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§ i-i Introduction
of advanced and complicated process control systems. The term " ad-
The term " complicated" means that the realization of such a system
does. On the other hand, from the view-poimt of control theory , the
terms " advanced" and " complicated" means that such a system can sa-
tisfy higher control requirements or indices and the depth and the ex-
theory of single variable control systems. Twenty years ago, the pro-
cess control theory mainly dealt with the problems of single variable
and single loop control systems. Even sometimes multiloop systems were
met, but in general they were able to be transferred into single va-
riable systems and for such systems, quite abundant experience has
is that the frequency method, based on the Laplace transform and with
control theory.
scale becomes larger and larger and the process complexity grows more
feed rate and temperature distribution are interacted in the whole pro-
cess. But process control systems always control the variables one
control theory has got very wide development and many research results
Now, this theory has become a very important field in process control
theory and by the depth of its contents, it has been admitted in ge-
theory.
For example, the synthesis theory according to some indices, the op-
coupling. If we can reach so, then the decoupled system will be able
and the theory to deal with such problems is called as the decoupling
trol theory, it is not the principal problem and a system with reali-
these are true indeed, but, however, we must point out that from the
two controls interacted, then this could cause difficulty to the pilot
From then on, Kavanagh and others applied this idea in different con-
this method is: Appropriate design must be taken in order to make the
plants with equal outputs and inputs into P-canonical and V-canonical
he discussed these ideas from quite abstracted systems and theory and
riable process control systems and show what practical results can be
obtained.
the past twenty years, no special book was written to explain the de-
For example:
What problems can be solved by using these methods and what con-
etc.
Because of these, many famous theorists of process control, such
not only the research methods should be assorted, but the researched
contents for each method should be assorted as well. Their basic idea
is that the contents of this theory are very abundant and un~ler fur-
There are many methods which can be used to solve the decoupling
effctive:
return difference method due to Mayne,Chuang and Daly, etc (18)) in re-
simply because different man who uses one of these methods to solve
his own problem has different demands and intents. For example, modern
control theorists appreciate the state variable method very much and
there are a lot of papers and books to discuss this method. But the pro-
cess control theorists and engineers prefer to use the diagonal ma-
trix method and the relative gain method since these two methods are
able process control systems and the conclusions from the application
Therefore, these two methods are the most popular methods applied now
method and the characteristic locus method can be also used in pro-
cess control practice indeed, but these two methods are of some com-
try.
and the relative gain method is the guideline throughout this book.
ring practice. We will see that the contents of these two methods are
This problem seems very simple but many theory problems are just
It is not strange.
the view-point of control theory, we need not and do not restrict our
widely apply the transfer function analysis method to get the trans-
the relative relations and connections among them. Just because there
are some dynamic and static connection relations among them, espe-
of them. This is because there are two very important properties with
any control system block diagram.The first is that the transfer func-
ing calculated. Just because of these, we can say that not only a
But, there are some differences between the two. For MPCS, there
are two kinds of block diagrams. The first is a block diagram system
tics, only the representation manner is different and for the latter,
it can be also calculated by using matrices. So, we can say that the
lysis of MPCS.
it will be very complicated and intricate when there are many variables
a block diagram.
avoid this problem. The transfer function matrix means to arrange the
the main diagonal are the transfer functions of intrinsical channels and
the elements away from the main diagonal are the transfer functions of
interconnection elements,i.e.the elements of interactions.Therefore, a
For example, for the system shown in Fig 1-2-1, its calculation
form is : mI m2
11 R11R121[ul
m2 R21 R22 u2
1 t
nil R21
'L
[ uI
U1
X1
M1 - L C1
C2
X2
I_ E1
I RII R211 --
R12 2 x2xI Fig 122
Where :
X 1 and X 2 are the given inputs,
X is the input vector,
C 1 and C2 are the outputs,
RI2 and R21 are the transfer fun=tions of decoupling elements which
should be designed,
But we must notice, taking Fig 1-2-2 as an example, though there are
\~f<!~\ 111\
I \-- ! \ .
