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Robust Pid Control: Application To A Continuous-Stirred Tank Reactor
Robust Pid Control: Application To A Continuous-Stirred Tank Reactor
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H(s) = b(s) = B(s) class of nonlinear lumped parameter systems and
a(s) A(s) their mathematical models are described by
nonlinear differential equations. It is well known
A(s) = a(s) ; B(s) = b(s) (1) that traditional control methods are often
m(s) m(s)
unsatisfactory for a CSTR control. Some control
m(s) =(s +m)n: n = max{dega ; degb} problems are due to the nonlinearity and high
sensitivity of the output variables to the input
where a, b are polynomials. Elements A , B, ... changes. Moreover, the dynamic characteristics of a
constitute a subring Rm(s) of the ring of all Hurwitz CSTR may exhibit non-minimum phase behavior,
stable and proper rational functions Rs(s). A class of the time delay and sometimes also a changing sign
PID like controllers is generated by first and second of the gain in various operating points. The basic
order systems and all controlled plants will be properties of the reactor depend always on the
approximated by such systems. Systems with time reaction type taking place inside.
delays will be approximated by the following
fractional representation in Rm(s) : Here, a perfectly mixed CSTR with a cooling jacket
is considered, in which an exothermic consecutive
. A kl k2
82 reactIOn ~ B ~ C takes place. The
boe- es bo (1-8s+T) product is the component B . The reactant volume as
H (s) =--2--C:.---- ~ 2
well as the reactant volumetric flow rate are assumed
a 2s +a] s +a o a 2s +a]s+a o
2 to be constant. The reactant and coolant densities as
b2 s +b]s+b o (2) well as specific heat capacities are also constant. A
(s+m)2 B(s) perfectly mixed cooling jacket is assumed with
--2~--':"'-- -
a2s +a]s+ao A(s) constant coolant volume. The dynamics of the metal
jacket wall is neglected since the time constant of the
(s+m) 2
wall is very small in comparison with both reactant
and coolant time constants.
Systems of the first order are approximated in
similar way and systems without time delays are Under the above assumptions, the CSTR model can
simply obtained by putting 8 = O. For m = 0 subring be described by four differential equations of the
Rm(s) expands to the traditional ring Rs(s) (see form
Vidyasagar, 1985). An infinity norm (convenient for
uncertainty) in both rings is defined by
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For the operating point 1, the output y time
j = 1, 2 (9) responses to various step changes of input u are
shown in Fig. 2. The noniinearity of the controlled
system is clearly documented.
where E;. are activation energies and R is the gas
constant. The heat of reaction is expressed as
0.8 r-----======:::Jci
':'~
where h are reaction enthalpies. -0
e
For the next calculation and control simulation the c
'" 0.2
component B concentration takes place of the .0.4
controlled output and the coolant volumetric flow
0.6 ...........--'--~-'--...........-~~..........--'-~--'---'
rate is used as the control input, both as deviations o 20 40 60 80 100 120 140
I (mm )
from their steady-state values so that
Fig. 2. The output y time responses to input u step
yet) =GB (t)-c1 (11) changes: u = 1) -0.015, 2) 0.015, 3) 0.030,
u(t) = Qc(t) - Q: (12) 4) 0.045,5) 0.060 [m3 min- l ] .
v = 1.2 m3 Pr = 985 kg m- 3
3
Vc = 0.64 m Pc = 998 kg m- 3
Ah = 5.5 m2 Gpr = 4.05 kJ kg-
I
U = 43.5 kJ m- 2K lmin- 1
l
k OI = 5.616e16 min- E21R = 15290 K
I
k02 = 1.128e18 min- hi = 4.8e4 kJ kmorl
EI/R = 13477 K h2 = 2.2e4 kJ kmorl Fig. 3. General control system.
GAjS = 2.85 kmol m-
3
3
Tr/ = 323 K
Q/ = 0.03 m min- 1
Tc/ = 293 K Note that for Q = R a traditional feedback regulator
3
GAS = 0.165 kmol m- T/ = 350.2 K operating on the tracking error is obtained. Transfer
CB = 0.944 kmol m-
s 3
T/ = 330.5 K . G", Gy
fu nctlOns w = - and v =- represent the
F", Fy
The dependence of the output variable upon the
reference and disturbance signal, respectively. The
control input in the steady-state is shown in Fig. 1.
control design in Rm(s) is proposed in Prokop and
Two operating points were chosen for estimation,
Corriou (1997), Prokop and Meszaros (1996),
approximation and control of the CSTR model. Both
Prokop and Dostal (~995) . For the given nominal
are depicted in Fig. 1. and they represent steady-state
plant H(s) in the form of (I) it consists of the
values of CB s = 0.9435 and GBs = 1.3413 ,
following steps:
respectively.
