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EPRI 3412 Hillview Avenue, Palo Alto, California 94304 PO Box 10412, Palo Alto, California 94303 USA 800.313.3774 650.855.2121 askepri@epri.com www.epri.com
This is an EPRI Technical Update report. A Technical Update report is intended as an informal report of continuing research, a meeting, or a topical study. It is not a final EPRI technical report.
ORDERING INFORMATION
Requests for copies of this report should be directed to EPRI Orders and Conferences, 1355 Willow Way, Suite 278, Concord, CA 94520. Toll-free number: 800.313.3774, press 2, or internally x5379; voice: 925.609.9169; fax: 925.609.1310. Electric Power Research Institute and EPRI are registered service marks of the Electric Power Research Institute, Inc. EPRI. ELECTRIFY THE WORLD is a service mark of the Electric Power Research Institute, Inc. Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
CITATIONS
This report was prepared by EPRI I&C Center 714 Swan Pond Road Harriman, TN 37748 Principal Investigators C. Taft This report describes research sponsored by EPRI. The report is a corporate document that should be cited in the literature in the following manner: Power Plant Control System Tuning Short Course Notes, EPRI, Palo Alto, CA: 2004. 1003740.
iii
ABSTRACT
Power plant control system tuning is a continuing challenge for many power producers. To help address the problem, EPRI began a project in 2002 to investigate improved methods for control system tuning. One of the tasks undertaken in that project was the development of a power plant control system tuning short course. This report provides approximately 100 slides that make up the bulk of the course material. In addition, tuning demonstrations using computer simulation software will be a part of the course. The course notes provided here include information on process response concepts, control system fundamentals, PID tuning, and boiler control system applications examples. It will be useful for plant engineers and technicians involved with control system tuning and plant responsiveness.
TABLE OF CONTENTS
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1
INTRODUCTION
Power plant control system tuning is a continuing challenge for many power producers. To help address the problem, EPRI began a project in 2002 to investigate improved methods for control system tuning. The project has already produced several short reports on power plant control system tuning, including one on tuning assessment and one on PID controller tuning software programs (see Section 3 for complete reference list). The latest effort was the development of a short course on fossil power plant control system tuning. This technical update provides the latest information on the course. Section 2 contains the course outline, and Section 3 provides approximately 100 slides that make up the bulk of the course material. In addition, tuning demonstrations using computer simulation software will be a part of the course, but are not included in these notes. The two-day course will be offered at the EPRI Instrumentation and Control Center in Harriman, TN. The course notes provided here include information on process response concepts, control system fundamentals, PID tuning, and boiler control system applications examples. It will be useful for plant engineers and technicians involved with control system tuning and plant responsiveness.
1-1
2
COURSE OUTLINE
1. Course scope and objectives 1.1. Conventional control system tuning (PID -based) 1.1.1. PID tuning 1.1.2. Cascade control 1.1.3. Feedforward signals 1.1.4. Focussed on boiler control systems 1.1.5. Applicable to other systems 1.2. Make plant engineers and technicians more knowledgeable about control system tuning methods 1.3. Not a control design course 1.4. References What is tuning? 2.1. Adjustment of control system parameters to make plant respond as desired 2.2. Tuning is not the same as design 2.2.1. Design means selecting a strategy and logic 2.2.2. Tuning means adjusting settings in current design 2.3. There are other adjustments besides PID settings 2.4. Linearizers (f(x)), lead/lags, a few others 2.5. Tuning terminology and definitions 2.5.1. System 2.5.2. Process 2.5.3. Response 2.5.4. Controller 2.5.5. Closed loop 2.5.6. Open loop, etc. Control system diagramming 3.1. SAMA diagrams 3.2. Block diagrams Process response concepts 4.1. Common responses 4.1.1. First order lag 4.1.2. Second order under-damped 4.1.3. Integrator 4.1.4. Deadtime 4.2. Parameters, e.g., Gain, time constant,, time delay 4.3. Second order comments Control system fundamentals 5.1. Feedback 2-1
2.
