chapter 15 pid controllers applied to mimo processes
TRANSCRIPT
Chapter 15
PID Controllers Applied to MIMO Processes
2×2 Example of a MIMO Process
G' 11 (s)
++
y 1
y 2
G' 21 (s)
G' 12 (s)
G' 22 (s)++
c 2
c 1
Process
Example of a 2×2 MIMO Process
AT
LC
LC
AT
DL
B
V
• Two inputs: Setpoints for flow controller on steam and reflux.
• Two outputs: Composition of products B and D
Configuration Selection (Choosing the u/y Pairings)
• That is, which manipulated variable is to be used to control which controlled variable.
• Choosing an inferior configuration can dramatically reduce control performance.
• For many processes, configuration selection is a difficult and challenging process (e.g., dual composition control for distillation).
Single Loop Controllers Applied to a 2×2 MIMO Process
y 1
y 2c 2
c 1G C1
+
-G C2
y 1,sp
y 2,sp
G' 11 (s)++
G' 21 (s)
G' 12 (s)
G' 22 (s)
++
Control Loop 1
Control Loop 2
+ -
Example of Single Loop PID Controllers Applied to 2×2 Process
• L is adjusted by PID controller to maintain composition of D at its setpoint.
• Steam flow is adjusted by PID controller to maintain composition of B at its setpoint.
AT
LC
LC
AT
Dy
L
Bx
VFz
PT
AC
AC
Coupling Effect of Loop 2 on y1
y 1
y 2c 2
c 1G C1
+
-G C2
y 1,sp
y 2,sp
G' 11 (s)
++
G' 21 (s)
G' 12 (s)
G' 22 (s)
++
Control Loop 1
Control Loop 2
+ -
Example of Coupling
• L is adjusted to maintain the composition of D which causes changes in the composition of B.
• The bottom loop changes the flow rate of steam to correct for the effect of the reflux changes which causes changes in the composition of D.
AT
LC
LC
AT
Dy
L
Bx
VFz
PT
AC
AC
The Three Factors that Affect Configuration Selection
• Coupling
• Dynamic response
• Sensitivity to Disturbances
Steady-State Coupling
2
2
1
1
1
1
11
222112112211
2221
1211
:evaluationrequireselementoneonlyTherefore,
11
y
c
cy
cy
RGA
Relative Gain Array
• When 11 is equal to unity, no coupling is present.
• When 11 is greater than unity, coupling works in the opposite direction as the primary effect.
• When 11 is less than unity, coupling works in the same direction as the primary effect.
Numerator of 11
y 2c 2
c
+
-G C2
y 2,sp
G' 11 (s)++
G' 21 (s)
G' 12 (s)
G' 22 (s)
++Control Loop 2
y 1
21
1
cc
y
Denominator of 11
y 1
y 2c 2
c 1
+
-G C2
y 2,sp
G' 11 (s)
++
G' 21 (s)
G' 12 (s)
G' 22 (s)
++Control Loop 2
21
1
yc
y
RGA Example
1111
1
111
1
2221
1211
oneffectcoupling
0.1
0.205.0
1.00.1
2
2
yKc
y
Kc
y
KK
KK
y
c
c1 = 1.0y2 = K21 c1 = 0.05
y 1
y 2c 2
c 1
+
-G C2
y 2,sp
G' 11 (s)
++
G' 21 (s)
G' 12 (s)
G' 22 (s)
++Control Loop 2
c2 = -y2/K22 = -0.05/2 =-0.025
y 1
y 2c 2
c 1
+
-G C2
y 2,sp
G' 11 (s)++
G' 21 (s)
G' 12 (s)
G' 22 (s)
++Control Loop 2
(y1)coup = c2 K12 = -0.025(0.1) =-.0025
y 1
y 2c 2
c 1
+
-G C2
y 2,sp
G' 11 (s)++
G' 21 (s)
G' 12 (s)
G' 22 (s)
++Control Loop 2
Calculation of RGA
decoupledhighlyissystem
thethatindicatesresultThis
0025.19975.0
0.1
9975.01
0025.01
11
1
1
2
yc
y
RGA Calculation for 2×2 System
2211
2112
22
211211
1111
1
1
KKKK
KKK
K
K
RGA Analysis
• RGA is a good measure of the coupling effect of a configuration if all the input/output relationships have the same general dynamic behavior.