I = 11 _ I
a b c d
Pig 1-2-3
Fig l-3-1a is an obvious single variable control system, so is Fig
For instance, the above example can be expressed by the signal flow
Xl O 1~ c1
1 C2
x20
-F22
Fig 1-2-4
the analysis. And in most other cases, the application of signal dia-
addition, most readers are not familiar with the calculation rules of
diagram.
13
il X1 U1
?~ =
12
.
X2
X = •
U = " 1
n
X
n L ~ P
V I- VZ V I- U 1 dV 1
+
+ Cld t
R3 R1
(~-s-z)
V 2- V 1 V 2- U 1 dV 2
- 0
+ + C2
R3 R2 dt
R2 V2 R3 V R1
1
± I I
C2
?
Fig I-3-I
IrlI:i
Then we get:
_l__!_ ( 1 + 1 ) 1_ Vl 1 0 U1
C1 R1 R3 CIR 5 + C R1
I _ _ ~i i ÷ i ~|/v U
C2R 5 C2
/
(i-3-3)
Expressing it in block diagram yields:
VL..~_ 2 v2 .~ " ~ V1
C2R2
I( I+I) 1 ( 1
i C3R3 [~'
~ig 1-3-2
Notice that there are some e s s e n t i a l differences between this
The first is : All the variables in this diagram are state vari-
Thus, sometimes, circles and triangles are used to replace the blocks
in this diagram.
d2V 1 dV 1
a2 + a1 + a0V 1 = b0U 2 (i-3-4)
dt 2 dt
For a single variable system with an input and an output, the output
variables is :
= AX + t3U
(1-3-6)
y : cTx + du
m outputs and n states, then the general equations for the system is:
(1-5-7)
Y : CX + DU
is shown as follows:
uz Y2
Fig 1-5-3
Because all variables in this diagram are state variables and they
transfer functions into the relations in time domain since state va-
riables are defined in time domain and then suitable state variables
for different state variables chosen. For a given system, the choice
.o
of state variable set is not unique. For example, if (XI,X 2" "Xn)
17
relation is held:
X = PX (l-3-s)
K33
P33 = T33 2 2
1 +~ a S + T33S
Here, Kij is the static gain and Tij is the time constant.
The block diagram of this plant is shown in Fig i-3-5.
The output equations are:
YI = KIIUI + KI2U2
Y2 = K21UI + K22U2 (I-3-io)
Y3 = XI + X2 + X3
18
U1
Here X 1 , X 2 and X 3
state variables
be obtained•
functions
equations
and
can U3
I
From P31' we get: Fig 1-3-5
1 K31
XI- -- Xl ÷ ---U 1 (1-3-11)
T31 T31
T33X3 = X4 (1-3-13)
0 0 0
K31 0
X1 X1 0 U1
T31 T31
1 K32
X2 0 0 0 X2 0 0 UZ
T32 T32
+
1
x3i 0 0 0 X3 0 0 o u 3
T33
1 1 K33
ix4
%
0 0 X4 0 0
T33 a
T33
(1-3-15)
18
1.iiio
What do t h e
Y2
Y3
=
state
0
1
0111 O[UII
0
variables
X2
X3
+ 21
mean? In f a c t ,
K12
K22
0
0
0
it zs
U2
U3
a set
(1-3-16)
of variables
with the least number and by these v a r i a b l e s the states of the system can
of the system at t > t o are given and the initial conditions of t:t 0 are
also known, then all the states of the system from then on can be known.
Thus, if at least n state variables XI(t), Xz(t),. .... Xn(t ) are needed to
determine the system states, then these n state variables form a set of
state v a r i a b l e s .
[-~--.
