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Chapter 3-Feedforward Control

1) Feedforward control (FFC) measures disturbances and takes corrective action before they impact the process variable. 2) FFC is used together with feedback control (FBC) to address both measured and unmeasured disturbances. 3) The performance of FFC depends on the accuracy of process and load transfer function models used in the controller design.

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109 views

Chapter 3-Feedforward Control

1) Feedforward control (FFC) measures disturbances and takes corrective action before they impact the process variable. 2) FFC is used together with feedback control (FBC) to address both measured and unmeasured disturbances. 3) The performance of FFC depends on the accuracy of process and load transfer function models used in the controller design.

Uploaded by

ዘረአዳም ዘመንቆረር
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© © All Rights Reserved
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School of Chemical and Bio-Engineering

Addis Ababa Institute of Technology


Addis Ababa University

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 1


4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 2
Feedforward Control: Introduction
• Feedforward controllers (FFC) are applied to processes
that are significantly affected by disturbances that are
measurable (or can be estimated) on-line.

• The basic concept of FFC is to measure large and


frequent disturbances and take corrective action before
they upset the process.

• Therefore feedforward control requires that the


disturbances must be measured (or estimated) on-line.

• FFC is used when large and frequent disturbances affect


the controlled variable, especially in a slow process.
4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 3
Feedforward Control: Introduction
• Since only the measured disturbances are addressed
by FFC unmeasured disturbance may still have
significant impact on overall control performance.

• FFC is never used alone. It is used to together with


feedback control.

• A feedforward controller requires process transfe


functions (Gp) and load transfer functions (Gd), and
its performance very much depends on the accuracy
of the models.
4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 4
Feedforward Control: Introduction
DV
FBC
- Measure CV and take corrective
MV CV
Process action
- Corrective action is taken after
disturbance causes a
Measure measureable change in CV
FBC
ment

Figure 3.1 Feedback control system FFC


- Measure DV and take corrective
Measur DV action
FFC
ement - Corrective action is taken before
disturbance affects CV
MV Process CV

Figure 3.2 Feedforward control system


4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 5
Example 1: Boiler Drum Level Control
Steam to Control Objective: To maintain
users
the water level in the boiler drum
at a desired level.

Boiler Disturbance: Changes in steam


drum demand. It causes changes in drum
Make-up water level.
water

Hot gas

Figure 3.3 Boiler with variable steam use

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 6


Example 1: Boiler Drum Level Control
LT FT
Steam to Steam to
users users

LC FFC

Boiler Boiler
drum drum
Make-up Make-up
water water

Hot gas
Hot gas

Figure 3.4 (a) Feedback control system Figure 3.4 (b) Feedforward control system

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 7


Example 1: Boiler Drum Level Control
FT
Steam to
users
LT

FFC LC

+ +

Boiler
drum
Make-up
water

Hot gas

Figure 3.5 Boiler drum level control with Feedback and Feedforward together

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 8


Example 2: Blending Tank Composition Control
Control objective: To
maintain the mass fraction at
the outlet at a desired level.

Major Disturbance: The flow


rate of stream 1. It varies
frequently and significantly.

Figure 3.6 Boiler drum level control with Feedback and Feedforward control

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 9


Example 2: Blending Tank Composition Control

Figure 3.7 Boiler drum level feedforward control

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Example 2: Blending Tank Composition Control

Figure 3.8 Boiler drum level Feedback - Feedforward control

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Example 2: Design of Feedforward Controller

Figure 3.9 Block diagram of feedback-feedforward control system

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 12


Design of Feedforward Controller
To eliminate the effect of disturbance

𝐷𝐺𝑡 𝐺𝑓 𝐺𝑣 𝐺𝑝 + 𝐷𝐺𝑑 = 0

Rearranging and solving for 𝐺𝑓

𝐺𝑑
𝐺𝑓 = −
𝐺𝑡 𝐺𝑣 𝐺𝑝

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 13


Design of Feedforward Controller
Example 3.1
The transfer functions of a process and relevant
instruments are given below design a feedforward
controller.

𝐾𝑑 𝐾𝑝
𝐺𝑣 = 𝐾𝑣 𝐺𝑡 = 𝐾𝑡 𝐺𝑑 = 𝐺𝑝 =
𝜏𝑑 𝑠+1 𝜏𝑝 𝑠+1
Solution
𝐾𝑑 𝜏𝑝 𝑠 + 1
𝐺𝑓 = −
𝐾𝑡 𝐾𝑣 𝐾𝑝 𝜏𝑑 𝑠 + 1

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 14


Design of Feedforward Controller
Example 2 (Physically Unrealizable Controllers)
Design feedforward controller with the transfer
functions given below.

2 4
𝐺𝑣 = 0.2 𝐺𝑡 = 1 𝐺𝑑 = 𝐺𝑝 =
5𝑠+1 (2𝑠+1)(𝑠+1)

2 (2𝑠 + 1)(𝑠 + 1)
𝐺𝑓 = −
0.2 × 4 (3𝑠 + 1)

(2𝑠 + 1)(𝑠 + 1)
𝐺𝑓 =− −2.5 Is this controller physically realizable?
(5𝑠 + 1)

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 15


Design of Feedforward Controller
Example 3 (Physically Unrealizable Controllers)
Design feedforward controller with the transfer
functions given below.
Solution
2𝑒 −1.2𝑠 4𝑒 −2.5𝑠
𝐺𝑣 = 0.2 𝐺𝑡 = 1 𝐺𝑑 = 𝐺𝑝 =
5𝑠+1 (3𝑠+1)

2 (3𝑠 + 1)𝑒 1.3𝑠


𝐺𝑓 = −
0.2 × 4 (5𝑠 + 1)

(3𝑠 + 1)𝑒1.3𝑠
𝐺𝑓 = −2.5 Is this controller physically realizable?
(5𝑠 + 1)

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 16


Lead –Lag Controller
• When the designed FFC is physically unrealizable we
can use the following rule to get approximate
lead-lag FFC.

– Add time constants and negative time delays to the lead


time.

• Applying the above rule Example 2 and 3 are solved


in the next page.

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 17


Lead-lag controller
Example 4
Redo example 2 and 3 to get approximate lead-lag FFC.

2𝑠 + 1 𝑠 + 1 3𝑠 + 1
(2) 𝐺𝑓 = −2.5
5𝑠 + 1
= −2.5
5𝑠 + 1

3𝑠 + 1 𝑒 1.3𝑠 4.3𝑠 + 1
𝐺𝑓 = −2.5 = −2.5
(3) 5𝑠 + 1 5𝑠 + 1

4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 18


Exercises
Exercise 1
The transfer functions of a process and relevant
instruments are given below. Design a feedorward
controller and compare the performance of a FB-FFC
with a simple FBC for regulator problem.

2𝑒 −1.5𝑠 4𝑒 −0.2𝑠
𝐺𝑣 = 0. 1 𝐺𝑡 = 1 𝐺𝑑 = 𝐺𝑝 =
5𝑠+1 2𝑠+1

Exercise 2
Compare the performance of a simple FBC with
FB-FFC Example 2 and 3 controller using MATLAB
simulation.
4/27/2020 Advanced Process Control Dr Lemma Dendena Tufa 19

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