chen 403 process dynamics & control introductionjjechura/processdynamics/01...»control system...
Post on 02-Apr-2020
5 Views
Preview:
TRANSCRIPT
ChENChEN 403403
Process Dynamics & ControlProcess Dynamics & Control
IntroductionIntroduction
Course TopicsCourse Topics• Math Modeling of Chemical Processes
• Solution of ODEs
» Laplace Transforms – Primary Emphasis
» General Analytical Techniques
» Numerical Methods
• Transfer Functions
• Behavior of 1st, 2nd, & Higher Order Systems
• Fitting Model Parameters to Data
• Feedback Control - Behavior & Stability
• Design & Tuning of Controllers
• Advanced Control Schemes
• Case Study
Mathematical NomenclatureMathematical Nomenclature
• The nomenclature isn't what's important, it’s the concepts!
» Pretty much any symbols could be (and probably are) used
» Understand what's going on rather than memorizing symbols
• Will strive for consistency in the notes, homework, exams, etc.
» May be different from the text books, however
Typical SymbolsTypical Symbols
Valve coefficient
Heat capacity (molar basis)
Heat capacity (mass basis)
Steady state value
Laplace transform of deviation variable
Deviation variable
Volumetric flow rateF
′F
′F
*F
p̂C
ɶpC
vC
Importance of Process ControlImportance of Process Control
• Directly affects the safety and reliability of a process
» Control system must provide safe operation
» Control system must be able to “absorb” a variety of disturbances & keep the process in a good operating region
• Determines the quality of the products produced by a process
• Can affect how efficient a process is operated
• Bottom Line: process control has a major impact on the profitability of a company.
Benefits of Improved ControlBenefits of Improved Control
Time
Impurity
Concentration
Limit
Old Controller
Improved PerformanceTime
Impurity
Concentration
Limit
New Controller
Improved Performance
Time
Time
Impurity
Concentration
Limit
Improved Performance
LetLet’’s think about a simple s think about a simple household examplehousehold example
The Dynamics of theThe Dynamics of theHousehold ShowerHousehold Shower
• What are the controlled or manipulated inputs?(What part of the system can be directly changed?)
• What are the set points?(What end result is desired?)
• What are the uncontrolled inputs?(What disturbances can happen outside of the shower stall?)
• Why might the set points change?(Do you want to run the shower the same way, morning or night, summer or winter, …?)
• What are the benefits of controlling this process?
Design Aspects of Process Design Aspects of Process Control SystemsControl Systems
• Manipulated variables
» Variables that can be adjusted by the operator or controller
• Disturbances
» Uncontrolled changes, such as weather or feed composition
• Measured variables
» Values can be directly measured
• Unmeasured variables
» Values cannot be directly measured
Control ObjectivesControl Objectives
• Operational objectives
» Stability of process
» Suppress influence of disturbances
» Optimize performance of plant
• What variables should be measured?
• What variables should be manipulated?
• What is the best control configuration?
• How should measurements be used to adjust the manipulated variables?
Process Control GoalsProcess Control Goals
• Suppress the influence of external disturbances
• Ensure the stability of a chemical process
time time
Process Control & OptimizationProcess Control & Optimization
• Control & optimization are terms that are many times erroneously interchanged
» Control: adjusting manipulated variables to maintain the controlled variables of the process at specified setpoints
» Optimization: chooses the values for key setpointssuch that the process operates at the “best”economic conditions
Process Control HardwareProcess Control Hardware
• Measurement element
» Orifice meter
» Thermocouple
• Transmitter
• Control Valve (with actuator, positioner, & I/P)
• DCS Controller & I/O cards
• DCS Communication Network (a LAN)
• DCS Operator Console
• Advanced Control Computer
CrossCross--section of a Globe Valvesection of a Globe Valve
Process Flow DiagramProcess Flow Diagram
TC
F0, T0, 0
F1, T1, 1
Fs, Ts
V, T,
Information Flow DiagramInformation Flow Diagram
T'1m
C' T's
T'sp
Gc
T'1
T'0
Ga
Gp
Gm
Gd
εεεε'+-
++
Recognize Standard FormsRecognize Standard Forms
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
0 2 4 6 8 10 12
t/ττττ
y/ααααKp
ζ = 0.1
ζ = 0.5
ζ = 0.9ζ = 1.1
ζ = 5
ζ = 10
ζ = 1
Recognize Standard FormsRecognize Standard Forms
Time Time Time
Rate of Mass & Energy Rate of Mass & Energy AccumulationAccumulation
• Material Balance Equation
( )ρ= ρ − ρ ⇒ =0 0 1 0 1
d VF F F F
dt
• Heat Balance Equation
( )( )
( ) ( ) ( ) ( )
ρ= ρ − ρ + − ⇒
ρ + ρ + = ρ +
0 0 0 1 1 1
10 1 0 0
ˆˆ ˆ
ˆ ˆ ˆ
s
p p p s
d VHF H F H UA T T
dt
dTVC F C UA T F C T UA T
dt
Transfer FunctionsTransfer Functions
• Laplace transforms create a transfer function
( ) ( ) ( ) ( )′′ ′ ′ρ + ρ + = ρ +1
0 1 0 0ˆ ˆ ˆp p p s
dTVC F C UA T F C T UA T
dt
ρ ρ′′ ′ ′ + = +
ρ + ρ + ρ +
011 0
0 0 0
ˆ ˆ
ˆ ˆ ˆp p
s
p p p
VC F CdT UAT T T
dtF C UA F C UA F C UA
′′ ′ ′τ + = ⋅ + ⋅11 0 0 s s
dTT K T K T
dt
′ ′ ′ ′τ + = ⋅ + ⋅1 1 0 0 s ssT T K T K T
′ ′ ′= ⋅ + ⋅τ + τ +
01 01 1
ss
K KT T T
s s
Uncontrolled Tank TemperatureUncontrolled Tank Temperature
89
90
91
92
93
94
95
96
97
98
0 5 10 15 20 25 30 35 40
Time, t (min)
Outlet Temperature, T1 (°C)
Control Loop Transfer FunctionsControl Loop Transfer Functions
• Uncontrolled response to disturbance
′= =
′ + τ + +1 0
00 1 1d
c a p m c
T G K
G G G G s G KT
• Closed loop response
′ ′ ′ ′ ′= + ⇒ = − − τ + τ + τ 0
1 0 1 0 0 1 exp1 1
ss
K K tT T T T T K
s s
′ + ′ ′= ⇒ = − − ′ τ + + + τ 1 0 0 0
1 0
0 00
11 exp
1 1c
c c
T K K K KT T t
s K K K KT
P Control:
Tank Temperature Under P Tank Temperature Under P ControlControl
89
90
91
92
93
94
95
96
97
98
0 5 10 15 20 25 30 35 40
Time, t (min)
Outlet Temperature, T1 (°C)
Uncontrolled
P Control
Control Loop Transfer FunctionsControl Loop Transfer Functions
• Closed loop responsePI Control:
′=
′ τ + + + τ
τ =
ττ+ τ + +
1 0
00
I
I
2II
0 0
11 1
11 1
c
c
c c
T K
Ts K K
s
sK
s sK K K K
Tank Temperature Under PI Tank Temperature Under PI ControlControl
89
90
91
92
93
94
95
96
97
98
0 5 10 15 20 25 30 35 40
Time, t (min)
Outlet Temperature, T1 (°C)
Uncontrolled
P Control
PI Control
In SummaryIn Summary……
• Introduction to the course material
» Why is process control important?
» Some typical control problems
» Process & information flow diagrams
top related