Professional Documents
Culture Documents
Multivariable
Process Control
Systems
Objective
– Compares the indicated value Ym to the desired value Ysp (set point) of the
output. Let deviation be (error) E = Ysp – Ym
– The value of E is supplied to the main controller, the controller in turn changes
the value of manipulated variable m in such a way as to reduce the magnitude
of the deviation E
Feedback Control Systems
– Process
– Transmission Lines
– Controller
– Proportional Controller
C(t) = Kc*e(t) + Cs
– Kc: Controller Gain
– Cs: Controller’s bias signal
– A Proportional gain is described by the value of Kc or equivalently by its Proportional
Band PB
PB = 100 / Kc
– PB is the range over which the error must change in order to drive the actuating
signal of the controller over its full range. Usually, 1 <= PB <= 500
Proportional Controller
Gc(S) = Kc
Proportional – Integral
Controller
– Also known as Proportional – Plus – Reset Controller
– Its Actuating signal is given by
– Where is the Integral time constant or reset time in minutes. Usually varies
in the range 0.1 ≤ ≤ 50 min.
– Some manufacturers calibrate controller in terms of reset rate 1/
Proportional – Integral
Controller
– Why Integral controller is also called as Reset controller ?
– Integral Windup
Proportional – Integral
Controller
– Integral Windup / Integrator windup / reset windup
– When large change is set point occurs, the integral term accumulates a
significant error during the rise (windup)
Advantages
Disadvantages
Advantages
– Acts before the effect of disturbance has been felt by the system
Disadvantages
– From figure
– Characteristic equation is
– The stability characteristics of a feedback system will not change with the
addition of feedforward loop
Ratio Control
Configuration I
– Measure both flow rates & take
their ratio (Actual ratio)
– Compare actual ratio with
desired ratio, error signal
generated
– Actuating signal is generated in
reference to error signal
– Wild stream & Controllable
stream
Ratio Control Configuration
Configuration II
– Flow rate of wild stream is measured &
multiplied with desired ratio
– The result is actual value of controllable
stream (set point)
– Actual value of controllable stream is
then compared with set point & error
signal generated
– Actuating signal is the generated in
reference to error signal
Things to Think About
1. Cascade Control
2. Selective Control
3. Split-range Control
Cascade Control
– Control Configuration with One manipulated Variable & more than one
Measurement
– Case Study:
– Objective is to keep reaction temperature of
reacting mixture T constant
– Disturbances are Ti & Tc
– Manipulating variable is only Fc
Cascade Control
Cascade Control
– Two measurement (T & Tc) & One
manipulated variable (Fc)
– Control action taking place before Tc effect
has been felt by the reacting mixture
– Tc increases Fc increases & vice versa
– Two control loops with two different
measurements T & Tc, but sharing common
manipulated variable Fc
Cascade Control
2. The dynamics of secondary loop are much faster than those of primary loop.
i.e. Phase lag of secondary loop < phase lag of primary loop
i.e. The cross over frequency of secondary loop is > that of primary loop
Selective Control System
– Selective control configuration transfers control action from one controlled output
to another according to need.
– During normal operation of plant or during startup / shut down, it is possible that
dangerous situation may arises.
– LSS: Low selector switch (used to prevent a process variable from exceeding a lower
limit)
– HSS: High selector switch (used to prevent a process variable from exceeding a
higher limit)
Override Control
– One measurement (controlled output) & more than one manipulated variable
– This single control signal split into several parts, each affecting one of the
available manipulations
Split Range Control
– Consider a process with one manipulated input and two measured outputs, can
you keep both outputs at the desired values using only the single manipulated
variable? If not, explain why???
– Are the stability characteristics of the close loop response of cascade system
better than those of a simple feedback?