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Control
Chapter 1
Notation:
• w1, w2 and w are mass flow rates
Control Objective:
Keep x at a desired value (or “set point”) xsp , despite variations in
x1(t). Flow rate w2 can be adjusted for this purpose.
Terminology:
• Controlled variable (or “output variable”): x
Overall balance:
0 = w1 + w2 − w (1-1)
Chapter 1
Component A balance:
w1 x1 + w2 x2 − wx = 0 (1-2)
xSP − x1 ( t )
w2 ( t ) = w1 (1-5)
1 − xSP
Chapter 1
• Because Eq. (1-3) applies only at steady state, it is not clear
how effective the control law in (1-5) will be for transient
conditions.
1 x w2 FBa
2 x1 w2 FF
3 x1 and x w2 FF/FB
4 - - Design change
Feedback Control:
• Distinguishing feature: measure the controlled variable
• It is important to make a distinction between negative feedback
and positive feedback.
Engineering Usage vs. Social Sciences
• Advantages:
Corrective action is taken regardless of the source of
Chapter 1
the disturbance.
Reduces sensitivity of the controlled variable to
disturbances and changes in the process (shown later).
• Disadvantages:
No corrective action occurs until after the disturbance
has upset the process, that is, until after x differs from
xsp .
Very oscillatory responses, or even instability…
Feedforward Control:
Distinguishing feature: measure a disturbance
variable
• Advantage:
Correct for disturbance before it upsets the process.
Chapter 1
• Disadvantage:
Must be able to measure the disturbance.
No corrective action for unmeasured disturbances.
Closed-loop Artificial Pancreas
glucose u
setpoint
y
r
measured glucose
Chapter 1
Chapter 1
Chapter 1
Justification of Process Control
(hours-days ) 4. Real-Time
Optimization
3b. Multivariable
Figure 1.7 Hierarchy of
Chapter 1
2. Safety, Environment
(< 1 second ) and Equipment
Protection
Process
Chapter 1
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