Fig 1-3-6
q2(t)
a3
~iql ( t) •
a2
Fig 1-3-7
20
The inputs of the system are q l ( t ) and q 2 ( t ) . The outputs are the
l e v e l s of these v e s s e l s h l ( t ) , hz(t) and h3(t ). Suppose t h a t the re-
s i s t e n c e s of connection tubes are given by:
Ah(t)
R : (i-3-17)
q
Where Ah is the pressure difference between two terminals and q
is the flow through it.
a3
21
1 1 0
a 1R 1 aiR 1
1 1 ( 1 + I.. + i,.) 1
A --
a2R 1 a2 RI R2 R5 azR 1
1 1
0
a3R3 a3R 2
Y = CX + DU (i-3-21)
In this example, the output variables are just the state variables,
namely:
Y = X (i=3-22)
Thus :
D = o (1-3-23]
C =
ioo1 1
0
0
1
(1-3-23)
books have been published to discuss this problem~ among them the Falb
in MPSC and when the coupling object has been determined ( system or
the plant and other parts of it) , then there are essentially two kinds
of coupling phenomena. One is the coupling of the inputs with the out-
puts of other channels and the other is the coupling of the outputs
with the inputs of other channels. As for the coupling among inputs or
outputs themselves, then we can always assign some coupling objects and
the coupling plants with equal inputs and outputs into P-canonical and
V-canonical plants.
ted varimbles or among outputs, we will see later that it can be also
considered as a couplinE plant. Therefore, in order to research MPSC,
we must at first research the contral characteristics of the multiva-
riable plants since all problems about coupling are caused from it.
be more systematic and more regular and it thus enrich the research
23
contents.
V-canonical plants.
If we denote the transfer function between the Kth input and the ith
C = PM (I-4-2)
Where C and M are column vectors of n dimensions.
P is a nxn matrix.
It can be seen clearly from Pig 1-4-1 that in the case of many vari-
ables, the block diagram is not only difficult to draw, but the relations
M1 .
Ili i
~ I - 4 - i 1 2 n
Fig 1-4-2
The so-called V-canonical plant means: Each output of this plant Ci
is influenced not only by the input of the same channel, but also by all
other outputs through the ith channel. Thus, if the coupling transfer
2S
and:
H :
~0
V21 0
V22
Vl 2 V13 . . . . .
V23
Vn n
........
1 Vln
(1-4-6)
K = • ° ° • • • , • , • • •
(1-4-?)
• ° • • • • • • , • • •
C = HM + HKC (I-4-8)
Thus , a V-canonical plant can be also illustrated as Fig 1-4-3:
Fig 1-4-3
26
equivalently,
plants, but if the interaction exists between two systems, the above
Fig 1-4-4
For t h i s system, we g e t :
( I+W22)WIIX I WIIW22GI2X 2
CI(S) = (1-4-9)
F F
( 1 +WII)W22X 2 WIIW22621X 1
cz(s) = (1-4-1o)
F F
where:
F = ( 1 * WII)( 1 + W22 ) WIIW22GI2G21 (1-4-11)
Thus, we see that the characteristic equation of this system is
Fig 1-4-5
Where:
AllC 1 * A12C2 = BllX1 + B12X2
C2
I
A21 B21 .XI+ JAZZ BZ2[.X2 (1-4-14)
nel and an element (-W21) parallelly in W21 channel could offset the
coupling channels and the interactions could be eliminated. Thus, it
then that means that some variables will influence some controlled
variables.
Thus, in the decoupling design of multivariable process control
be rational.
plants and V-canonical plants. We must point out here that both these
canonical forms are not only with mathematical meaning , but also with
practical meaning.
other and this means that a practical plant may be expressed by either
system variables.
Intuitively say, the following two ways are the simplest : The
first way is to cut off the coupling channels, but this way is only
the original channel but has the opposite sign, to the coupling chan-
ted . But, we have said before that this way is also only available
put some decoupling elements into this system in order to realize de-
coupling,
quite limited energy, thus they should be installed there , where li-
them is always limited but can exert results on the dynamics of the
31
control system.
