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Lecture 10
Lecture 10
Quiz
Cascade control (Chapter 12)
In the near future
Chapters 10,15, and 16
Chapter 12
Cascade and
Feedforward Control
1
Cascade, Ratio, and Feedforward
Control
Each of these techniques offers advantages
with respect to disturbance rejection:
Cascade reduces the effect of specific types of
disturbances.
Feedforward control is a general methodology for
compensating for measured disturbances.
Cascade Control
2
Compensating for Disturbances
Reduces Deviations from Setpoint and
Settling Time
6
FB-only
3
T' (K)
-3
Compensating
for disturbances
-6
0 10 20 30 40 50
Time (seconds)
secondary primary
primary secondary process process
set point set point Final variable Primary variable
Primary Secondary
+– Controller +– Controller
Control
Secondary
++ ++
Process Process
Element
3
The Cascade Architecture
Cascade Design
4
Cascade Design
• A cascade design requires:
– two sensors
– two controllers
» one final control element
Fin
Lsp
Fout
LC LT
FT
FC
RSP
5
Analysis of Cascade Example
Without a cascade level controller, changes
in downstream pressure will disturb the tank
level.
With cascade level controller, changes in
downstream pressure will be absorbed by
the flow controller before they can
significantly affect tank level because the
flow controller responds faster to this
disturbance than the tank level process.
Fin
Lsp
Fout
LC LT
6
Multiple Cascade Example
RSP
TT TC AC
RSP
FC
FT
AT
Class Handout
Tsp
TR
TC
TT
Preheater furnace Reactor
TH
TR
Fuel
7
Tuning a Cascade Implementation
• Cascade loop tuning uses our existing skills:
– Begin with both controllers in manual mode
– Select P-Only controller for the inner secondary loop
(integral action increases settling time and offset is rarely
an issue for the secondary process variable)
– Tune the secondary P-Only controller for set point
tracking and test it to ensure satisfactory performance
– Leave secondary controller in automatic; it is now part of
the primary process. Select a PI or PID controller for the
primary loop, tune it for disturbance rejection and test it
– With both controllers in automatic, tuning is complete