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Connecting Controllers
In control programming we
make statements like:
& Actuators
1
I
d(LC1 LC1set )
dt
Feedback Control
Philosophy:
Adjust for errors as
they take place.
Example: Maintain LC1 by controlling v3
v3 = v 3offset + K c (LC1 LC1set ) +
Advantages
Simple to design
No process model
required
1
I
d(LC1 LC1set )
dt
Disadvantages
Only corrects for
errors after they
happen
Generally only takes
input from one sensor
Feed Forward
Control
Philosophy:
Anticipate and correct
for errors before they
happen
Example: Maintain LC1 by measuring FC1 and FC2 and
preemptively adjust v3
v3 = k valves (FC1+ FC2) (assuming a linear valve)
Advantages
Disadvantages
Requires infinitely
accurate models
Requires infinitely
accurate measurements
Ratio Control
Philosophy:
Connect two flows to
maintain a constant
ratio
Example: Feed in a defined ratio of A and B where A is the wild
stream.
v2 = k ratio kvalve FC1
Advantages
Links two streams to
producea defined ratio
Simple--does not
require a complex
model
Disadvantages
Never measures FC2,
thus assumes the flows
are matched
Assumes pressure
from B is constant
Cascade
Control
Philosophy:
Sensors can control the set
points of other sensors to
integrate information
Example: Connect LC1 to FC1 to adjust v1
1
v1 = v1offset + K c1 (FC1set FC1) +
I1
d(FC1set FC1)
(FC1
FC1)dt
+
set
D1
dt
1
I 2
(LC1
set
LC1)dt + D 2
d(LC1set LC1)
dt
Inner loop
(slave)
Outer loop
(master)
Cascade Control
Example: Connect LC1 to FC1 to adjust v1
v1 = v1offset + K c1 (FC1set FC1) +
1
I1
(FC1set FC1)dt + D1
1
I 2
d(FC1set FC1)
dt
d(LC1set LC1)
dt
Inner loop
(slave)
Outer loop
(master)
Logic: The inner loop is something that changes quickly, here
possibly due to pressure changes from the A storage.
Outer loop changes slowly, and influences the inner loop by
controlling the set point of FC1.
Advantages
Disadvantages
Controller responds
Controller is more complex
quickly to high
Tuning cascade controllers is
frequency changes
more difficult as the set point
Controller integrates
changes + more parameters
multiple sensor
readings together
(LC1
set
LC1)dt + D 2
Mixed Architectures
Most real systems have
combinations of feedback,
feed forward, ratio, and
cascade control.
Example #1:
Control LC1 using FC1 cascaded to v1 and feedback control on v3.
v1 = v1offset + K c1 (FC1set FC1) +
1
I1
(FC1
1
I 3
set
1
I 2
FC1)dt + D1
d(FC1set FC1)
dt
(LC1set LC1)dt + D 2
(LC1set LC1)dt + D 3
d(LC1set LC1)
dt
d(LC1set LC1)
dt
Inner loop
(slave)
(feedback)
Outer loop
(master)
Feedback
Mixed Architectures
Most real systems have
combinations of feedback,
feed forward, ratio, and
cascade control.
Example #2:
Maintain ratio of B using FC1 cascaded to FC2 to control v2
1
v2 = v2 offset + K c 4 (FC2 set FC2) +
I 4
(FC2
set
FC2)dt + D 4
Outer loop
(master)
(ratio control)
Inner loop
(slave)
(feedback)
Mixed Architectures
Most real systems have
combinations of feedback,
feed forward, ratio, and
cascade control.
Advantages
Pick and choose
features to fit the
problem
Incorporate in any
number of sensors in a
rational way
Disadvantages
Controllers can be complex
(Each I controller adds an ODE,
eigenvalue, and new dimension
to the problem.)
Tuning is difficult
- Routh stability really helps
define appropriate ranges
- Optimization based tuning
Example 1
TC1
TC2set
v1
I 1
dt
(slave)
Check signs!
TC2 set = TC1offset + K c 2 (TC1set TC1) +
1
I 2
(TC1set TC1)dt + D 2
d(TC1set TC1)
dt
Outer loop
(master)
Example 2
1
I
d( pHC1 pHC1set )
dt
Other examples:
The ratio of FC2 to FC3 is set
by AC2. For this scheme, use
a level control to set either FC2
or FC3 and determine the other
flow using the ratio controller.
The ratio of FC3 and FC1 Is
set by AC2. For this set up,
also include a level control
scheme for the accumulator.
AC2 is cascaded to TC2, which is cascaded to FC2 controlling V1. In
addition, AC1 could be a feed forward controller on FC2 and V1. (Note
here two paths control V1, so a more sophisticated logical relationship
would be needed). LC1 is cascaded to FC3, which controls V2.
AC2 is cascaded to TC2. TC2 is a ratio controller of FC2 and FC1, and this
output is combined with FC1 to form a set point for FC2. FC2 controls V1.
Also, AC1 feeds forward to FC2. LC1 is cascaded to FC3 to control V2.
(Note: there are many configurations possible, depending on the control
objective. Some, however dont make sense such as having FC3 control
V1, or cascading AC1 to LC1 to control FC3, to control V2. )