 = 𝑦 𝑠 = 𝑒 −𝜃𝑠 𝑥(𝑠)

𝑥 𝑡 𝑦 𝑡

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