In control theory, essentially say, what is a decoupling element?
In fact, the decoupling elements are also coupling elements but their
coupling results are just to offset the original coupling results. Thus,
in this meaning , they belong to compensation elements.
Now that the decoupling elements are coupling elements indeed, then
a problem arises naturally: By what coupling manner are they installed in
the system?
We have known that for coupling plants there are P-canonical and
V-canonical, but from the assortment principles introduced before we can
see that these principles may be applied to any coupling object. Conse-
V1 ~ ~ Vl L1
L2
a b
Fig 1-5-1
pressed as:
32
Ln = N n l V I + NnzVz + ........... + ~ n n V n
can be w r i t t e n as:
can be e x p r e s s e d as:
Ln = V n + N n l L I * Nn2L2 + ....... ÷ Nn , n _ i L n _ l
written as :
I NI2 ...... Nln
L = NpV (1-5-5)
tely.
This means that N V obtained from (1-5-4) is not the direct trans-
fer matrix.
ling ?
tures. We know that the P-canonical form and V-canonical form are two
C = PM (1-6-1)
P = . . . . . . . . . (1-6-2)
i . . . . . .
k=l
k~£
Solving the above equation for M i yields:
n
Ci
Mi " V.. >
,"~VikCk i=1,2 .... .n (1-6-4)
Xl k= 1
k~i
It can be also written in matrix form:
M = TC (I-6-5)
1
-V21 ....... -V2n
V22
T = (1-6-6)
• , • • b • , • ,
1
-Vnl -V-n2 - ~ . . . . .
V
nn /
The elements of this matrix can b e calculated by following expression:
1
tik " lik + vikc c ik - i ) (l-6-7)
Vik
where, ~ik is the Kronecker operator. It is:
eO when i~k
(z-6-8)
Sik : I i when i:k
(1-6-5) denotes that e a c h Mi i s determined by all Ci .
Thus, a P-canonical plant is expressed by (1-6-11 and a V-canonical
det T ~ 0 (1-6-9)
then we can always get:
C = T-1M (i-6-I0)
Notice when we g e t (1-6-10) from (1-6-5), the plant does not change,
may be e x p r e s s e d by t h e V - c a n o n i c a l form.
P = T -1 ( det T ~ 0 ) (1-6-11)
and :
T : p-1 ( det P @ 0 ) (1-6-12)
P T- 1 adj(T)
= : (1-6-13)
det T
If the matrices obtained by crossing off the elements of the ith
row and the jth column within matrices P and T are denoted by ~ik and
det Tki
Pik = (1-6-14)
det T
Notice that there should be a sign (-i) i+k before Tki' but we omit
Likewise, we c a n get:
det Pki
Tik = (1-6-15)
det P
Therefore, from ( 1 - 6 - 7 ) , we g e t :
det P
Vii - (1-6-16)
det 1~..
ll
]
I/V22 Vll
PII =
1 1 1- VllV22V12V21
VIi V22 V12V21
87
VZ2
P22 =
I - VIIV22VI2V21
> (i-6-18)
VzIVIIV22
P12 =
1 - VIIV22VI2V21
VzlVllV2z
P21 =
1 - VIIV22VIzV21
A two-variable P-canonical plant is transferred to the following
V-canonical forms:
PIIP22 - PI2P21
VII =
P22
PllP22 PI2P21
V22 =
PII (1-6-19)
PI2
VI2 =
PIIP22 - P12P21
P21
V21 =
PIIP22 - PIzP21
Vll= Pll
' RII
M1 1 CI_
I p.1~I P21
PI2
Fig i-6-i
then we get:
VII = PII
VI2 -
PI2
PIIP22
P21
1 (I-6-21)
i
V21
PIIP22
V22 = P22
The system now is shown in Fig i-6-2.
Xl ~ ~ - _~ M1 + c~
I Rll
Ivy, ....~
_X2 : ~ R22 M 2 ~ c~
Fig 1-6-2
Obviously, (1-6-21) is different from (1-6-19).
