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Control
CH 3043 A
Lecture 1 - Introduction
2019-2020
Costin Sorin Bildea
University “Politehnica” of Bucharest
Department of Chemical and Biochemical Engineering
Email: c.bildea@tudelft.nl
s_bildea@upb.ro
Room:
Phone:
Example of a
dynamic process
• Moving
• Unstable
• Disturbances
Example of process
control
• Path set (in mind)
• Uses senses (speed, direction, position, etc)
• (Peripheral) nervous system transmits information
to the brain
• The brain processes the information and sends
commands to the body
• Actions are implemented
• pedaling (feet)
• steering (hands)
• balancing (body mass)
Other examples
• temperature control when showering
• thermostat in houses
• consumer products (CD, dish washers,.)
• airplanes
• chemical plants
Lecture 1 - Introduction
• Goals
• to provide an introduction to the contents of the course
• to introduce basic concepts
Need to:
• monitor &
• change process variables
• “Nothing is changing”
h(t)
F(t)
F0(t) = F(t) = FS h(t) = hS
- diameter pipe
• Safety
- high / low level alarm
pipe diameter
- interlock
Dynamic behaviour F0(t)
F(t)
F0
time
h
1
time
Chemical Process
Trap
Process performance without control
Temperature
T*
Setpoint
without control
time
Process variable
(temperature)
Sensor
Oil feed Heat exchanger (thermometer)
Trap
Performance of (manual) process control
Temperature
Manual control
T*
Setpoint
without control
time
Control TC
valve Controller
Sensor
Trap
Performance of (automatic) process
control
Temperature
Manual control
T*
Setpoint
Automatic control
without control
time
High-level decisions
• Process design
• Control structure
• Algorithms (type of controller)
• Controller tuning
Low-level decisions
Level 0 - Process design
The driver controls both Control of direction is not needed Skillful driver required!
speed and direction
Level 1 - Control structure
Set point
Steam
SP
OP
Control TC Feedback controller
valve
Can we improve it ?
Sensor
Trap
Level 1 – Control structure
Feedforward controller
Control Drawbacks:
- The disturbance must be measured
valve
- A good model of the process is
needed
- Does not deal with all disturbances
Oil feed Heat exchanger
Sensor
Trap
Level 1 – Control structure
Combined feedback – feedforward control
FFC
Steam Set point
Control S TC But…
valve
The outlet temperature is determined by the
steam flow rate, which in turn depends on:
- Valve opening
Oil feed Heat exchanger - Steam pressure
Sensor
Trap
Level 2 – Control
F
algorithm
in
Water feed
Ac h
Fout
Water outlet
Dynamic models
dh Water feed
Ac Fin Fout
dt
Fin = Fout = Fin,S = Fout,S Ac h
Fout
hS
Water outlet
d h hs
Ac Fin Fin , S Fout Fout , S
dt
h hs y
dy 1
Fin Fin , S d d u
dt Ac
Fout Fout , S u
Level 2 – Control algorithm
u0
d 0
dy 1
d d
dt Ac y t
Ac
t
Level 2 – Control algorithm
Fout Fout , S K h hS
Water feed
h
LC hS
Fout
Water outlet
Level 2 – Control algorithm
Fout Fout , S K h hS Water feed
h hS
LC
dy 1 Water outlet
d K y
dt Ac
increasing
d K
y t 1 exp t K
K Ac
y
d
lim y t
t K t
Level 2 – Control algorithm
Question:
such that
limy t 0
t
Level 3 – Controller tuning
uKy Water feed
h hS
LC
How to choose the parameter K ?
F out
d
lim y t
Water outlet
t K
Controlled
variables
Controller
Reference
variables
The process control system
• monitoring outputs (sensor)
• making decisions about how to change the manipulated inputs
(controller)
• to obtain desired output behaviour (set point)
• and implementing the decisions (control elements)
• when the process is affected by disturbances
Overview of control system design
• Assess the process & define objectives
• control needed?
• another alternative ? (design)
• performance
• Select process variables
• variables of interest (outputs)
• disturbances
• inputs available
• Select control structure
• connections input / output
• Design the controller (s)
• control algorithm, algorithm parameters (tuning)
“Laws” of process control
1. The best control system is the simplest one that will do the job
• manual
• automatic
• Pass:
• Each assignment - at least 50%
• Exam - at least 50%
Connections with Other Courses
MSc
Thesis
Catalysis &
Process
reaction Separation technology
engineering Dynamics and Control
Process systems
Linear Algebra Differential equations
analysis
Textbook
http://www.pc-education.mcmaster.ca/Book_Links.htm
Textbooks
• C.A. Smith, Automated Continuous Process Control, John Wiley & Sons, 2002.
(typical dynamic behaviour, development of process control structures)
A.C. Dimian, C.S. Bildea, A.A. Kiss, Integrated Design and Simulation of
Chemical Processes, Elsevier, Amsterdam, 2014. (dynamic simulation,
plantwide control)