Professional Documents
Culture Documents
Ch18 1 25 05 PDF
Ch18 1 25 05 PDF
Ch18 1 25 05 PDF
1
Control of Multivariable Processes
2
Chapter 18
3
Chapter 18
4
• Controlled Variables: xD , xB , P, hD , and hB
• Manipulated Variables: D, B, R, QD , and QB
Note: Possible multiloop control strategies = 5! = 120
Chapter 18
5
• In this chapter we will be concerned with characterizing process
interactions and selecting an appropriate multiloop control
configuration.
Definitions:
Y1( s ) Y1( s )
= GP11( s ), = GP12 ( s )
U1 ( s ) U2( s )
(18 − 1)
Y2 ( s ) Y2 ( s )
= GP 21( s ), = GP 22 ( s )
U1 ( s ) U2( s )
Thus, the input-output relations for the process can be
written as:
Y1( s ) = GP11( s )U1( s ) + GP12 ( s )U 2 ( s ) (18 − 2 )
Y2 ( s ) = GP 21( s )U1( s ) + GP 22 ( s )U 2 ( s ) (18 − 3)
8
Or in vector-matrix notation as,
Y ( s ) = G p ( s )U ( s ) (18 − 4)
Chapter 18
⎡ GP11( s ) GP12 ( s ) ⎤
G p( s ) = ⎢
G ( s ) G ( s )
⎥ (18 − 6)
⎢⎣ P 21 P 22 ⎥⎦
9
Chapter 18
10
Control-loop Interactions
11
Chapter 18
12
Chapter 18
13
Block Diagram Analysis
15
Chapter 18
16
Chapter 18
17
Chapter 18
18
Relative Gain Array
19
Example of RGA Analysis: 2 x 2 system
y2 = K 21u1 + K 22u2
The RGA, Λ, is defined as:
⎡ λ11 λ12 ⎤
Λ = ⎢ ⎥
λ
⎣ 21 λ22 ⎦
i j
For a 2 x 2 system,
1
λ11 = , λ12 = 1 − λ11 = λ21 (18-34)
K12 K 21
1 −
K11K 22
Example 1:
Chapter 18
Example 2:
⎡ −2 1.5⎤ ⎡ 0.64 0.36 ⎤
K =⎢ ⎥ ⇒ Λ= ⎢ ⎥
⎣1.5 2 ⎦ ⎣ 0 .36 0. 64 ⎦
∴
Recommended pairing is Y1 with U1 and Y2 with U2.
23
Chapter 18 EXAMPLE: Thermal Mixing System
Wh Wc Wh Wc
⎡ T − Tc Th − T ⎤ ⎡ Wc Wh ⎤
W⎢ W⎢
Th − Tc Th − Tc ⎥ Wc + Wh Wc + Wh ⎥
K= ⎢ ⎥ and Λ= ⎢ ⎥
⎢ Th − T T − Tc ⎥ ⎢ Wh Wc ⎥
T ⎢ T ⎢
⎣ Th − Tc Th − Tc ⎥⎦ ⎣Wc + Wh Wc + Wh ⎥⎦
# ⎢ # # % # ⎥
⎢ ⎥
yn ⎢⎣ λn1 λn1 " λnn ⎥⎦
Each λij can be calculated from the relation,
λij = Kij H ij (18 − 37 )
where Kij is the (i,j) -element of the steady-state gain K matrix,
y = Ku
Hij is the (i,j) -element of the H = K ( ).
-1 T
Note :
Λ ≠ KH
Example: Hydrocracker
u1 u2 u3 u4
y1 ⎡ 0.931 0.150 0.080 −0.164 ⎤
y2 ⎢ −0.011 −0.429 0.286 1.154 ⎥
Λ = ⎢ ⎥
y3 ⎢ −0.135 3.314 −0.270 −1.910 ⎥
⎢ ⎥
y4 ⎣ 0.215 −2.030 0.900 1.919 ⎦
26
Singular Value Analysis
• Any real m x n matrix can be factored as,
T
K=WΣV
• Matrix Σ is a diagonal matrix of singular values:
Σ = diag (σ1, σ2, …, σr)
Chapter 18
⎡ 1 0⎤
K =⎢ ⎥ ⇒ Λ= I
⎣10 1 ⎦
• If K12 changes from 0 to 0.1, then K becomes a singular
matrix, which corresponds to a process that is difficult to
control.
• RGA and SVA used together can indicate whether a process
is easy (or difficult) to control.
⎡10.1 0 ⎤
∑ (K ) = ⎢ ⎥ CN = 101
⎣ 0 0.1⎦
• K is poorly conditioned when CN is a large number
(e.g., > 10). Thus small changes in the model for this
28
process can make it very difficult to control.
Selection of Inputs and Outputs
• Arrange the singular values in order of largest to
smallest and look for any σi/σi-1 > 10; then one or
more inputs (or outputs) can be deleted.
Chapter 18
29
⎡ 0.5714 0.3766 0.7292 ⎤
W = ⎢⎢ 0.6035 0.4093 −0.6843⎥⎥
⎢⎣ −0.5561 0.8311 0.0066 ⎥⎦
•
CN = 166.5 (σ1/σ3)
Chapter
Question:
How sensitive are these results to the scaling of inputs and
outputs?
31
Alternative Strategies for Dealing with Undesirable
Control Loop Interactions
33
Decoupler Design Equations
1. Partial Decoupling:
Use only one “cross-controller.”
2. Static Decoupling:
Chapter 18
CT
Feed F
Reflux R Distillate D,
composition (wt. %) XD
Steam S
CT
Bottoms B,
composition (wt. %) XB
36
36
Wood-Berry Distillation Column Model
⎡ 12.8e− s −18.9e −3s ⎤
⎢ ⎥
16.7 s + 1 21s + 1 ⎥
⎡ y1 ( s ) ⎤ ⎢ ⎡ u1 ( s ) ⎤
⎢ y ( s) ⎥ = ⎢ ⎥ ⎢u ( s ) ⎥ (18 − 12)
Chapter 18
⎣ 2 ⎦ ⎢ −7 s ⎥ ⎣ 2 ⎦
⎢ 6.6e −19.4e −3s ⎥
⎢⎣10.9 s + 1 14.4 s + 1 ⎥⎦
where:
y1 = xD = distillate composition, %MeOH
y2 = xB = bottoms composition, %MeOH
u1 = R = reflux flow rate, lb/min
u1 = S = reflux flow rate, lb/min
3737
Chapter 18