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Chapter 15 Seaborg

This chapter discusses feedforward control, which aims to maintain process variables at setpoints by measuring and compensating for disturbances before errors occur. It covers feedforward vs feedback control, design procedures using models, examples of heat exchanger and distillation column control, and stability analysis. Lead-lag compensators are also discussed for improving dynamic feedforward performance.

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Adrian Tawakal
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43 views35 pages

Chapter 15 Seaborg

This chapter discusses feedforward control, which aims to maintain process variables at setpoints by measuring and compensating for disturbances before errors occur. It covers feedforward vs feedback control, design procedures using models, examples of heat exchanger and distillation column control, and stability analysis. Lead-lag compensators are also discussed for improving dynamic feedforward performance.

Uploaded by

Adrian Tawakal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Chapter 15

Ratio Control

Chapter 15

Chapter 15

Chapter 15

Feedforward Control

Control Objective: Maintain Y at its set point, Ysp, despite


disturbances.

Feedback Control:
Measure Y, compare it to Ysp, adjust U so as to maintain Y at Ysp.
Widely used (e.g., PID controllers)
Feedback is a fundamental concept

Feedforward Control:
Measure D, adjust U so as to maintain Y at Ysp.
Note that the controlled variable Y is not measured.

Chapter 15

Feedforward vs. Feedback Control

Chapter 15

Chapter 15

Chapter 15

Comparison of Feedback and Feedforward Control

Chapter 15

1) Feedback (FB) Control


Advantages:
Corrective action occurs regardless of the source and type
of disturbances.
Requires little knowledge about the process (For example,
a process model is not necessary).
Versatile and robust (Conditions change? May have to
re-tune controller).
Disadvantages:
FB control takes no corrective action until a deviation in the
controlled variable occurs.
FB control is incapable of correcting a deviation from set point at
the time of its detection.
Theoretically not capable of achieving perfect control.
For frequent and severe disturbances, process may not settle
out.
9

Chapter 15

2) Feedforward (FF) Control


Advantages:
Takes corrective action before the process is upset (cf. FB
control.)
Theoretically capable of "perfect control"
Does not affect system stability
Disadvantages:
Disturbance must be measured (capital, operating costs)
Requires more knowledge of the process to be controlled
(process model)
Ideal controllers that result in "perfect control: may be physically
unrealizable. Use practical controllers such as lead-lag units
3) Feedforward Plus Feedback Control
FF Control
Attempts to eliminate the effects of measurable disturbances.
FB Control
Corrects for unmeasurable disturbances, modeling errors, etc.
(FB trim)
10

4) Historical Perspective :
1925: 3 element boiler level control
1960's: FF control applied to other processes

Chapter 15

EXAMPLE 3: Heat Exchanger

w Liquid flow rate


w s Steam flow rate
T1 Inlet liquid temperature
T2 Exit liquid temperature
11

Chapter 15

Control Objective:
Maintain T2 at the desired value (or set-point), Tsp,
despite variations in the inlet flow rate, w. Do this by
manipulating ws.
Feedback Control Scheme:
Measure T2, compare T2 to Tsp, adjust ws.
Feedforward Control Scheme:
Measure w, adjust ws (knowing Tsp), to control exit
temperature,T2.

12

Chapter 15

Feedback Control

Feedforward Control

13

II. Design Procedures for Feedforward Control

Chapter 15

Recall that FF control requires some knowledge of the process


(model).
Material and Energy Balances
Transfer Functions
Design Procedure
Here we will use material and energy balances written for SS
conditions.
Example: Heat Exchanger
Steady-state energy balances
Heat transferred =
Heat added to
from steam
process stream

w s H v wC T2 T1
Where,

(1)

H v latent heat of vaporization


C

specific heat of liquid


14

Chapter 15

Rearranging Eqn. (1) gives,

or

C
ws
w T2 T1
H v

(2)

w s Kw T2 T1

(3)

with

C
H v

(4)

Replace T2 by Tsp since T2 is not measured:

ws KwTsp T1

(5)

15

Chapter 15

Equation (5) can be used in the FF control calculations


digital computer).
Let K be an adjustable parameter (useful for tuning).
Advantages of this Design Procedure
Simple calculations
Control system is stable and self-regulating
Shortcomings of this Design Procedure
What about unsteady state conditions, upsets etc.?
Possibility of offset at other load conditions add FB control
Dynamic Compensation
to improve control during upset conditions, add dynamic
compensation to above design.
Example: Lead/lag units
16

