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CH 16 (1-27-05)

This document provides an overview of enhanced single-loop control strategies including: 1. Cascade control which uses two nested feedback loops to control a secondary variable. 2. Time-delay compensation and inferential control which address issues with time delays and unmeasured variables. 3. Selective and override control which allow multiple inputs to a single controller when the number of inputs exceeds outputs. 4. Nonlinear control including modifications to PID, nonlinear transformations, and gain scheduling to improve control of nonlinear systems. 5. Adaptive control which automatically tunes controller parameters in response to changes in process conditions.

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203 views29 pages

CH 16 (1-27-05)

This document provides an overview of enhanced single-loop control strategies including: 1. Cascade control which uses two nested feedback loops to control a secondary variable. 2. Time-delay compensation and inferential control which address issues with time delays and unmeasured variables. 3. Selective and override control which allow multiple inputs to a single controller when the number of inputs exceeds outputs. 4. Nonlinear control including modifications to PID, nonlinear transformations, and gain scheduling to improve control of nonlinear systems. 5. Adaptive control which automatically tunes controller parameters in response to changes in process conditions.

Uploaded by

David Alexander
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Chapter 16

Enhanced Single-Loop Control Strategies


1. Cascade control
2. Time-delay compensation
3. Inferential control
4. Selective and override control
5. Nonlinear control
6. Adaptive control
1

Chapter 16

Example: Cascade Control

Chapter 16

Chapter 16

Chapter 16

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

Chapter 16

Y1

Chapter 16

D2

G P1Gd 2
1 G c 2 G v G p 2 Gm 2 G c1 G c 2 G v G p 2 G p1 Gm1

(16 5)

Y1 = hot oil temperature


Y2 = fuel gas pressure
D1 = cold oil temperature (or cold oil flow rate)
D2 = supply pressure of gas fuel
Ym1 = measured value of hot oil temperature
Ym 2 = measured value of fuel gas temperature
Ysp1 = set point for Y1
Y%
sp 2 = set point for Y2

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

Chapter 16

Gv

5
s 1

Gd 2 1

G p1

4s 1 2s 1

Gm1 0.05

Gm2 0.2

G p2 1
Gd1

1
3s 1

Chapter 16

Example 16.2
Compare the set-point responses for a second-order process with a time delay
(min) and without the delay. The transfer function is

Chapter 16

e s
G p (s)
5s 1 3s 1

16 18

Assume Gm Gv 1 and time constants in minutes. Use the following PI


controllers. For 0, Kc 3.02and1 6.5 min, while for 2 min the controller
gain must be reduced to meet stability requirements Kc 1.23,1 7.0min .

10

Chapter 16

%
%
E' E Y%
1 Ysp Y1 Y Y2

16 19

If the process model is perfect and the disturbance is zero, then Y%


2 Y and

E' Ysp Y%
1

16 20

For this ideal case the controller responds to the error signal that would occur if not
time
G% G ,
were present. Assuming there is not model error
the inner loop has the
Gc
P
effective transfer function
G'
16 21
E 1 GcG * 1 e s

11

Chapter 16

For no model error:


Gc

G%= G G* e - s
Gc

1 Gc G* 1 e s

Gc G* e s
Gc G
Y

Ysp 1 Gc G* e s 1 Gc G*

By contrast, for conventional feedback control


GcG*e s
Y

Ysp 1 GcG*e s

16 23
12

13

Chapter 16

14

Chapter 16

Inferential Control

Chapter 16

Problem: Controlled variable cannot be measured or has


large sampling period.
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

15

Chapter 16

Inferential Control with Fast and Slow


Measured Variables

16

Selective Control Systems & Overrides

Chapter 16

For every controlled variable, it is very desirable that


there be at least one manipulated variable.
But for some applications,
NC > NM
where:
NC = number of controlled variables
NM = number of manipulated variables
Solution: Use a selective control system or an override.
17

Chapter 16

Low selector:

High selector:

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

18

Chapter 16

Example: High Selector Control System

multiple measurements
one controller
one final control element
19

Chapter 16

2 measurements, 2 controllers,
1 final control element
20

Chapter 16

Overrides
An override is a special case of a selective control
system
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?

21

22

Chapter 16

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.

23

Chapter 16

Enhancements of Conventional Feedback Control


We will consider three enhancements of conventional feedback control:
1. Nonlinear modifications of PID control
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

K c Kc 0 (1 a | e(t ) | )

(16-26)

Kc0 and a are constants, and e(t) is the error signal (e = ysp - y).
Also called, error squared controller.
2
Question: Why not use u e (t ) instead of u | e(t ) | e(t ) ?

Example: level control in surge vessels.


24

Nonlinear Transformations of Variables


Objective: Make the closed-loop system as linear as possible. (Why?)
Typical approach: transform an input or an output.

Chapter 16

Example: logarithmic transformation of a product composition in a high purity


distillation column. (cf. McCabe-Thiele diagram)
x*D log

1 xD
1 xDsp

(16-27)

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

25

Gain Scheduling

Chapter 16

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.

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

26

Examples of Gain Scheduling

Chapter 16

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.

Fig. 16.18 Open-loop responses.

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


full-scale (100%) flow.
K c wK c , I I / w, D D / w,
(16-30)
Compare with the IMC controller settings for Model H in Table 12.1:
Model H : G ( s )

Ke
,
s 1

Kc

1
K

2,

,
2

2
27

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.

28

Chapter 16

Block Diagram for Self-Tuning Control

29

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