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Chapter 16

1. The document discusses several enhanced single-loop control strategies including cascade control, time-delay compensation, inferential control, selective and override control, and adaptive control. 2. Cascade control uses two nested feedback control loops, with the output of the "master" controller as the setpoint for the "slave" controller. 3. Inferential control estimates the controlled variable based on available measurements when the controlled variable cannot be directly measured or has a long sampling period.

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shodhan shetty
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52 views24 pages

Chapter 16

1. The document discusses several enhanced single-loop control strategies including cascade control, time-delay compensation, inferential control, selective and override control, and adaptive control. 2. Cascade control uses two nested feedback control loops, with the output of the "master" controller as the setpoint for the "slave" controller. 3. Inferential control estimates the controlled variable based on available measurements when the controlled variable cannot be directly measured or has a long sampling period.

Uploaded by

shodhan shetty
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Enhanced Single-Loop Control Strategies

1. Cascade control
Chapter 16

2. Time-delay compensation
3. Inferential control
4. Selective and override control
5. Adaptive control

1
Example: Cascade Control
Chapter 16

2
Chapter 16

3
Chapter 16

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Cascade Control
• Distinguishing features:
1. Two FB controllers but only a single control
valve (or other final control element).
Chapter 16

2. Output signal of the "master" controller is the


set-point for “slave" controller.
3. Two FB control loops are "nested" with the
"slave" (or "secondary") control loop inside
the "master" (or "primary") control loop.
• Terminology:
slave vs. master
secondary vs. primary
inner vs. outer 5
Chapter 16

6
Chapter 16

7
Example 16.1
Consider the block diagram in Fig. 16.4 with the following
transfer functions:
Chapter 16

8
Chapter 16

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Inferential Control

• Problem: Controlled variable cannot be measured or has


large sampling period.
Chapter 16

• Possible solutions:
1. Control a related variable (e.g., temperature instead
of composition).
2. Inferential control: Control is based on an estimate
of the controlled variable.
• The estimate is based on available measurements.
– Examples: empirical relation, Kalman filter
• Modern term: soft sensor

10
Inferential Control with Fast and Slow
Measured Variables
Chapter 16

11
Selective Control Systems & Overrides

• For every controlled variable, it is very desirable that


there be at least one manipulated variable.
Chapter 16

• But for some applications,


NC > N M
where:
NC = number of controlled variables
NM = number of manipulated variables

• Solution: Use a selective control system or an override.

12
• Low selector:
Chapter 16

• High selector:

• Median selector:
• The output, Z, is the median of an odd number of inputs

13
Example: High Selector Control System
Chapter 16

• multiple measurements
• one controller
• one final control element

14
Chapter 16

2 measurements, 2 controllers,
1 final control element
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Overrides

• An override is a special case of a selective control


system
Chapter 16

• One of the inputs is a numerical value, a limit.


• Used when it is desirable to limit the value of a
signal (e.g., a controller output).
• Override alternative for the sand/water slurry
example?

16
Chapter 16

17
Nonlinear Control Strategies
• Most physical processes are nonlinear to some degree. Some are very
nonlinear.
Examples: pH, high purity distillation columns, chemical reactions
with large heats of reaction.
Chapter 16

• However, linear control strategies (e.g., PID) can be effective if:


1. The nonlinearities are rather mild.
or,
2. A highly nonlinear process usually operates over a narrow range of
conditions.
• For very nonlinear strategies, a nonlinear control strategy can provide
significantly better control.
• Two general classes of nonlinear control:
1. Enhancements of conventional, linear, feedback control
2. Model-based control strategies
Reference: Henson & Seborg (Ed.), 1997 book.

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Enhancements of Conventional Feedback Control

We will consider three enhancements of conventional feedback control:


1. Nonlinear modifications of PID control
Chapter 16

2. Nonlinear transformations of input or output variables


3. Controller parameter scheduling such as gain scheduling.
Nonlinear Modifications of PID Control:
• One Example: nonlinear controller gain

• Kc0 and a are constants, and e(t) is the error signal (e = ysp - y).
• Also called, error squared controller.

Question: Why not use

• Example: level control in surge vessels.

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Nonlinear Transformations of Variables
• Objective: Make the closed-loop system as linear as possible. (Why?)
• Typical approach: transform an input or an output.
Example: logarithmic transformation of a product composition in a high
purity distillation column. (cf. McCabe-Thiele diagram)
Chapter 16

where x*D denotes the transformed distillate composition.


• Related approach: Define u or y to be combinations of several
variables, based on physical considerations.
Example: Continuous pH neutralization
CVs: pH and liquid level, h
MVs: acid and base flow rates, qA and qB
• Conventional approach: single-loop controllers for pH and h.
• Better approach: control pH by adjusting the ratio, qA / qB, and
control h by adjusting their sum. Thus,
u1 = qA / qB and u2 = qA / qB
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Gain Scheduling
• Objective: Make the closed-loop system as linear as possible.
• Basic Idea: Adjust the controller gain based on current measurements of
a “scheduling variable”, e.g., u, y, or some other variable.
Chapter 16

• Note: Requires knowledge about how the process gain changes with this
measured variable.

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Examples of Gain Scheduling
• Example 1. Titration curve for a strong acid-strong base neutralization.
• Example 2. Once through boiler
The open-loop step response are shown in Fig. 16.18 for two
different feedwater flow rates.
Chapter 16

Fig. 16.18 Open-loop responses.

• Proposed control strategy: Vary controller setting with w, the fraction of


full-scale (100%) flow.

• Compare with the IMC controller settings for Model H in Table 12.1:

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Adaptive Control

• A general control strategy for control problems where the process or


operating conditions can change significantly and unpredictably.

Example: Catalyst decay, equipment fouling


Chapter 16

• Many different types of adaptive control strategies have been proposed.


• Self-Tuning Control (STC):
– A very well-known strategy and probably the most widely used adaptive
control strategy.
– Basic idea: STC is a model-based approach. As process conditions change,
update the model parameters by using least squares estimation and recent u &
y data.
• Note: For predictable or measurable changes, use gain scheduling
instead of adaptive control
Reason: Gain scheduling is much easier to implement and less trouble
prone.
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Block Diagram for Self-Tuning Control
Chapter 16

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