Chapter 15

Feedforward/Feedback Control of a Heat Exchanger

17

Hardware Required for Heat Exchanger Example

Chapter 15

1)

Feedback Control

Temp. transmitter
Steam control valve
2)

FB/FF Control

Additional Equipment
Two flow transmitters (for w and ws)
I/P or R/I transducers?
Temperature transmitter for T1 (optional)
Blending System Example?
18

Chapter 15

EXAMPLE: Distillation Column

Symbols
F, D, B are flow rates
z, y, x are mole fractions of the light component
Control objective:
Control y despite disturbances in F and z
by manipulating D.
Mole balances: F=D+B; Fz=Dy+Bx
19

EXAMPLE: cont.

Chapter 15

Combine to obtain

F z x
D
yx
Replace y and x by their set point values,
ysp and xsp:

F z xsp
y sp xsp

20

21

Chapter 15

Analysis of Block Diagrams

Chapter 15

Process

Process with FF Control

22

Chapter 15

Analysis (drop the s for convenience)


Y Z1 Z 2

(1)

Y Gd D GPU

(2)

Y Gd D GP GV G f Gt D

(3)

For perfect control we want Y = 0 even though D 0.


Then rearranging Eq. (3), with Y = 0 , gives a design
equation.

Gd
Gf
Gt GV GP

(15 21)

23

Examples:
For simplicity, consider the design expression in the Eqn. (15-21),
then:
G

Chapter 15

Gf

Gt GV GP

1) Suppose: Gd

Kd
,
d s 1

GP

KP
,
Ps 1

Gt GV 1

Then from Equation (15-21),

K d
Gf

K
P
2) Let

P s 1

1
d

Kd
Gd
,
d s 1

(lead/lag)

K P e s
GP
Ps 1

Then from Equation (15-21)

Gf

K d P s 1

KT KV K P d s 1

(15-25)

e s - implies prediction
of future
disturbances

24

The ideal controller is physically unrealizable.

Chapter 15

3) Suppose G P

KP
1s 1 2s 1

, same Gd

To implement this controller, we would have to take the


second derivative of the load measurements (not possible).
Then,

K d 1s 1 2 s 1
Gf
K T KV K P
d s 1

(15-27)

This ideal controller is also unrealizable.


However, approximate FF controllers can result in
significantly improved control.
(e.g., set s=0 in unrealizable part)
See Chapter 6 for lead-lag process responses.

25

Chapter 15

FF/FB Control

26

Chapter 15

Stability Analysis
Closed-loop transfer function:
Y Gd GT G f GV GP

D 1 GC GV GP GM
Design Eqn. For GF
For Y=0 and D 0 , then we require

Gd GT G f GV GP 0
Gd
previous result (15-21)
Gf
GT GV GP
Characteristic equation
1 G CG VG PG M 0

The roots of the characteristic equation determine system


stability. But this equation does not contain Gf.
**Therefore, FF control does NOT affect stability of FB
system.

27

28

Chapter 15

29

Chapter 15

30

Chapter 15

Figure 15.13. Comparisons of closed-loop responses: (a) feedforward controllers with and without dynamic
compensation; (b) FB control and FF-FB control.

31

Chapter 15

Lead-Lag (LL) Units


Commonly used to provide dynamic compensation in FF control.
Analog or digital implementation (Off the shelf components)
Transfer function: G LL ( s ) K ( 1 s 1 ) lead
2s 1
lag
Tune 1, 2, K
If a LL unit is used as a FF controller,
K=1
For a unit step change in load,
1s 1 1

U ( s )
2s 1 s
Take inverse Laplace Transforms,

1 2 t 2
u (t ) 1
e
2

32

Step 2: Fine tune 1 and 2 making small


steps changes in L.

Chapter 15

Desired response
equal areas
above and
below set-point;
small deviations

According to Shinskey (1996), equal areas imply that the difference


of 1 and 2 is correct. In subsequent tuning (to reduce the size
of the areas), 1 and 2 should be adjusted to keep 1 - 2
constant.
33

Step 4: Tune the FB Controller

Chapter 15

Various FB/FF configurations can be used.


Examples
Add outputs of FB and FF controllers (See
previous block diagram).
FB controller can be tuned using conventional
techniques (ex. IMC, ITAE).

34

Chapter 15
Previous chapter

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35

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