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ABSTRACT
INTRODUCTO
The analysis and design of multivariable control
systems has received considerable attention in the
theoretical as well as applied literature in recent
years. It is an interesting problem for the
theoreticians and, with the advent of integrated plant
wide computer based control systems, it is an
increasingly tempting problem for practitioners to
tackle. This paper will present an interesting
theoretical tool which has proven to be very helpful
for the real world design problem. The tool is based
on the numerical concept of Singular Value
Decomposition (SVD) and provides quantitative
information about sensor placement, physical
controllability, controller pairing and also can be used
directly as a decoupling control strategy. It can be
applied to an existing process unit or it can be applied
during the design phase to help screen out inadvertent
multivariable control problems before they become
fixed in concrete and steel.
The concepts and tools presented in this paper
are based not only on public domain research done by
this author and others but are also based on a number
of consulting experiences in which the author has had
the opportunity to apply (or see applied) these
techniques to a number of full scale industrial
systems. Unfortunately, these industrial experiences
cannot be directly documented for publication;
however, they have all been quite positive in
demonstrating that the techniques do in fact work in
the real world.
Interpretation
643
K =
% of sensor span
% of range of manipulator
U = UL*U2:.....U:n The Left Singular Vectors provide
the most appropriate coordinate system for viewing
the process sensors. This coordinate system is such
that the first singular vector (Ul) indicates the easiest
direction in which the system can be changed. The
second singular vector (U2) is the next easiest
direction. The third is the next easiest, and so on....
0.00471
0.01711
0.03944
0.05795
0.06509
0.06021
0.04834
0.03452
0.00522
0.01903
0.04315
0.06315
0.07091
0.06334
0. 04676
0.02976
0.00713
0. 02606
0.05072
0.07074
0. 06038
0. 04802
0. 03157
0.01858
0. 0 1066
0. 02352
0.02724
0. 02720
0.02254
0. 01599
0. 01006
0. 00528
02
03
04
=
=
0.23133E-00
0.32938E-01
= 0.11256E-01
c 0.38279E-02
Dimension
4x4
3x3
2x2
Condition Number
60.43
20.55
7.02
A_A4
CONTROLLER PAIRING
Another simple analysls which can be understood
from this physical interpretation is controUler pairing.
The pairing which will yield the least open loop
multivariable interaction is one in which the sensor
associated with the largest vector component of
column Ul is paired with the manipulated variable
associated with the largest vector component of
column VI. The largest vector component of U2 is also
paired with the largest vector component of V2.
z =
1.4531
0
0
0. 8029
10.94
T28
T34
SENSOR LOCATION
For many multivariable processes there is a
decision to make about sensor location which can be
critical to the success or failure of a multivariable
control system. SVD provides a systematic procedure
for placing sensors in such a way as to both maximize
sensor sensitivity and to minimize sensor interaction.
-0.5877
0.8091
16.86
(S)
multivariable system.
-0.3889
1.0000
0.8091
0.5877
(R)
(Q)
V =
Q +T41
AFI
-0.9612
0.2758
V =
R
S
AP2
U = 0.2758
0.9612
(T28)
(T34)
(T41)
pairing:
0.7778
1. 0000
where:
K =
1.31
19.77
0.62
U =
64.10
,&Tm.=
AFm
-29.58 -26.87
-32.11 -12.27
-34.98 -10.83
K =
645
El
or
TI
T2
T3
Tn
smaller).
646
DESIGN
Control Scheme
BL
BR
DQ
QR
LQ
Cond. *
1860.
1413.
199.
14.7
2.24
Scheme
LQ
DQ
Condition Number
Vapor Feed
Liquid Feed
2.24
199. 0
2.54
2.96
647
SUMMARY
This paper presents the numerical concept of
Singular Value Decomposition as an analysis and design
tool which can be applied quite effectively to
multivariable processes. The procedure presented in
this paper have been applied to a number of real
industrial process units and have proven to be quite
effective in determining such practical considerations
as the most appropriate sensor locations, the most
effective first level strategies, and the strongest
controller pairing. It can also be used as a basis for
designing multivariable control strategies which are
simple to implement and effective in terms of control
performance.
Contro,v AC-26,
REFERENCES
(1)
648
10
19
12
23
14
(29)
(30)
(31)
Dept of Computer
,MATLAB,
,
Science, University of New Mexico.