1.6
' . ... given by all solutions of the equation:
1.4
AP + BQ = i (13)
~
OpcnlUlI pOlntl
1.2
-0
E 1.0
in the parameter form expressed by the fraction :
..,'"
~
0.8
OpuatUlI pomt I
0.6
0.4
Q = Qo - AT
(14)
~~~~~~~~~~~~~
0,01 0.02 0 .03 0,04 O.O~ 0,06 0,07 0 ,08 0.09 0.10 0.11 P Po +BT
Qc' (m' min") where Po, Qo E Rm(s) are particular solutions and T
Fig. 1. Steady-state input-output behavior of CSTR. is arbitrary in Rm(s) .
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Step 2: Feedback controllers (if necessary) are given which yield a class of generalized Pill-like control
in a similar way by all solutions of structures. The program system enables design and
simulation of a wide spectrum of robust control
(15) problems.
Step 3: Compute P E Rm(s) such that The simulation of the perturbed plant with the
regulator computed for the nominal transfer function
Fw divides P for asymptotic tracking problems is carried out in standard Simulink environment.
Fv divides P for disturbance rejection problems Simulation parameters as simulation horizon,
(16) reference, load disturbance and disturbances, input
constraints, ... can also be defined by the user. All
Step 4: For perturbed plants (4) choose such P, Q in simulation variables can be stored and transferred
(13), (14) which fulfill the conditions out of the Matlab workspace and IT AE, IAE or IE
can be calculated as a tool of comparison and quality
evaluation of the control behavior.
(17.a)
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and the control law is generated by the differential order system (with and without time delay) in the
equation: form :
es
(23) H(s) = 20e- ~ _B_(s_)
400s 2 +40s+1 A (s)
2
b 2s +bls+bo
_ b o -mb l m (27)
where P I = b Po; q l =qo +bPo; B(s) (s+m) 2
, m'?
0
o o 2
_ a A (s) 400s +40s+ 1
o po)m.
qo = (qo +- (s+m) 2
ho
Naturally, equation (23) represents a PI regulator.
where the time delay is either 8 = 0 or 8 = 5.
b) All feedforward parts are given by solutions of Coefficients b j are computed according to (2). The
FS + BR = I: approximation was obtained by a four-parameter
method adopted from Astrom and Hagglund (1995)
m s applied to step responses in Fig. 2. Because the
R=----Z (24) CSTR model is non-linear, the approximation is
bo s +m
rather rough and it depends on a given operating
point. In spite of this situation, it is desirable to find
where Z is again arbitrary in Rm(s). For the simplest a PID-like controller which is " sufficiently
z=o we get the control law: acceptable" for both operation points. More
precisely, the control goal is to design (in a robust
2
u= ~ [~w+~fwdt-ql fydt-qoY] (25)
way) a FB and FBFW controllers according to above
PI bo bo mentioned methodology for nominal plants (27) and
choose such values of m > 0 which give control
which represents a generalized PI controller responses without overshooting. From the
proposed e.g. by Astrom et al. (1991) in the form: technological point of view, aperiodic responses after
step changes of the set point are inherent and natural
k conditions for chemical reactors control.
u=k(pw- y ) + - f (w - y )ch (26)
T; The "most robust controller" was obtained by scalar
Is.n .~n/I.--_ _----,=S:.:c'::.:Dl:.:.:itc;..:IV.:.:itL..!.!fu'-'!D.::.;ct""lo:.::.n_ _- - - ,
minimization of the sensitivity function (18) for the
la M in .n o rm = 1.5 2 2 4 . O ptimal mO = 0 .1 700 nominal plant (27) without time delay (8 = 0). Both
FB and FBFW control schemes gave the optimal
8 value mo = 0.05 . Derivation of controller parameters
6
does not bring any problems but for the second order
the resulting expressions are a bit more complex
than the ones in (21-26).
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situation was improved by involving a feedforward
part of the control law (see Fig 6. and 8.). The 0,1 r-~~----------------------~
7. CONCLUSIONS
200 500 100
T im e
A design method based on the fractional
Fig. 5. Simulation 1 - output and reference
representation was developed for SI SO continuous-
time systems generally with time delay. Control laws 0 , 01 , - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ,
for second order systems yield a class of PID - like
controllers. The proposed methodology enables to 0,04 _~
tune and influence the robustness and control ~ 0 0 2 ~ r,_ _ ____--,
behavior by a single scalar positive parameter. The
0,00
design methodology was successfully applied to a
nonlinear chemical reactor.
T im e
order Plus time Delay Systems, Int. J.of Control, 1 00 200 JOO 400 500 100
Vol. 60, No.l , p.137-144. T im e
Vidyasagar, M. (1985): Control System Synthesis: A Fig, 8, Simulation 4 - output and reference
Factorization Approach. MIT Press, Cambridge.
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