Beruflich Dokumente
Kultur Dokumente
University of Cantabria
SESSION 6
Use the Direct Synthesis design method to calculate PID controller settings for the process
Consider three values of the desired close-loop time constant: c= 1, 3 and 10. Evaluate the values of
the parameters of the tuned controllers for unit step changes in both the set point and the disturbance,
assuming Gd= G
b) consider that you actually estimated an incorrect process gain (of value K=2) in your model.
Consider the blending tank system shown in the Figure 1. A feedback control system is used to reduce
the effect of disturbances in feed composition x1 on the controlled variable. Do the following:
a) Using the information shown below, derive a transfer function for each block and draw the block
diagram of the feedback control system using XCOS/Simulink.
b) Using the IMC method (see Table 1 below), determine a PI type of controller considering c= .
c) Simulate the closed-loop response for the controller obtained after a step disturbance of +0.2.
d) Repeat part c) for a set-point step change of -0.1.
e) Repeat part d) calculating a PID controller using a direct synthesis method. Compare this
dynamic response to the response in part d). Try several values of D and analyze the effect of
this parameter on the controlled response. What value of D gives better
results?
Deliverables: the report containing the block diagram in Simulink, the comparative plots, the results of
the calculations of the controller parameters and a proper discussion of the simulations response.
3
Computer laboratory of Chemical Process Dynamics and Control
Degree in Chemical Engineering 2016/2017
Chemical and Biomolecular Engineering Department. University of Cantabria
a) Firstly, we calculate the dynamics of the blending tank:
dV
=w1 +w 2w
dt
dxV
=w1 x 1+ w2 x 2wx
dt
Dealing with the previous equations and making the necessary transformations:
' ' ' ' ' '
Vs X ( s ) =w1 X 1 ( s )w1 X ( s ) + w2 ( s ) x 2w 2 X ( s )x w 2 ( s )
Then:
x 2x
X ' (s) w 1+ w 2 2.6104
Gp= = =
w2( s ) V 4.71 s+1
s+1
w 1+ w 2
w1
X ' (s) w 1+ w 2 0.65
Gp= = =
X1 (s ) V 4.71 s+1
s+1
w 1+ w 2
Gi/p= 0.75
Gm=32*e-s
As a result the block diagram of the control process could be seen below in Figure 1.
1.45es
G=
(0.083 s+1)(4.71 s+1)
1.45(10.5 s)
G=
(0.083 s+1)(4.71 s+1)(1+0.5 s)
Once we have the G following the instructions of the book Process Dynamics and control and
we calculate Gc [1]:
G c
Gc =
1GG c
Computer laboratory of Chemical Process Dynamics and Control
Degree in Chemical Engineering 2016/2017
Chemical and Biomolecular Engineering Department. University of Cantabria
1.45
=
(0.083 s+1)(4.71 s+1)(0.5 s +1)
G
+=( 10.5 s )
G
0.5 s +1
(0.083 s +1)(4.71 s+ 1)
G c =
K es
Gc=
s(s+1)
c)
Computer laboratory of Chemical Process Dynamics and Control
Degree in Chemical Engineering 2016/2017
Chemical and Biomolecular Engineering Department. University of Cantabria
Introducing the parameters which we have calculated before and the disturbance the response
could be seen in Figure 2.
With the parameters calculated the response gets stabilized with little oscilation. As a result,
the parameters seem to be good.
d)
Introducing the change in the set point the response could be seen in Figure 3.
After a change in the set point it is seen than the response of the system is fast, and in a sort
time reach the new steady state. That is important again because if the response does not
stabilized that would mean that the controller parameters are wrong.
Y
1
Gc= [
( Ysp ) ] d
G Y
1(
Ysp ) d
s
e
s+1
Y
( ) Ysp d
=
Gc=