Beruflich Dokumente
Kultur Dokumente
Fundamental understanding
Process dynamics Feedback control
Compensating for Disturbances Reduces Deviations from Setpoint and Settling Time
6 3 T' (K) 0 -3 -6 0 Compensating for disturbances 10 20 30 Time (seconds) 40 50 FB-only
Lsp LC
Fin Fout LT FT
RSP
FC
Cooling water
TT
Product
Feed
Cooling water
TT
TC
RSP
TT
TC
Product
Analysis of Example
Without cascade, changes in the cooling water temperature will create a significant upset for the reactor temperature. With cascade, changes in the cooling water temperature will be absorbed by the slave loop before they can significantly affect the reactor temperature.
RSP FC FT AT
This approach works because the flow control loop is much faster than the temperature control loop which is much faster than the composition control loop.
Example
PT TT Steam
Feed Condensate
Draw schematic: A temperature controller on the outlet stream is cascaded to a pressure controller on the steam which is cascaded to a control valve on the condensate.
Solution
TC TT RSP PC PT
Steam
Feed Condensate
Ratio Control
Useful when the manipulated variable scales directly with the feed rate to the process. Dynamic compensation is required when the controlled variable responds dynamically different to feed rate changes than it does to a changes in the manipulated variable.
w/ ratio control
Time
FT
RSP
FC FT
Acid Wastewater
pHC pHT
NaOH Solution
Effluent
FC FT
Feed
Vent Product
TT
Steam
RSP FC FT
AC
AT
Example
FT TT Flue Gas
FT Fuel
Process Fluid
Draw schematic: For a control system that adjusts the ratio of fuel flow to the flow rate of the process fluid to control the outlet temperature of the process fluid. Use a flow controller on the fuel.
Solution
FT
To Steam Users
FT FF
Make-up Water
Make-up Water
FT LC
LT
FF +
To Steam Users
Make-up Water
Derivation of FF Controller
D(s)
Gff(s)
Gds(s) Gd(s)
Cff(s)
Ga(s)
Gp(s)
++
Y(s)
Kp e
p s
ps + 1
K ff ( ld s + 1) e ( lg s + 1)
ff s
Lead/Lag parameters : K ff , ld , lg , ff
ld/ lg = Time
Feedforward When pd
TT Coolant Inlet
FF
FC FT
Feed
FT Coolant Outlet
G ff ( s ) =
K ff e
ff s
ld s + 1
To
To
10C
10C
10 kW 0 2 4 6 Time (minutes)
Q 8 10
Ti 0 2
When the inlet temperature drops by 20C, Q is immediately increased by 20 kW. Deviations from setpoint result from dynamic mismatch
FF correction is mirror image of disturbance effect. Net effect is no change in controlled variable.
Since the Q affects the process slower than Ti , initially overcompensation in Q is required followed by cutting back on Q to 20 kW.
w/o DC
w/ DC 0 5 10 15 Time (minutes) 20
ld/ lg = Time
Tuning a FF Controller
Make initial estimates of lead/lag parameters based on process knowledge. Under open loop conditions, adjust Kff until steadystate deviation from setpoint is minimized.
Time
Tuning a FF Controller
Analyzing the dynamic mismatch, adjust ff.
Time
Tuning a FF Controller
Finally, adjust (ld - lg) until approximately equal areas above and below the setpoint result.
Time
Feedback Control
Can effectively eliminate disturbances for fast responding processes. But it waits until the disturbance upsets the process before taking corrective action. Can become unstable due to nonlinearity and disturbance upsets.
Feedforward Control
Compensates for ds before process is affected Most effective for slow processes and for processes with significant deadtime. Can improve reliability of the feedback controller by reducing the deviation from setpoint. Since it is a linear controller, its performance will deteriorate with nonlinearity.
+-
Gc(s)
++
Gp(s)
+ +
Y(s)
FF TT
RSP Feed
FC FT
Steam
TT
Product
Example
Steam TT PT
Feed
TT Condensate
Draw schematic: For a combined feedforward and feedback controller in which the inlet feed temperature is the feedforward variable and the outlet temperature is the feedback variable. The combined controller output is the setpoint for a steam pressure controller.
Solution
+
TC FF TT RSP PC PT Steam
Feed
TT Condensate
Overview
Cascade can effectively remove certain disturbances if the slave loop is at least 3 times faster than the master loop. Ratio control is effective for processes that scale with the feed rate. Feedforward can be effective for measured disturbances for slow responding processes as long as the process nonlinearity is not too great.