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CHE3162.Lecture11 Cascade
CHE3162.Lecture11 Cascade
Cascade
Control
Chapter 16: Seborg
Chapter 14: Marlin
Chapter 9: Smith & Corripio
Learning Objectives
Understand when, why & how to apply
cascade control
Understand benefits of cascade control
loops
Draw a cascade block diagram and
analyse response
Be able to simplify cascade control loops
What about the extra disturbance
to the heat exchanger?
Steam supply
pressure may
vary
Steam flow
will change
without valve
movement
This is a
disturbance
to a
manipulated
variable
Cold fluid
T change
Hot fluid
Steam
TC
101
TT
101
SP
Steam supply pressure P
s
Cascade Control: Controlling
for Manipulated Variable
Disturbances
Cold fluid
T change
Hot fluid
Steam
TT
101
TC
101
TSP
FC
101
FSP
Steam pressure disturbance
T control is the OUTER loop
F control is the INNER loop
Features of Cascade Control
TWO PID control loops connected
A main outer loop
An inner secondary loop
Improved response to disturbances
Very common in industry
Requirement: Inner loop must be FASTER
than the outer loop
Features of Cascade Control
Only used if there is a disturbance to a
manipulated variable
This disturbance enters the inner loop on
the block diagram
Outer controller sets the setpoint of inner
controller
The inner loop is usually simple
Most frequently flow control
Usually P control with high gain
Sometimes temperature control
Heat exchanger control: Feedback
control
Cascade control heat exchanger:
Option 1 Option 2
Smith & Corropio
Cascade control example
Smith & Corropio
Cascade Control to jacketed reactor
Cooling water
Variable
supply P
Outer
Temp
Controller
Inner
Flow
controller
TC
101
SP
FC
101
Example of Double Cascade on a
Jacketed (External Coil) Reactor
TC
101
SP
TC
102
Cooling water
Variable T
& supply P
Primary
Secondary
Tertiary
FC
101
Cascade Control Block Diagram
G
p
Y
F
s
1
T
m
G
D
D
1
+
+
SP
E
+
-
K
c
(1+1/T
i
s)
G
V
U
K
c2
+
-
D
2
+
Valve inside inner loop
Inner controller usually P only
Outer loop
Inner loop
F
SP
Simplified Block Diagram
Simplify inner loop replace with single
transfer function
G
p
Y
F
s
1
T
m
G
D
+
+
SP
E
+
-
K
c
(1+1/T
i
s)
G
V
U
K
c2
+
-
D
2
+
Outer loop
Inner loop
K
C2
G
v
1+K
C2
G
v
D
1
1
1+K
C2
G
v
Analysis of a Cascade Loop:
1 - Inside the Inner Loop
0.5s 1
0.5
c2
K 1
0.5s 1
0.5
c2
K
F
s
F
SP
F
SP
IF K
c2
= 10
0.083s 1
0.83
F
s
F
SP
0.5
1 +0.5s
U
K
c2
+
-
4e
-2s
1 + 15s
T
F
s
1
T
m
1e
-s
1+5s
T
D
+
+
T
s
E
+
-
K
c
(1+1/T
i
s)
P
s
+
Analysis of a Cascade Loop:
1 - Equivalent Block for Inner Loop
F
SP
0.083s 1
0.83
F
s
F
SP
4e
-2s
1 + 15s
T
F
s
1
T
m
1e
-s
1+5s
T
D
+
+
T
s
E
+
-
K
c
(1+1/T
i
s)
0.83
1 + 0.083s
Analysis of a Cascade Loop:
2 Impact of second disturbance
1
s
P
s
F
If K
c2
= 10
F
set
0.5
1 +0.5s
U
K
c2
+
-
4e
-2s
1 + 15s
T
F
s
1
T
m
1e
-s
1+5s
T
D
+
+
T
s
E
+
-
K
c
(1+1/T
i
s)
P
s
+
No cascade:
Unit change
in P
s
gives unit
change in F
s
With cascade:
Unit change
in P
s
gives 1/6
change in F
s
(final value theorem)
Open loop TF:
0.5s 1
0.5
c2
K 1
1
s
P
s
F
Forward
1+Forward*Feedback
Solution to Q2b - continued
K
c2
F
U
0.2
1 +10s
+
-
F
s
) s 10 1 /( K 2 . 0 1
) s 10 1 /( K 2 . 0
F
F
2 c
2 c
s
2 c
2 c
K 2 . 0 s 10 1
K 2 . 0
s )] K 2 . 0 1 /( 10 [ 1
) K 2 . 0 1 /( K 2 . 0
2 c
2 c 2 c
2 c
K 2 . 0 s 10 1
10
s )] K 2 . 0 1 /( 10 [ 1
) K 2 . 0 1 /( 10
2 c
2 c
+
10
1+10s
P
K
v
= 0.2 here
Ts 1
K