• Otherwise, it can be misleading.
Example Showing Dynamic Factors
94.0
)2(1)3.0(4.0
1
1StateSteady
1100
0.2)(
110
4.0)(
110
3.0)(
1100
0.1)(
2221
1211
RGA
ssG
ssG
ssG
ssG
Dynamic Example
• Note that the off-diagonal terms possess dynamics that are 10 times faster than the diagonal terms.
• As a result, adjustments in c1 to correct y1 result in changes in y2 long before y1 can be corrected. Then the other control loop makes adjustments in c2 to correct y2, but y1 changes long before y2. Thus adjustments in c1 cause changes in y1 from the coupling long before the direct effect.
Direct Pairing (Thin Line) and Reverse Pairing (Thick Line)
0 100 200 300 400 500Time
y1
y2
Dynamic RGA
1100)110(7.16
1
1
:examplethisFor
1)(
:processorderfirstaFor
)()(
)()(1
1)(
22
2211
22
2211
211211
p
pKiG
iGiG
iGiG
Dynamic RGA for Direct (a) and Reverse (b) Pairings
• Consider the frequency, , corresponding to desired closed loop response which indicates b better than a
0
0.2
0.4
0.6
0.8
1
0.01 0.1 1 10
11
a
b
Overall Dynamic Considerations
• Pairings of manipulate and controlled variables should be done so that each controlled variable responds as quickly as possible to changes in its manipulated variable.
Sensitivity to Disturbances• In general, each configuration has a different sensitivity to a
disturbance. Note that thick and thin line represent the results for different configurations
Time
Pro
duct
Im
puri
ty Bottom Product
Overhead Product
Configuration Selection
• It is the combined effect of coupling, dynamic response, and sensitivity to disturbances that determines the control performance for a particular control configuration for a MIMO process.
Configuration Selection for a C3 Splitter
06.0),(
70.1)/,/(
3.25),(
94.0),(
)11(RGAionConfigurat
VD
BVDL
VL
BL
(L,V) Configuration Applied to the C3 Splitter
AT
LC
LC
AT
Dy
L
Bx
VFz
PT
AC
AC
Reflux Ratio Applied to the Overhead of the C3 Splitter
LC
AT
×
AC
FT
L
D
L/D
Configuration Selection Example
• L, L/D, and V are the least sensitive to feed composition disturbances.
• L and V have the most immediate effect on the product compositions followed by L/D and V/B with D and B yielding the slowest response.
Control Performance
91.1098.0),(
00.2095.0)/,/(
3.13250.0),(
49.1067.0),(
BottomsforIAEOverheadforIAEionConfigurat
VD
BVDL
VL
BL
Analysis of Configuration Selection Example
• Note that (L,V) is the worst configuration in spite of the fact that it is the least susceptible to disturbances and the fastest acting configuration, but it is the most coupled.
• Even though (D,V) had an RGA of 0.06, it had decent control performance.
• (L,B) is best since it has good decoupling and the overhead product is most important.
Tuning Decentralized Controllers
• When a particular loop is 3 times or more faster than the rest of the loops, tune it first.
• When tuning two or more loop with similar dynamics, use ATV identification with online tuning
TZNIIT
ZNcc
TZNIIT
ZNcc
FFKK
FFKK
/:loopSecond
/:loopFirst
One-Way Decoupler
y 1
y 2
c 2
c 1G' 11 ++
G' 21
G' 12
G' 22
++
D 1(s)
++G C1
y 1,sp + -
+
-G C2
y 2,sp
)(
)()(
11
121 sG
sGsD
Overview
• The combined effect of coupling, sensitivity to disturbances, and dynamic response determine the performance of a configuration
• Implement tuning of fast loops first and use a single tuning factor when several loops are tuned together.
• One-way decoupling can be effective when the most important controlled variable suffers from significant coupling.