10/10/2021
Ali M. Sahlodin
Department of Chemical Engineering
AmirKabir University of Technology
Fall 1397 S.H
Feedfoward control
1
10/10/2021
Pros
Corrective action triggered as soon as process variable
(CV) deviates from set point (always true?)
Minimal knowledge of the process model needed
Cons
No corrective action until after deviation in CV is
detected
Degraded performance with long time delays
No predictive action to compensate for disturbances
Degraded performance with large time constant and long
delays
Infeasible when CV cannot be measured online
Idea: measure important disturbances and
take corrective action before they upset the
process
Everyday examples?
2
10/10/2021
Level control in a boiler drum
Disturbance: steam flow changed by downstream
units
Seborg’s el a. Process Dynamics and Control book
Measure CV Measure DV
Feedback control Feedforward control
5
Seborg’s el a. Process Dynamics and Control book
Feedback control
Feedforward control
Feedforward control: only the disturbance variable(s) measured
Requirements
•Disturbance variable (DV) must be measurable.
•Accurate process model should be available.
6
3
10/10/2021
Can you measure ALL disturbances?
Do you have an accurate model for
process and all disturbances?
The answer is almost always NO!
Seborg’s el a. Process Dynamics and Control book
Feedforward control is combined with feedback control
Seborg’s el a. Process Dynamics and Control book
Total control action =
feedback action + feedforward action
Feedforward: reduce effects of measured disturbances
Feedback: compensate for inaccuracies in process model,
measurement error, and unmeasured disturbances.
4
10/10/2021
Feedback-feedforward block diagram
Seborg’s el a. Process Dynamics and Control book
Ysp(s)=0
Objective Y(s)=0
Seborg’s el a. Process Dynamics and Control book
Combined FB+FF performs
better than FB only
10
5
10/10/2021
Chapter 16
Enhanced Single-Loop
Control Strategies
1. Time-delay compensation
2. Cascade control
3. Selective and override control
11
Time delay
Poor control performance
Potential instability
Decrease control gain sluggish response
Seborg’s el a. Process Dynamics and Control book
e s
G p (s)
5 s 1 3s 1
12
6
10/10/2021
Seborg’s el a. Process Dynamics and Control book
Exclude delay from control calculations
Implement the action to the true process
Conventional feedback Feedback with delay compensator
13
Improvement in control performance
Seborg’s el a. Process Dynamics and Control book
14
7
10/10/2021
Compensate for disturbances before they upset CV
Add an inner feedback loop to take care of it!
Seborg’s el a. Process Dynamics and Control book
Single-loop feedback control Cascade control
15
Seborg’s el a. Process Dynamics and Control book
Secondary (inner) loop
Primary (outer) loop
16
8
10/10/2021
Typically equal number of MV and CV exists
One to one pairing
What if fewer MVs than CVs are available?
How can we control all CVs?
Idea: share the MV among multiple CVs
17
Temperature control in packed bed (hot spot)
Seborg’s el a. Process Dynamics and Control book
Select the highest temperature
18
9
10/10/2021
A minimum flow of slurry required
Seborg’s el a. Process Dynamics and Control book
High selector
19
Use more than one MV to control the CV
When there are more MVs than CVs
Examples
pH neutralization using both acid and base
Temperature control by both heating and
cooling
20
10
10/10/2021
Objective: control line pressure
Fuel A is cheaper than Fuel B
Use as much of A as possible to maintain pressure
T. Marlin. Process Control, 2nd Ed
Solution: split range control
21
Split-range design
First open Valve A
Open Valve B if Valve A
saturates
T. Marlin. Process Control, 2nd Ed
T. Marlin. Process Control, 2nd Ed T. Marlin. Process Control, 2nd Ed
22
11
10/10/2021
Objective: control car temperature
Available MVs: cooling mode, heating mode
23
12
