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Nonlinear Feedback Control FOR Operating A Nonisothermal CSTR Near An Unstable Steady State
Nonlinear Feedback Control FOR Operating A Nonisothermal CSTR Near An Unstable Steady State
Abstrae-Appbcat~on of relay feedback controllers to mamtam process states near unstable steady states 1s
extended to a secondordersystem.the CSTR w&t an ureverslble,exotbernucreaction The controlscheme1s
successfulprovided the bandanth (the reactor temperature devotion wtuch causes relay swltcbmg) ISnot chosen too
large relative to the dnve levels (the deviation m coolant temperature caused by relay swttchmg) In tlus context
Tsypkm’s analytical methods for approxunate solution of tlus and higher order probtems are elaborated and tested
Tsypkm’s techmque proves supenor to JJescmbmg Function analysts 111accuracy and m bounds on the maxamum
pemnsslble bandwidth
Da=OO637, @=0167
Wurrent address Chemical and Metallur~cal Engmeermg,
University of Tennessee, Knoxvdle, TN 37916, U S A y =377, v=O1356, Q&=1048 (3)
257
258 D D BRUNS and 3 E BAILEY
We the general dynanucal features of this reactor that the motion of the state so achieved remams near the
have already been rather thoroughly mvesmted[4], tt ts om unstable state S, the generahzed control obJectWe
mstructive m the current context to examme the behavior mentioned above WINbe fuliilled Further mvesQ@on of
of the process 111the phase plane The control oblective IS tlus matter follows formahzation of the control strategy
mamtenance of the system state m the nerghborhood of The control approach just descllbed ISpractical only If
the unstable steady state labelled S 111i%g 1 why% it can be reduced to a set of rules, preferably IIIfeedback
corresponds to Q = 9, Thus 1s to be achieved through form For tlus reactor, the previous phase plane scenarro
mampulation of % m a fashion to be outhned next. suggests the followmg scheme mvolvmg feedback of
Notice m FQ 1 that the separati, whch 1s mdscated reactor temperature
by a dashed hne, 1s never crossed by a trajectory and, us a
sense, repels all states not on the separati Focusmg
now on a small neighborhood of the phase plane near S, I% for O<$-y*
c-y3
consider the lntluence of small changes ~u~(u, > 0) m 0
Increasmg (ec to a value
and ~~-y*C~<~,+Y* If =>o
Q=
‘p1_ for %>%+y* (any% dr (6)
Q+ = c + &, (4)
-----SEPARATRIX
096 104 I IO I 16
DIMENSIDNLESS TEMPERATURE
Fu 1 Phase plane dlustrat~oo of CSTR dynamtcs for the parameters of eqns (3) The control objectwe IS
mamtenance of the system state near S, the unstable steady state
Nonlmear feedback control for operatmg a nomsothermal CSTR near an unstable steady state
_ SEPARATRIX
DIMENSIONLESS TEMPERATURE
XGg 2 Separatnces correspondmg to %+ and %_ contine system tralectones to the band between them by
appropruxte swtihmg between %+ and Qc_ Thus, small changes m 41 may be used to mamtam the process state near
S The pomts labelled S+ and S_ are unstable steady states correspondmg to %r+and I- respectively The dotted
traJectones correspond to system response near the %I- separatnx when 91 = I_. wlule the lmed traJectone8
demonstrate system dynarmcs near the 9, separati when 9r = 9s+
RELAY
LINEARIZED
SYSTEM
U(t) Y(t)
“r
GW
I
Fii 3 Block wrn of the nonlmcarfeedback control scheme The nonlmear control element IS a passive relay
w&b hysteretus, and the process has been approxunated by a Imear~A model to pernut control system aaalysur by
Tsypkm and Descnbw Fun&on methods
260 D D BRUNS
and 3 J BAILEY
Smce these mathematical tools had not appeared m the y&) waveform, which, accordmg to Tsypkm theory[6,7],
chenucal engmeenng hterature untd the previous paper on may be wrrtten as
Uus control approach [ 11,It 1s appropmte to lscuss some
aspects of tl~s method m detad Such attention IS
necessary not only because these techruques are novel but
y,(t) = q
m .=P n
hn [G&nil,) e-‘] + G-u(t) (14)
also because, when applrcable, they appear to be much
more powerful than the relatively famdlar Descnbmg Substltutmg the partial fraction expansion of G(= G1) into
Function (IX) analysis eqn (14) and usmg the summation formulae of Gelb and
Tsypkm theory necessary con&tlons for an osculation Vander Velde ([6], p 197) yields the desired result
