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CONTROL
Presented by
Chinta Manohar
D Surya Suvidha
flow FIC
DV(dynamic
Inlet
variable)
temperature TI
CV(control
Outlet
Process Flow
Ti
Fp
FIC
variable)
temperature TIC
Fuel
TIC
CONT
furnace DMC
model is defined by its
dynamic coefficients a
and b
Response to step
change in fuel, a
Response to step
change in inlet
temperature, b
0.014
0.086
0.214
0.0
0.240
0.340
0.414
0.600
0.465
0.540
The
,b
0.736
0.836
0.590
0.622
0.904
0.949
0.640
0.653
0.986
0.658
CONT
DMC
Dynamic
coefficents
Response to step
change in fuel, a
Response to step
change in inlet
temperature, b
Fuel Coefficients ai
1.5
1
0.5
0
Fuel Coefficients ai
10
0.5
0
0
10
2
CV
a1
a
2
0
a1
0
0
b1
b2
0
b1
CV 3 a3 a2
CV i ai ai 1
a1
b3
b2
ai 2
bi
bi 1
MV 1
0
2
MV
0
MV 3
b1
1
DV
DV 2
bi 2
3
DV
8
CV
CV 3 b3 DV 1
CV i bi
a1
a2
0
a1
a3 a2
ai ai 1
0
0 MV 1
2
a1 MV
MV 3
ai 2
9
CONT
Controller
definition
Prediction
horizon = 30
time steps
Control horizon = 10
time steps
Initialization
Set
CV prediction vector
to current outlet
temperature
Calculate error vector
CV 1 CV 0
CV 30 CV 0
e1 SP1 CV 1
e 30 SP 30 CV 30
10
0
0
a1
a
30
a29
a28
1,1 0
0
2, 2
0
0
0
9,9
0
a1
a
2
a3
Move
suppression
0
0
a1
MV 1
MV 2
a21
0 MV 30
0
10,10
e1
2
e
e10
0
11
FURNACE RESPONSE
Furnace
Temperature
Example
Temperature
Disturbance
DT=15 at t=0
Three Fuel
Moves Calculated
15
10
5
0
-5 0
-10
-15
625
600
5
Fuel_0
Temp_0
Fuel_1
Temp_1
Fuel_2
Prediction
10
Time
13
15
575
interval
Constrain min/max MV values at all times
Constrain min/max CV values at all times
Drive to economic optimum
Allow for feedforward disturbances
14
CONT
Restrict
15
CONT
For
CV k 1 CV 0 ak j 1 MV j d k
j 0
CV 1 CV 0 a1 MV 0 d 0
CV 2 CV 0 a2 MV 0 a1 MV 1 d 1
CV 3 CV 0 a3 MV 0 a2 MV 1 a1 MV 2 d 2
16
CONT
Breaking
CV k l CV
k l
k N 1
ak l j MV
j k
k 1
k 1
CV CV a1 MV k
k 2
k 2
CV CV a2 MV k a1 MV k 1
CV
k 3
CV
k 3
a3 MV k a2 MV k 1 a3 MV k 2
17
CONT
Let
k 2
CV
CV
k 1
k M
CV
k 1
k 2
a1
a
2
CV a N
k M
CV
aM
aM
0
a1
a N 1
aM 1
aM
MV k
a1 MV k 1
aM N 1 MV k N 1
aM
18
CONT
Setting
CV k 1 CV k 1
S
k 2
S
CV
CV
CVSk M CV
k 2
k M
e A MV
19
CONT
Predicted
20
SCALING OF RESIDUALS
For example,
the relative
weights with
two CVs
w1
1
2
w1
w2
w2
w2
21
DMC-RESTRICTION
To
Min W MV
2
R
1
2
r1
r1
r1
r2
r2
r2
22
CONT
Subject
The
to linear constraints
MV LO
LO
MV
MV
LO
MV HI
HI
MV
MV
k 1
MV
k N 1
HI
MV
MV
k
23
CONT
Subject
to linear constraints
Size
MV k
k 1
MV
MV
MV
MV
k N 1
MV
MV
IL
1 0 0 MV k
1 1
k 1
MV
k N 1
1 1 1 MV
24
CONT
Subject
to linear constraints
MV calculated
MV LO
MV
MV k
k 1
MV HI
MV
MV MV I MV
MV MV
L
LO
k N 1
HI
MV MV
MV
MV MV
LO
HI
25
CONT
Subject
to linear constraints
CV calculated
low limits
CV
LO
CV
LO
CV
LO
CV k 1
MV k CV HI
k 2
k 1
HI
MV
CV
CV
k M
k N 1
HI
MV
CV
CV
26
where
MODIFIED DMC
The
Aij
A 11
A
21
A 1t
0
0
A 12
A 22
0
1t
0
A13
A 23
0 ,e
1t
e1
e2
MV1* MV 1
*
MV2 MV 2
MV3* MV 3
28
29
CONT
Select
Compute
30
CONT...
Compute
Select
Compute
31
CONT
RESPONSE OF DMC
33
REFERENCES
THANK YOU
35