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4-1
Introduction
This part of the course explores opportunities to improve the performance of simple SISO control:
Additional process outputs (measurements) may be available these cases are referred to as SIMO (single input, multiple outputs)
For example, when controlling a reactor using the flow of cooling water, both the reactor temperature and the temperature of the coolant effluent can be measured.
More than one process input which affects the process output can be manipulated or measured - these cases are referred to as MISO (multiple inputs, single output)
For example, the temperature of the reactor feed (a disturbance) can be measured, and the coolant flow rate can be manipulated. Both of these affect the reactor temperature.
4-2 PROCESS CONTROL LAB - (c) Daniel R. Lewin SIMO and MISO Control
LECTURE FOUR
Objectives
On completing this section, you should be able to: Identify processing situations that require cascade control. Correctly design a cascade control system. Correctly design a feedforward control system.
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SIMO Systems
In these control systems, with only one manipulated variable, a number of process outputs (measurements) may be available. The most commonly used example of a SIMO system is a cascade control system
This involve one or more inner, slave loops, and an outer, master loop.
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LECTURE FOUR
Cascade Control
Valve hysteresis
The inner loop should be aggressive enough to eliminate the effect of these disturbances.
1 + p2c2 = d2
d2 +
p2c2 yS 1 + p2c2 + L2 yS
Design Procedure.
Design outer loop first, as is the inner loop transfer function is L2 = 1 i.e. assume BW(L2) >> BW(L1). Tune outer loop filter to meet performance specifications. Compute BW(L1). Then tune inner loop to be fast enough.
4-6 PROCESS CONTROL LAB - (c) Daniel R. Lewin SIMO and MISO Control
LECTURE FOUR
If any of the above are not satisfied, return to and increase the filter time constant of the outer loop.
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How does this cascade control system improve on the performance of a TC using FJ ?
LECTURE FOUR
LECTURE FOUR
A m (s) =
=
(5s+1 )( s +1 )
(5s+(1)(1.01s+)1)
1.5 1.01s +1
1.5( 1.01s +1 ) (5s +1)(1.01s +1) 1.5 2.02 s 1.01s +1 e s +1 1.01s +1 1.01s +1 1.01s +1
1 A m single loop
The best BW attainable by a single PID controller, computed using MATLAB is c = 0.78 rad/min. Thus, set to 1.3 min.
4-11 PROCESS CONTROL LAB - (c) Daniel R. Lewin SIMO and MISO Control
LECTURE FOUR
p1 ( s ) =
The inner loop bandwidth must be 5-10 times larger than that of the outer loop. Lets shoot for 15 rad/min. The simplest inner loop controller would be a PI controller, based on the model: ( s ) = ( s + 1 )1 . The IMC controller is: q ( s ) = ( s + 1 ) ( s + 1 ) p Here, the multiplicative uncertainty is: A m (s) = 1.5e 0.02s 1
This approximately limits the bandwidth to c = 35 rad/min !
The cascade control system calls for an inner PI loop (1 = 1/15 min) and an outer PID loop (2 = 0.5 min). This should respond about three times as fast as the best single loop PID controller.
4-13 PROCESS CONTROL LAB - (c) Daniel R. Lewin SIMO and MISO Control
KC = 15
Single-loop
= 0.5 min
Cascade
LECTURE FOUR
Servo response of single PID controller. Note the large effect of uncertainty on the responses, and the sluggish response; it cannot be faster!
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Servo response of cascade controller. Note that the inner loop almost eliminates the effect of uncertainty, and the significantly faster response.
SIMO and MISO Control
Regulatory response of single PID controller. The effect of a disturbance in the cooling water feed temperature is rejected very sluggishly!
4-16
Regulatory response of cascaded controller. The inner loop efficiently eliminates the effect of the same disturbance (by design).
SIMO and MISO Control
LECTURE FOUR
MISO Systems
These control systems are characterized by more than one process input, but only one output. Examples include, but are not limited to: Split-range control.
In these systems, at least two distinct control variables are manipulated by the same controller, to regulate a single output variable.
Feedforward control.
Here, control action is computed on the basis of a prediction of the effect of a measured disturbance on the process output. As will be seen, feedforward control action is usually augmented to a feedback control system.
4-17 PROCESS CONTROL LAB - (c) Daniel R. Lewin SIMO and MISO Control
Split-range Control
Example: Exothermic batch reactor control. If the controller needs to bring the reactor contents to ignition (by heating), and subsequently remove heat of reaction, a splitrange control configuration is called for. Several possible implementations are illustrated below. Discuss the advantages and disadvantages of each.
1 0 Uc 3 1 Uh 9 P (psig) 15 C 0 Uc 3 Uh 9 P (psig) 15 C
SIMO and MISO Control
4-18
LECTURE FOUR
Feedforward Control
A better arrangement for disturbance rejection (assuming the disturbance is measured). p +c p y = d f d 1 + pc
Ideally, cf =
Problems.
pd p
If p is NMF, cf as defined above can be unstable and/or noncausal (or both). The FF controller, cf, and the feedback controller, c, cannot be designed independently.
4-19 PROCESS CONTROL LAB - (c) Daniel R. Lewin SIMO and MISO Control
Feedback Control 1. 2. Does not require disturbances to be measured. Can be made robust to model errors. 1. 2. 3.
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LECTURE FOUR
Example of FB + FF Control
Design a control system for an an exothermic reactor, using the coolant valve as the manipulated variable. The following measurements are available: (1) feed temperature, (2) reactor temperature, (3) coolant flow rate.
FF compensation for Tf. Outer FB loop TC primary loop
Explain the reasons for selecting the above configuration, and the disadvantages of dropping each of its three components.
4-21 PROCESS CONTROL LAB - (c) Daniel R. Lewin SIMO and MISO Control
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LECTURE FOUR
SIMULINK model to simulate comparison between cascade and cascade + feedforward control
4-23 PROCESS CONTROL LAB - (c) Daniel R. Lewin SIMO and MISO Control
Regulatory response of cascade system to a feed rate disturbance. The feed disturbance is sluggishly rejected using only feedback.
4-24
Regulatory response of cascade controller augmented by feedforward action. In this case, FF action is very efficient!
SIMO and MISO Control
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LECTURE FOUR
Summary
On completing this section, you should be able to: Identify processing situations that require special treatment such as cascade, override, auctioneering, feedforward and ratio control,
and be able to conceptually design these systems.
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