Thus, we know that both P- and V-canonical plants not only can be
39
of this plant, M1, M 2 and CI, C2, are judged. Namely, we can not determine
its coupling manner, so we can not get the unique character of each coup-
sion does not cover any fact that the r e s e a r c h e d plant is a P-canonical
form or a V-canonical form. This conclusion is only to say that from the
C = H( M + KC ) = HM + HKC (l-6-zz)
and:
( I - HK )C * HM (1-6-23)
Therefore:
C = ( I - HE )-IHM (1-6-z4)
But a P-canonical plant is:
C = PM (1-6-2s)
Thus, the general formula for a V - c a n o n i c a l form to be transferred
P = ( I-HK)-IH (I-6-26)
decoupling-element structure is :
• Nnl Nn2
and for the V-canonical decoupling-element structure:
NV = • , • • • • , (1-6-28)
• • • , , • • •
Nn I Nn2 ...... i
But, not like Np, N v does not express a transfer matrix directly.
-N21 1 ...... -N 2 n
A =
• • b • , • . •
(1-6-so)
\
-Nnl -Nn2 ....... 1
Np = A -I (det A # 0 ) (1-6-31)
some problems may have several solution forms, i.e. uncertainty exists.
design?
Certainly , it will.
We should point out that it is not a bad thing that the decoupling
design is always with many solutions because this gives us the possi-
bility to choose t~e more suitable project for the system considered
We can say that to compare is the most important principle for decoup-
ling design.
chapters.
42
BC = AM (1-7-2)
W h e r e : A, B a r e nxn s q u a r e matrices,
C, M a r e n-dimensional vectors.
C = B-1AM = PM (1-7-3)
the transfer matrix of this plant and in this matrix, every element
p = ( a d j B)A (1-7-4)
det B
i + bS
(i +TIS)(I +TiS) (i+ TTS'~-I÷ T2S)
P =
__ d___S_S+__~e
(1 + T 1 S ) ( 1 +TiS) (i+ TIS)(I+ T2S )
43
We get:
C = PM (1-7-6)
In this transfer function matrix, each element is the transfer func-
tion of some channel and certainly these channels may be different, there-
element may have different poles. The stability of each channel is deter-
and (I-7-6) separately, then the two transfer matrices are different.
of MPCS.
C2 C
i i I n
Ill I
i I I
M I ~ I Vll t ~ C1
v 21 V
I_ I
. VI2 ]~
Fig 1-7-3
Por the plant in Fig 1-7-5, we can get:
C1 =Vll( M1 ÷ V12C2 ) (1-7-7)
C2 V22( M 2 ÷ V21C 1 )
)
namely:
C 1 - VIIVI2C 2 -- VIIM 1
(1-7-8)
-V22V21C 1 + C2= V22M 2 J
4S
I t yields:
/
VII
Cll= M1
1 - VIIV22VI2V21
I- VIIV22VI2V21 (1-7-9)
!
VIIV22V21 V22
c2 I M2
J i- VIIV22VI2V21 i- VIIV22VI2V21
C = PM (1-7-10)
practical analysis ?
cases the P-canonical plants are used. This is, perhaps, people are
used to using this form and on the other hand the adoption of the
All the systems discussed above deal with the coupling plants.
But, there is another coupling system and its coupling channels exist
x~ '
. .~...~~~ PII
ca
X2 ~ C2
Fig i-8-i
Obviously, it is not difficult to transfer such a system into
- ~]I" N12P11 [ ÷
Fig 1-8-2
When it is transferred into a system with a V-canonical plant,
the form is shown in Fig 1-8-5.
47
Cl
~- RII ]
I PII l
N21
PII
NI2
P22
C2
: R22 ] P22 L
Fig 1-8-3
Thus, a system with coupling manipulated variables can be analyzed
either by a P-canonical form or by a V-canonical form.