3. 4.
5.
Course Outline
7.
8.
9.
PID Controllers Cascade Control Feedforward control Trim controllers Loop error or deviation Continuous control Digital control 5.8.1. Sampled data 5.8.2. Aliasing Performance measures 6.1. Speed vs. stability 6.2. Overshoot 6.3. Rise time 6.4. Settling time 6.5. Setpoint tracking vs. disturbance rejection PID tuning concepts 7.1. Empirical methods 7.1.1. Example 7.2. Analytical Methods 7.2.1. Example 7.3. Automated programs System linearity issues 8.1. Why linearity is important 8.2. Characterization 8.3. Gain scheduling Boiler control system tuning 9.1. Approach to boiler control tuning 9.2. The hierarchy of tuning 9.3. Actuator setup and tuning 9.4. Feedwater flow/drum level 9.5. Furnace pressure control 9.6. Air flow control 9.7. Fuel flow control 9.8. Boiler follow throttle pressure control 9.9. Steam temperature control 9.10. Front end control, throttle pressure and megawatts
2-2
3
COURSE NOTES
This section contains the slides that make up the course notes.
3-1
Course Objectives
Present an overview of control system tuning principles and practices for fossil power plants. Provide detailed guidance on:
Proportional-integral-derivative (PID) controller tuning. Feedforward tuning Major boiler control loop applications Tuning assessment
Intended audience is plant engineers and technicians, technical specialists, support engineers. Course is not intended as control design course. Students should have some experience with power plant control systems and typical boiler processes.
Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
Tuning References
EPRI Reports Tuning Guidelines for Utility Fossil Plant Process Control, EPRI, Palo Alto, CA: TR-102052, Volumes 1-4, 1993-1994. Power Plant Control System Tuning, EPRI, Palo Alto, CA: TE113653, 1999 Automated Control System Tuning: Issues, Available Solutions, and Potential for Improvement, EPRI, Palo Alto, CA: 1004067, 2001 Control System Tuning Assessment Guidelines, EPRI, Palo Alto, CA: 1004425, 2002 Review of State-of-the-Art PID Controller Tuning Software Programs, EPRI, Palo Alto, CA: 1004080, 2004
Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
Tuning References
Books Astrom, K.J. and Hagglund, T., PID Controllers: Theory, Design and Tuning, ISA, Research Triangle Park, NC: Second Edition, 1995. McMillan, G. K., Tuning and Control Loop Performance, ISA, Research Triangle Park, NC: Second Edition, 1983. Corripio, A. B., Tuning of Industrial Control Systems, ISA, Research Triangle Park. NC: 1990. Dukelow, S. G., The Control of Boilers, ISA, Research Triangle Park. NC: Second Edition, 1991. Levin, W., Editor, The Control Handbook, CRC Press, Boca Raton, FL: 1995.
Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
Tuning References
Papers Morse, R. H., et al, Aspects of Tuning a Boiler Control System - A Strategy for Optimization, ISA IPI 76462, pp 121-142, ISA POWID Symposium Proceedings, 1976. Hubby, R. N., Pulverizer Control, A Tutorial Review, ISA, ISBN155617-213-3, pp 157-164, ISA POWID Symposium Proceedings, 1991. Taft, C. W. and McFarland, G., A Guide to Boiler Control System Startup and Checkout, ISA, First Joint ISA POWID/EPRI Controls and Automation Conference Proceedings, 1991. Heuszel, C. B., Methods of Accurate Control for Environmental Compliance, Tutorial presented at ISA/94 Conferences in Philadelphia, PA, and Anaheim, CA., 1994
Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
Tuning Terminology
Process - The system being controlled, e.g., the feedwater flow system or the air flow system. Also referred to as the plant. Controller - the device or algorithm which is manipulating the process input to effect a change. Most common is PID controller but there are many other possibilities. Actuator - The device which moves the final control element, such as a valve or damper, in response to command signals from the controller. May use pneumatic, electric or hydraulic power. Feedback - A type of control in which a measurement of the process is used by the controller to adjust the final control element. The concept of feedback is used in all major control functions in a power plant. Controlled variable - The process parameter being controlled by the control system. Also called the process variable. Manipulated variable - The controller output signal.
Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
Open loop - The system has no feedback in service. Also means the control loop is in manual mode. Closed loop - Feedback from the process is being used by the controller. Control loop is in automatic mode. Gain - The output of a system divided by its input. A measure of the change in signal size as it passed through a system. Frequency response - The output of a system in response to a sine wave input signal at many different frequencies. Usually specified as a gain and phase shift. Step response - The output of a system in response to a step change in the input signal. Impulse response - The output of a system in response to an impulse change in the input signal. In theory an impulse is an infinitely large and infinitely short pulse.
Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
Time response - The output of a system as a function of time. Time constant - A measure of the speed of response of a system. Sometimes refers to the time for a first order system to reach 63% of its final step response. Stable - In theory, a type of system whose output is bounded for all bounded inputs. In practice, a system whose output settles out in response to a disturbance. Stability margin - A measure of how close a system is to instability. Disturbance - Any upset that occurs in a system. Often implies an unmeasured upset that the control system is trying to eliminate. Continuous control - An analog control system, i.e., one in which all signals are continuous functions of time. Discrete control - Also called digital control. A digital control system, i.e., one in which the controller signals are only updated at distinct points in time. Also referred to as a sampled data system.
Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
There are two methods commonly used in power plant control analysis SAMA (Scientific Apparatus Makers Association) Diagrams Block Diagrams SAMA diagrams functional diagrams in which on block represents one control system function, such as a summer. They are normally used by control system vendors to describe how the system works. They contain no information about the process being controlled. Block diagrams are more mathematically oriented and are used widely in control system analysis. They show the control system and the process being controlled. Both types will be used in this course.
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Feedwater Flow
Drum Level
Drum Pressure
Steam Flow
FT
LT
PT
FT
Density Compensation
Measurement
PI
PID
Control
Participation f(t)
f(x)
f(x)
Output
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Disturbance
Setpoint
8___ 38s + 1
1___ 4s + 1
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Four common process models First order lag, second order under-damped, integrator, and deadtime Most common is 1st order with deadtime Characterized by 3 parameters: gain, time constant, deadtime Gain - ratio of final change in output to change in input. Time constant - time to 63% of final response. Deadtime - time before any response begins. No overshoot in step response
e d u t i n g a M
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Every process contains many smaller processes Total response is combination of all blocks
Disturbance
Setpoint
8___ 38s + 1
1___ 4s + 1
Process
Controlled Variable or Process Variable
Manipulated Variable
I/P
Booster
Diaphragm
Valve
Desuperheater
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Feedback
Process measurement is sent back to the control system Negative feedback because measurement is subtracted from setpoint Foundation of automatic control Vastly improves accuracy of control Introduces possibility of instability When feedback is used, it is called closed loop control
Control system
Process Variable
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K
d dt
10
15
20
25
30
10
15
20
25
30
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Cascade Control
Two feedback loops nested together with the output of the primary loop controller acting as setpoint for the secondary loop. This control scheme requires that the secondary loop be much faster than the primary loop. Example: Drum level control (slow primary or outer loop) Feedwater flow control (fast secondary or inner loop)
PID
Primary Controller
Primary Error
Secondary Controller
Secondary Process
Primary Process
Measurement
PID
Measurement
To Actuator
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Cascade Control
Advantages: Disturbances arising within the secondary loop are corrected by secondary controller before they influence primary controller. Secondary loop linearizes the process response improves the speed of response of the primary loop. Disadvantages: More complex strategy, more tuning adjustments. Control of each variable is assumed single-loop and is designed to operate satisfactorily, Instability may occur when both loops are closed (in auto). Cascade control requires that an intermediate process variable can be reliably measured. Secondary loop must be significantly faster than primary loop.
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Feedforward Control
A control strategy in which a signal other than the controlled variable is added directly to the controller output to improve a control loops response. For a feedforward signal to be advantageous, it must provide some intelligence about a process change before the controlled variable detects it. Can be dynamic (e.g., kicker) or static (e.g., load index). Example: Steam flow as a feedforward to drum level control. Advantages: Can dramatically improve the response of slow loops. Disadvantages: Adds complexity to loop. Can be difficult to tune.
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Feedforward Control
Feedforward
FT
Process Variable
TT
PID
f(x)
To Actuator
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Trim Controller
A controller whose output is used to bias the main control demand signal. The trim controllers output is normally zero centered with a +/20% to 30% range. Example: Drum level controller in a three element control strategy. Excess oxygen controller Main control signal is usually a feedforward signal.
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Trim Controller
Demand Signal
FT 0 to 100%
Process Variable
TT
PID
To Actuator
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1.2
Loop Error
Magnitude
0.8
0.6
d dt
0.4
0.2
-0.2
10
15
20
25
30
Time (seconds)
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Digital Controller
D/A Converter
A/D Converter
Controller
Actuator Analog
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Amp litu d e
1 .5
0 .5
0 0 5 10 15 20 25 Time (s a mp le s )
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Aliasing
Aliasing occurs when a waveform is sampled too slowly. The sampled data does not represent the actual waveform. The apparent frequency of the sampled data may be much lower than the actual frequency of the original signal. A waveform must be sampled at least twice per cycle to prevent aliasing. Aliasing can also be prevented by low pass filtering the signal before sampling. This eliminates high frequency components in the signal. Some DCS systems dont adequately filter the analog input signals before sampling to prevent aliasing.
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Aliasing
0 .5
-0 .5
-1
20
40
60
80
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Stability
Theory - The output response is bounded for all bounded inputs Practice - Response does not oscillate too much Measurables: damping, overshoot, settling time, offset
Faster speed of response generally leads to less stability. Most power plant control systems do not have well defined performance goals
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1.8
1.6
1.4
Overshoot
1.2
Magnitude
0.8
0.6
0.4
Rise Time
0.2
Settling Time
10
15
20
25
30
Time (seconds)
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Most setpoint tracking loops also do some disturbance rejection. Performance tests should match main function. In other words, dont use a setpoint step response to test the drum level performance.
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Empirical is used much more than analytical. Doesnt mean it is better Many tuners dont know analytical methods Should understand both
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Notes:
Offset decreases as gain increases Doubling gain does not cause problems
Controlled Variable
1.2
Setpoint
Best gain between 0.2 and 0.4 No need to do test at a gain of 1.6 because 0.8 was already to high. Could do another test at 0.3 Large offset at best gain.
0.8
Gain = 1.6
Gain = 0.8
0.6
Gain = 0.4
0.4
Gain = 0.2
0.2
Gain = 0.1
10
15 Time (seconds)
20
25
30
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Notes:
Integral eliminates offset Doubling gain does not cause problems
Controlled Variable 1.4
Best gain close to 0.2 Could try 1.5 and 2.5 as a final check. With proportional gain at 0.2 and integral gain at 0.2, loop is well tuned. Overshoot about 14%.
0.8
0.6
0.4 Int Gain = 0.05 0.2 Prop Gain = 0.2 0 0 5 10 15 Time (seconds) 20 25 30
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Notes:
Derivative improves stability Reduces overshoot Proportional gain increased from 0.2 to 0.8 with no increase in overshoot. Simulation results not always realistic with derivative because there is no noise. No integral gain shown in this plot.
0.8 Controlled Variable Setpoint 1 Kd = 0.0 Kd = 0.2 Kd = 0.4 0.6 Kd = 0.8 0.4
0.2 Kp = 0.8 0
-0.2
10
15 Time (seconds)
20
25
30
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Zeigler-Nichols does not give good results for process control; too oscillatory.