m a system such as tis with a passive, symmetric relay
(see [51) were cited m an earlier paper (eqns (24)-(26) III
[l]) apphcation of these to the present problem yields
(9 1)
where
For this problem G, 1s zero so G, 1s Identical to G deli elsewhere171 In order to determme which case of
Expandmg G m eqn (8) m partial fractions followed by the stability theorem apphes here, It is necessary to check
use of Gelb and Hen&son’s summation formulae (see [61, the SI~RSof y before and after the swltchmg tune
p 194) permits rewntmg of condlhons (9) XI the form t = lr/fi, From eqn (14) and the theory of Fomer senes
the followmg expressions for these denvatives may be
z!-&-z$&!&-~ obtamed [6,7]
-panh (11 1)
1 2 c
where 9 denotes the z-transform operator For talus Cond&on (112) Table 1 mdicates the frequenc=s i&
reactor control example w&h G from eqn (8), the obtamed from eqn (11 1) for four Merent sets of control
script-bracketed coefficient m eqn (20) may be wntten parameters In each case, stabMy of the Tsypkm SoEtlhon
as PI was vetied by numerical evaluation of the roots of eqn
(20) Also shown m Table 1 IS a,, the frequency of the
oscfiation obtamed by sunulabon usmg the fill nonlmezar
(21) model of eqns (1) and (2) m place of 1t.s hneanzed
descnption, eqn (8) nrrP IS the frequency md~cated by
where
Descnbmg Funtion analysis, an approprmte techmque,
Ti = am, whnzhm add&on to hneanzation of the system, mvolves
“harmomc hnmzation” of the relay control elezment
Local stab&y determmation now follows from the roots (see[l, 71) Comparrsons among the various Q and L
of eqn (20) accordmg to the theorem m the Appendur suggest that system lmearrzatlon does not mtroduce
senous error, wMe &screpancles between 0, and fL
TsYPxlNOsclLLAmRY $oLrJTIONs AM) coMPANsoNs WITE reveal weaknesses in the harmomc hnatIon approxl-
ExAcTAImDEsc~ mJNcrIoNREsuLTs matmn These findmgs are consistent wxth those m[l] m
Analytical inves@ahons of eqns (11) reveal that for wluch a sunpler system was consldered
u, > 0 and any set of parameters for which S is a saddle Analogous conclusions emerge from the oscdlafion
pomt or node, If a real solutmn Q to eqn (11 1) exists, It amphtudes computed usmg smmlatmn (Ad, Describmg
always satisfies eqn (112) and It IS umque provided the Function analysis (A&, and Tsypkm’s method (Ab) for
followmg necessary and sufficient con&tion IS met each set of control parameters To determme Ae, the
waveform y,(t) must be evaluated usmg eqns (15) and
sgn hII= sgn CKJ or I4 > 14 (23) (16) F-e 4 dlustrates one osctiatory response so
obtamed as well as the correspondmg DF and smmlatmn
where the algentralues A, and A2 arc labelled such that solution for tis example Agam the supenonty of
j11,ic ]&I Under the above con&tions of umqueness, Tsypkm analysis to the DF techmque is clear NoWe that,
further analysis shows that If ay/& = L, > 0, a passive
relay with hysteresis must be employed for the controller
If ctitrol IS to be aeheved For equations analogous to
eqns (11) and the control system of Fig 3 contammg an _ TSYPKW
active relay, It IS agam found that any real solution to the ----- SIMULATION
Table 1 Sunulation (sun), Tsypkln (O), and Descnbmg Function (DF) results for oscillation amphtude (A) and
frequency (aZ)for a vmety of bandwIdth (y*) and dme level (L) values
CASE I II III lx
I ___---__ __
“C 0 0108 0 0216
A Sld IO3 3 01 I 48 6 05 2 96
Aox103 3 00 I 46 6 01 2 95
111contrast to both approxnnate responses, the not&near Evidently, because of second order system dynanucs, the
srmulatmn result is shghtly asymmetrical about the y = 0 ratio of swrtchmg band width y * to yc
baschne, mctcatmg a sbght d@acement 111the mean
reactor temperature from ?& a=$
The overshoot evident m the smmlatlon waveform m (25)
Rg 4 does not occur for first order systems ms
unportant feature is perhaps best put m proper perspec- must be less than umty to preserve confrdl and obtam a
tive by exammmg the correspondmg phase plane presen- peno&c state near S
tation (Fe 5) Notice that as the relay bandwdth IS So long as con&tion (23) ISsatified, lmphclt Mere&a-
increased, there w more of an overshoot m both tion of eqn (11 1) shows that as y * 1s mcreased, &
temperature y and concentration w before the traJect.ory decreases Tummg tis around, the upper lmut of