A special form of systems with coupling manipulated variables should
be considered, i.e, the so-~alled symmetrical system with coupling
manipulated variables. Such a system means:
RII = R22 = R
M1 C1
J
C2
M2
Fig 1-8-4
48
N
E1 = El - CI /
M1 " E 1 R + M2N
C I = MIP L
(
(1-8-2)
E 2 = X2 - C2
Let :
M2 = E2R + M1N
C2 = M2P J
W = RP (1-8-3)
C1 _ W X2
(I + W) 2 N2 (i + W+ N) (1-8-4)
XI - X1
C2 W X1
=
(i + W + N) (i-8-5)
(i + W) 2- N2 X2
X2
In m a t r i x form:
N
W
(1-8-6)
c2 N i + W (I+W) 2-N 2
Especially, if:
X1 = X2 (1-8-7)
then:
C1 W
(1-s-s)
XI i +W - N
C2
(1-8-9)
X2 i + W- N
The a b o v e e x p r e s s i o n s d e n o t e t h a t for a symmetrical system with
(i-8-i0)
1 + W- N
C2 X2
X1 = -X 2 (1-8-12)
then:
C
1 W
(1-8-13)
X1 1 +W + N
C2 W
(1-8-i4)
X2 1 + W+ N
In matrix form:
[c2~
--
Ix1
LX2J i + W + N
(l-8-iS)
Comparing (1-8-13) with (i-8-14), we see that the two systems are
identical.
And when:
N = -1 (1-8-16)
we g e t :
(1-8-16)
C X2
to reach by single loop control systems, then we can design two iden-
forms:
reference inputs.
As for the disturbances and reference inputs, the interaction
signals which can not be controlled by the control system under con-
sideration.
Among the above three types of coupled plants, the interaction
analysis of the first case, i.e. the interaction among the outputs
and the manipulated variables , is the basic and the essential coup-
ling manner and the other two types can be transferred to the first
type.
Therefore, in the research and the discussion of decoupling con-
trol system design, main attention is paid to the first type of in-
teraction.
51
A full coupling system means that the channels among coupling varia-
a b c
Fig i-9-i
Fig l-9-1a is a full coupling system and the others are partial
The more the number of variables, namely the more the intrinsical
tions are shown in Fig 1-9-Z. Obviously, there are six coupling channels
in it. This is full coupling and how about its partial coupling cases?
in Fig 1-9-3.
J% J% J% Fig 1-9-3
Fig 1-9-4
When the system has four coupling channels, there may be three pos-
J%
There is only one possible
Fig 1-9-5
case for this system with 5 coupling
in the system.
plant with outputs or manipulated variables more than two, the decoupling
system for it will have very complicated structure, for example for a
plant with three outputs 9 decoupling elements are needed for realizing
decoupling control.
If the plants are with more than two outputs, then in general we chose
the two which are the most important variables or are with the most serious
plant, how to determine these two which are expected to realize the de-
Plants (9)
ding P- and V-canonical plants and coupling systems with coupled mani-
Q = Q1 + Q2 (1-1o-1)
Therefore, this is a two-variable control system with two con-
trolled variables, Q and e, and the manipulated variables are the in-
put flows Q1 and Q2 which are controlled by its own flow control sys-
I
Q
Fig i-i0-I
55
cI -
AQ -
QIO AQI
+
Q20 AQ2
(l-lO-S)
QO QO QIO QO Q2O
Let :
KI = QI0
Q0 (l-lO-4)
K2
Q20
Q0
then :
K1 * K2 = 1 (1-10=5)
K1 a n d K2 a r e the percentages o f Q10 a n d Q20 i n QO ) r e s p e c t i v e l y .
Thus:
C 1 = Klq I + K2q 2 (1-10-6)
Here:
ql " - -
Qlo (i-10-7)
Q2
q2 -
Q2o
are normalized flows and are controlled by R 1 and R2, respectively.
On the other hand, for this process, besides the material balance
the energy balance is also held. