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E ( t ) = SP ( t ) CV ( t )
1
d CV
MV ( t ) = K c E ( t ) +
E ( t ' ) dt ' T d
+I
T
dt
I 0
2.
Initially, A = 6 wgt%
We want A = 7 wgt%
3.
A wgt%
Solvent
Reactant
6%
What do we do?
Valve
% open
time
2.
Initially, A = 6 wgt%
We want A = 7 wgt%
3.
A wgt%
Valve
% open
Solvent
Reactant
What do we expect
to happen?
6%
+ 2%
time
Solvent
1.
2.
Initially, A = 6 wgt%
We want A = 7 wgt%
3.
A wgt%
Valve
% open
Reactant
Should we be surprised?
What do we do now?
Devise 2 different responses
6%
+ 2%
2.
Initially, A = 6 wgt%
We want A = 7 wgt%
3.
A wgt%
Reactant
6.91%
6%
-0.6%
Valve
% open
Solvent
+ 2%
time
Solvent
5.91%
A wgt%
-0.6%
Valve
% open
+ 2%
A
Reactant
time
D(s)
SP(s)
+
-
GC(s)
MV(s)
Gv(s)
Gd(s)
GP(s)
+
+
CV(s)
Solvent
5.91%
A wgt%
-0.6%
Valve
% open
+ 2%
A
Reactant
time
D(s)
SP(s)
+
-
GC(s)
MV(s)
Gv(s)
Gd(s)
GP(s)
Gm(s)
This is a model of the
feedback process.
CV(s)
+
+
-
+
-
Tp(s)
GCP(s)
MV(s)
Gv(s)
What is GCP??
Gd(s)
GP(s)
Gm(s)
CV(s)
+
+
-
Em(s)
Transfer functions
Variables
GCP(s) = controller
Gv(s) = valve
GP(s) = feedback process
Gm(s) = model
Gd(s) = disturbance process
What controller
calculation gives good
performance?
SP(s)
Tp(s)
+
Gd(s)
CV(s)
MV(s)
GCP(s)
Gv(s)
GP(s)
What is GCP??
Gm(s)
+
+
-
Em(s)
What controller
calculation gives good
performance?
SP(s)
Tp(s)
+
Gd(s)
CV(s)
MV(s)
GCP(s)
Gv(s)
GP(s)
What is GCP??
Gm(s)
+
+
-
Em(s)
CONCLUSION
D (1 K cp K m ) K d
lim CV (t ) = lim s
=0
t
s 0
s 1 + K cp ( K p K m )
Oh yeah, the final value theorem!
Kcp = (Km)-1
Easily achieved
because
both are in computer!
What controller
calculation gives good
performance?
SP(s)
Tp(s)
+
CV(s)
MV(s)
GCP(s)
Gv(s)
GP(s)
What is GCP??
Em(s)
Gd(s)
Gm(s)
+
+
-
What controller
calculation gives good
performance?
SP(s)
Tp(s)
+
Gd(s)
CV(s)
MV(s)
GCP(s)
Gv(s)
GP(s)
What is GCP??
Gm(s)
+
+
-
Em(s)
CV ( s ) =
1 + GCP ( s ) Gv ( s )G p ( s )GS ( s ) Gm ( s )
CONCLUSION
D( s) = 0
Gcp(s) = (Gm(s))-1
Controller is inverse
of model!
Can we achieve this?
CONCLUSION
Gcp(s) = (Gm(s))-1
K m e s
Gm ( s ) =
(s + 1)
(s + 1)es
then Gcp ( s ) =
Km
Controller is inverse
of model!
Can we achieve this?
CONCLUSION
3. Moderate manipulated
variable adjustments
Gcp(s) = (Gm(s))-1
Gm ( s ) =
K m ( 1s + 1)
( 2 s + 1)( 3 s + 1)
then Gcp ( s ) =
( 2 s + 1)( 3 s + 1)
K m ( 1s + 1)
Controller is inverse
of model!
Can we achieve this?
CONCLUSION
Kcp = (Km)-1
Gcp(s) (Gm(s))-1
Easily achieved
because
both are in computer!
Controller is inverse
of model!
We have loosened
the restriction to
a condition that
can be achieved.
Now, what does
approximate
mean?
-1
Gm ( s )
pure A
AC
0.039e 5.5s
Gm ( s ) =
(1 + 10.5s )
Fundamental model
0.039
Gm ( s ) =
(1 + 5s ) 3
Fundamental model
0.039e 5.5s
Gm ( s ) =
(1 + 10.5s )
(1 + 10.5s )
Gcp ( s ) =
0.039
0.039
Gm ( s ) =
(1 + 5s ) 3
( 1 + 5s )3
Gcp ( s ) =
0.039
Discuss these results.
( 1 + 5s )3
Gcp ( s ) =
0.039
First derivative
Third derivative!
+
-
Tp(s)
GCP(s)
MV(s)
Gv(s)
Gd(s)
GP(s)
Gm(s)
Gf(s)
1
G f ( s) =
s
+
1
f
Nf
CV(s)
+
+
-
+
Em(s)
0.039e 5.5s
Gm ( s ) =
(1 + 10.5s )
(1 + 10.5s )
Gcp ( s ) =
0.039
Fundamental model
Gm ( s ) =
0.039
(1 + 5s ) 3
( 1 + 5s )3
Gcp ( s ) =
0.039
0.039e 5.5s
Gm ( s ) =
(1 + 10.5s )
(1 + 10.5s )
Gcp ( s ) =
0.039
1
1
G f ( s) =
s
+
1
f
Fundamental model
Gm ( s ) =
0.039
(1 + 5s ) 3
( 1 + 5s )3
Gcp ( s ) =
0.039
1
G f ( s) =
s
+
1
f
MV Dynamic Behavior:
damped oscillations and small
fluctuations due to noise.
MV can be more
aggressive in early
part of transient
1.5
1
0.5
0
-0.5
0 5 10 1520253035404550
1
0.8
0.6
0.4
0.2
00 5 10 1520253035404550
v
1
TC
v
1
TC
v
2
v
2
Km = 1
m = 5
m = 5
f =???
0.55
0.50
0.45
0.40
0.35
0.30
0.25
0.20
0.00
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
0.039e 5.5s
Gm ( s ) =
(1 + 10.5s )
(1 + 10.5s )
Gcp ( s ) =
0.039
1
1
G f ( s) =
s
+
1
f
0.039e 5.5s
Gm ( s ) =
(1 + 10.5s )
(1 + 10.5s )
Gcp ( s ) =
0.039
1
1
G f ( s) =
s
+
1
f
pure A
AC
concentration
3.5
AC
2.5
0
10
20
30
40
50
60
70
40
50
60
70
time
60
valve opening, %
50
40
vA
30
20
10
0
10
20
30
time
+
-
+
-
GC(s)
G-m(s)
MV(s)
Gv(s)
Gd(s)
GP(s)
Gm(s)
CV(s)
+
+
-
+
Em(s)
1.
2.
3.
4.
Km = 1
concentration
Empirical model
0.8
m = 5
0.6
0.4
0.2
0
-0.2
-0.4
0
m = 5
50
100
150
100
150
time
0
f = 3.5
manipulated flow
IMC filter
-0.5
-1
-1.5
-2
0
50
time
2.
SP(s)
+
-
Tp(s)
GCP(s)
MV(s)
Gv(s)
Gd(s)
GP(s)
Gm(s)
Gf(s)
CV(s)
+
+
-
+
Em(s)
D(s)
SP(s)
+
-
Tp(s)
GCP(s)
MV(s)
Gv(s)
Gd(s)
GP(s)
Gm(s)
Gf(s)
CV(s)
+
+
-
+
Em(s)
D(s)
SP(s)
+
-
Tp(s)
GCP(s)
MV(s)
Gv(s)
Gd(s)
GP(s)
Gm(s)
Gf(s)
CV(s)
+
+
-
+
Em(s)