reverses and heads away from the repellmg separatnx bandwdth yL wbch provides an oscillatory response
The cruetal nature of tis me&a is dramatically tllustrated according to Tsypkm theory ISobtained by computmg the
by Curve 3 where the system state closely approaches the lout of eqn (11 1) as 0 approaches zero (a smular
a_ separatnx before the control level IS switched to statement holds for an active relay) The result, followmg
u = -Us The traJectory then follows near the separatnx substitutions for A.I)At, K, and K~ m terms of the lmeanzed
and approaches the S_ unstable steady state very closely model coefficients, 1s
before bemg pushed away If the system were operated m
such a fashion, even smalI hsturbances of suJ3cient
dun&on m feed temperature or concentration could cause
the state of the system to be moved across the separam
and control would be lost The unportance of higher order Notice that ths lumt on bandvvldth 1s a function of steady
system dynarmcs 1s also shown m the relation&p state operatmg con&tlons For those of thus example and
between the separatrices and traJectones If the band- thus all cases of Table 1, the value of S_, IS 0 644
w&h IS too large-, the corrcspondmg traJectory wdl The exact values for the upper hrmt of 8 determmed by
escape the regon contamed by the 4~ and Q, separat- simulation are 0 617 for cases I and II and 0 632 for cases
rices,, and the control scheme fads III and IV Contrastmg VW&~ vvlth the accuracy of the
Consequently, a maJor ObJectWein deslgntng nonhnear Tsypkm approxuuation ISthe Descnbmg Functton result
feedback controls for thy and other h@er order systems numerical stties of the DF equations appropriate to Ws
IS determmabon of the upper lumt on the bandvvldth problem revealed S_,, = 0 434 for all cases of Table 1
whch pernnts reahzatlon of the desired oscdlatory state
Such lmuts are most conveniently formulated m terms of
the temperature deviations at the unstable steady states CONCLUDE’JG DISCUSSION
S+ and S_ correspondmg to ‘%!, and 4!L respectively The accurate anaIy&al upper lumt on relay bandwidth
According to the lmeanzed model, these deviations are gtven m eqn (26) ISa strong attestauon to the power of the
my, where Tsypkm approach for design of no&near feedback
controllers for chenucal process operation near an
bucall unstable steady state. In thus paper, all maJor aspects of
Ye = (24) Tsypkm theory mcludmg several recent extensions[7]
(alla22- a12a21)
have been described,, and the methods have been apphed
to a classical system m chemical reactor theory Another
unportant extension of [ 1] provided here ISreplacement of
‘1,. -1 w aUNSTABLE STEADY STATE!
the van Heerden &agram mterpretatlon of the control
‘\ - --- SEPARATRICES
IO - LIMIT CYCLES scheme with a phase plane view Thus latter prespectwe is
amenable to relatively dvect extension to h&er order
systems In fact, investtgatmg apphcation of the control
idea espoused here and m[ 1] to considerably more
complex chemical processes 1s an mterestmg area for
future study One key problem m tis connection 1s the
relationship between aggregation or lumping approxuna-
tions and the smtablhty of the resultmg feedback relay
controller
1+ K.%(z) = 0 (Al)
dunensionless activation energy
he m IzIC 1, the ongm of the state space IS stable If any of the
(=E/RTI) zeros he m lzj > 1 the ongm wdl be unstable
dlmenslonless parameter defined m
eqn (25)
heat of reaction
number evaluated usmg eqn (19)
defined m eqns (12) 1
linearized system elgenvalues Fa Al Schematic block dmgram of lmear sample data feedback
dnnenslonless heat transfer coeffi- system
frequency t2, ISto be determmed for a relay controlled feedback with c defined accord- to the passive or achve nature of the
system contauung a symmetnc reiay with hysteresis havmg drwe relay element
levels of CU, and a hnear transfer functmn, G(s), havmg at least
as many poles as zeroes Usmg the nomenclature of FM Al, 7.
[sgn[e,(g)] sgn[e($)] forapasswerelay
and K, are taken as
l =
(A21
-sgn [e,(g)] sgfa [ e,(g)] for an active relay
and
(A31 ‘hen, the penodw solutzon Hrlllbe asymptotically stable to small
disturbances d all condhons of Theorem Al are satisfied except
for a smgle zero at 2 = -1