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the shells. Within the shell trays are available. It is used Table 1: Time Integral Performance
to increase the component separations. Reboilers are
used for enhancing transfer of mass and heat energy. It ( )
is used to provide an amount of heat for the vaporization ()
from the bottom of the column. Condensers are used to 0
condense distilled vapor. This condensed vapors ( )
collected in reflux drum and required amount is 2 ()
extracted from it.Due to load fluctuations and noise it is 0
very difficult to maintain the stability of system and (
purity of outputs. Wood and Berry Distillation column ) ()
is a 2x2 binary column which separates the methanol 0
and water. It consists of a reboiler and 8 numbers of (
trays.[4] The system process function is stated below. ) 2 ()
12.8 18.9 3 0
= 16.77
+1 21 + 1
6.6 19.4 3 V. METHODS OF CONTROLLER DESIGN
10.9 + 1 14.4 + 1
Most of the industries adopting auto tuning PID control
Overhead mole fraction methanol (y1) and bottom mole strategies because of its simple nature and easy to use.
fraction methanol (y2) are considered as the controlled In the auto tuning method PID parameters are evaluated
variables, Overhead reflux flow rate (u1), bottoms steam based on the Least Square Optimization, Real coded
flow rate (u2) are taken as manipulated variables. Genetic Algorithm,[6] and Desired Dynamic
Equation[5] are compared with Ziegler Nichols Method.
III. DECOUPLING STRATEGIES These algorithms are implemented by using MATLAB
The simulation diagram of Decoupling Controller for a simulation tool directly. To design Wood-Berry
MIMO Processes is shown in the Fig. 1 below which distillation column, the PID values used in the above
uses the technique for tuning of PID Controllers mentioned control strategies are tabulated in table 2.
parameters. In the centralized control of PID both Table 2: Tuning Parameters for Various Method
diagonal elements and off diagonal elements are
designed. [7] Method Controller Kc i d
PIDC11 0.400 0.0850 0.3
Least Square
Optimization PIDC21 0.1092 0.0238 0.3
Tuning PIDC12 0.1217 0.0866 0.3
PIDC22 0.1134 0.0680 0.3
PIDC11 0.7175 0.2368 0.7134
RGA Tuning PIDC21 0.3262 0.1204 0.1957
PIDC12 0.3698 0.0120 0.0897
PIDC22 0.0143 0.0188 0.2415
PIDC1 0.1971 0.0512 0.0992
DDE Tuning
PIDC2 0.2258 0.0387 0.1589
VI. SIMULATION RESULTS
Fig.1. Block Diagram of Decoupling PID Controller for
Consider a unit magnitude step change in first reference
a MIMO Process
at t=0 and second reference at t=150 seconds with a total
IV. PERFORMANCE INDICES time period of 300 seconds. The summarized values of
performance indices of various control strategies are
Set point tracking, regulatory response and noise tabulated in Table.3. In order to determine the better
rejection in output response are the most important one among the above tuning methods are applied for the
performance characteristics for any control of decoupling PID control of the binary distillation column,
multivariable systems. The time integral performance is for the set point tracking case the performance criteria
the major consideration for designing PID controller. Integral Absolute Error (IAE) and Integral Square Error
These time integral performances are integral of squared (ISE) of the controllers were calculated with the aid of
error (ISE), integral of time weighted square error Simulink and the results are obtained are shown in Table
(ITSE), integral of absolute value of error (IAE) and 3
integral of the time weighted absolute error (ITAE).
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International Journal of Electrical, Electronics and Computer Systems (IJEECS)
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ISE IAE
Method
Y1 Y2 Y1 Y2 1.5
(LSO)
Y2
RGA 2.722 6.921 8.16 13.8 0.5
Y1
1
Time Series Plot:Y2
2 0.8
0.6
1.5 0.4
0.2
1 0
0 50 100 150 200 250 300
Y2
Time (seconds)
0
1.5
-0.5
0 50 100 150 200 250 300
1
Time (seconds)
Y2
1.6
0
1.4
1.2
-0.5
0 50 100 150 200 250 300
Y1
1 Time (seconds)
0.8
0.6
Fig.4: Closed Loop Response of Y1 and Y2 by DDE
Method
0.4
0.2 REFERENCES
0
0 50 100 150 200 250 300
Time (seconds)
[1]. K.J. Astrom and T. Hagglund, PID Controllers:
Fig.2: Closed Loop Response of Y1 and Y2 by Least Theory, design and tuning, 2nd. ed. Instrument
Square Optimization Method Society of America 1995.
2
Time Series Plot:Y1
[2] H.E. Musch and M. Steiner, Robust PID control
1.8 for an industrial distillation column, IEEE
1.6 Control Systems, Vol 15, pp46-55, Aug 1995.
1.4
[3] W.L. Luyben, Process Modelling Simulation and
1.2
Control for Chemical Engineer. 2nd ed. McGraw-
Y1
1
Hill, New York, 1990
0.8
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International Journal of Electrical, Electronics and Computer Systems (IJEECS)
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[5] Zeng-Rong Hu, Dong-Hai Li, Jing Wang, optimization tuning method, IEEE international
FengXue, Analytical Design of PID Decoupling conference on computational intelligence and
control for TITO Process with Time Delay, computing research, 2014.
Journal of Computers, Vol.6, No.6, pp. 1064-
[7] K.J. Astrom, Karl Henrik Johansson, Qing-Guo
1070, 2011
Wang, Design of Decoupled PID Controllers for
[6] CH Suresh Kumar, Design PID Controller for MIMO Systems
TITO Process Based on Least square
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