ORIG0NAL
IGI
106
(32) _
(28)
rL IX
-3.1248757E-02
-0.1240760E-02
-0.1248760E-02
-0.12)65200-02
S -0. 1296520-02
6 -0.12265200-02
7 -0.2329613E-02
0 -0.26400240-02
9 -0.2688592E0-02
20 -0.300o70CE-02
11 -0.3937351E-02
12 -0.393735lE-02
13 -0.5106110E-02
14 -0.5650257E-02
15 -0.6578173E-02
16 -0.707469K0-02
17 -C.9123489OE-02
1
0.OOOOOOE+00
0.00000000+04
0.0000800E+00
D.4766373E-04
D.4768372E-04
2
3
4
0.4766372E-04
0.14300510-03
0.1436511E-03
0.1907349E-03
0.1907349E-03
0 .1907349E-03
0.23641060-03
0.33378800-03
0.1144400E-02 0.30146970-03
0.1335144E-02 0.3614697E-03
0.1621246E-02 0.4291534E-03
19 0.1907349E-02 0.57220460-03
20 0.2336502E-02 0.57220460-43
26 0.276565-02 0. 782390-03
21
22 0.3337864E-02 O.883069E-03
is
Z3 0.40054330-02 0.1001350-02
24 0.49S910E0-02 0.1239"7770-2
25 0.61035100-02 0.1436511E-02
26 0.7501711E-02 0.171614E-02
27 0.90367430-02 0.0269063E-02
28 0. 121116-;01 0.2670200-02
0.157353M-01 0.33376E-02
0.2117107-01 0.43e69020-02
30 0. 2945370-01 0 .61511900-02
32 0.45156460-41 0.905990-02
33 0.04732-01 0.13585 -01
34 0.023497K01 0.1573560-01
192 PRCOF
15
17
5.2 I-EtOH
33
3S
37
432
38
0.2222061E-01 0.39100650-02
0.230418E0-01 0.3305544E-02
40
41
42
43
44
0.252774E-01 0.57220460-03
0.23904910-01 0.1907349E-03
56
45
47
46
49
SD
0.2517700E-01
0.11359180-01
-0.107130E-01 0.291000K-01
-0.2271311E-01 0.25826600-01
0.3333694E-01
0.4127434E-01
0.4261547E-01
26 -0.5135784E-01 0.47757760-01
27 -0.6453977E-01 0.4942274E-01
28
29
30
31
32
-0.0197121E-01
-0.1063664E+00
-0.14300700E-DO
-0.2022173E+00
-0.3047197E400
34
35
-0.141"74E+00
-0.1059485E+00
-0.16765460+00
33
36
37
-0.4619186E+00
-0.5549154E+00
0.7011590-01
0.796S83E-01
0.945070-01
0.1346626E+00
0.18454200+00
0.2671007E+00
0.2650490+00
0.43775150-01
-0.2252375E-01
-0.8915587E-01
-.09694957E+00 -0.1512489E+ll
2 -0.1512489E+00 0.0984957E+11
1
23 -0.2722708E-01
24 -0.3370971E-01
2! -0.4139335E-01
0.281333SE-02
SINGULA R VALUES
0.1509E0+00
0.11519E-01
CONDITIO
NWISER
13.10091
-0.174577K+00 -0.2077255+00
43
-D.14502500E+00 -0.303404X+01
-0.30387300+00
-0.28D1271E+00
902431E-01 -0.2651901E+00
-0.83214700-01 -0.233095+00
-0.6791750E-01 -0.2032077E+00
-0 .5427"67-01 -0.167476X300
-0.2094231E-01 -0.4712465E-01
0.22172930-01 -0.1430511E-03
0.200271SE-01 -0.4768372E-03
0.175590O-01 -0.57220460-03
44 -0.130641E0+00
45 -0. 114624K+00
46 -0.
47
-O.76S3990-3
-0.76293*50-03
-0.76293950-03
-O.0675706E-03
48
49
-0."61023E-03
FIGURE 2
ETHANOL-WATER
GAIN MATRIX
FIGURE 1
ETHANOL-WATER COLUMN
21
22
0.36062990-01 0.2193451E-02
0.2641C700-01 0.1621246E-02
0.261306:8-01 0 .114440K-02
0.152111LE-01
0.;1206930-01
0.1049042E-01
0.0392340-02
0.524243X-02
-0.254589E-02
-0.2504351E-02
-0.25043400-02
0.15e7473E0-2
0. 156747X-02
0.150747K-02
0.78926410-02
0.7266756E-02
0.1073249E-01
0.8854236E-02
0.89I4236E-02
0.634995E-02
0.919537E-012
0.161209C9E-01
0.1770847E-01
0.1520412E-01
18 -0.1104436E-01 0.1553943E-01
19 -0.13060S1E-01 0.2405635E-01
20 -0.1507052E-01 0.1842359E-01
0.1907349E-03
0.4291534-03 0.19073490-03
0.5722046E-03
O.57220460-03
0. 76293950-03
0.&M85090-03
0.9536743E-03
rTkIX
50
FIGURE 3
ETHANOL- WATER
SVD ANALYSIS
LO
A
11-
-I
1 O 1 S 20 25 30 35 40 45 50
TRAY NUMBER
FIGURE 4 U VECTOR PLOTS
649
1 0 1 5 20 25 30 35 40 45 50
TRAY NUMBER
FVUKr 5 SENSOR LOCATION PLOT
50.0
46.0
42.0
38.0
2:
-:
34.0
30.0
Lt.
26.0
22.0
18.0
14. 0
10.0
_o
oz
0
VT
7--
19
20
17
18
I6
SIDEDRAW POSITION (TRAY NUMBER)
21
200.0
190.0
'
160.0
w
_
o
120.0
100.0
8o.0
eJ
60.0
20.0 0.0
0.5
1.0
72.0
FIGURE 6
64.0
0:
Q
z
56.0
48.0
40.0
J-
32.0
za
24.0
16.0
'
B.o
0.0
R1
Xl
R2
X2
FIGURE 8
SYD PROFILE CONROLLER
650