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Some methods are designed for a particular type of process. No single method is best for all processes. Modern computer tuning programs provide many of these methods.
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0.5
0.25
L = 0.8 a = 0.22
-0.25
-0.5 0
10
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Controller P PI PID
Ti
Td
2.3L 2L 0.42L
Table from Chien, Hrones and Reswick disturbance response method as shown in Astrom and Hagglund, p. 150.
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With this tuning, the disturbance rejection response would be as shown below.
Disturbance Rejection 1 0.8 0.6 0.4 Controlled Variable 0.2 0 -0.2 -0.4 -0.6 -0.8 -1
10
15 Time (seconds)
20
25
30
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No power plant systems are strictly linear, but some come close. Some common sources of non-linearity include:
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Valve and damper flow characteristics Centrifugal pump curves Pressure drop vs. flow relationship. Backlash in actuators
Copyright 2004 Electric Power Research Institute, Inc. All rights reserved.
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100
80
Pretty Bad
40
20
0 0 20 40 60 80 100 120
Characterization Example
Linear
Non-linear Non-linear
Controlled Variable
Setpoint
PID -
F(x)
Actuator
Process
Measurement
F(x)
100 90 80 70 Manipulated Variable
Controlled Variable 100 90 80 70 60 50 40 30 20 10 0
Actuator
100 90 80 70
Result
=
0 20 40 60 80 100 Manipulated Variable
Controlled Variable
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Gain Scheduling
Gain scheduling is another way to deal with non-linear loops. Modern DCSs allow controller gains to be defined as a function of another variable. Enables consistent tuning throughout the load range. Drawback is that it requires more tuning tests. Tough enough to get a loop well tuned at one load, let alone 3 or 4 loads.
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Megawatts
Throttle Pressure
Turbine Master
Boiler Master
Excess Oxygen
Fuel Control
Feeder Control
... ...
Feeder Control
FD Fan Control
FD Fan Control
Actuators
Actuators
Actuators
Actuators
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Electric actuators have position controllers that may need tuning to get good response.
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f(t)
f(x)
A PID
Drum Level Controller
FW Flow Controller
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PID
f(x)
T
Spray Valve Demand
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f(x)
>
Cross Limiting
<
PID
O2 Controller
Programmed O2 Setpoint
f(x)
PID
FD Fan Demand
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Fuel Control
Total Fuel Flow Feeder Speeds or Heat Release Boiler Demand Air Flow Cross Limiting
<
PID
T
Feeder Demand to Feeders
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Throttle Pressure
A PID
PID
Unit Demand
Turbine Master
Boiler Master
Turbine Demand
80
Boiler Demand
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f(x)
A PID
Desuperheater Outlet Controller Final SH Outlet Controller
PID
A
Typical Feedforward Signals: Steam Flow, Drum Pressure, Air Flow, Burner Tilt Position
T
Spray Valve Demand
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A PID
PID
Unit Demand
Turbine Master
Boiler Master
Turbine Demand
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Boiler Demand
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About EPRI
EPRI creates science and technology solutions for the global energy and energy services industry. U.S. electric utilities established the Electric Power Research Institute in 1973 as a nonprofit research consortium for the benefit of utility members, their customers, and society. Now known simply as EPRI, the company provides a wide range of innovative products and services to more than 1000 energy-related organizations in 40 countries. EPRIs multidisciplinary team of scientists and engineers draws on a worldwide network of technical and business expertise to help solve todays toughest energy and environmental problems. EPRI. Electrify the World
2004 Electric Power Research Institute (EPRI), Inc. All rights reserved. Electric Power Research Institute and EPRI are registered service marks of the Electric Power Research Institute, Inc. EPRI. ELECTRIFY THE WORLD is a service mark of the Electric Power Research Institute, Inc. 1003740 Printed on recycled paper in the United States fA i EPRI 3412 Hillview Avenue, Palo Alto, California 94304 PO Box 10412, Palo Alto, California 94303 USA 800.313.3774 650.855.2121 askepri@epri.com www.epri.com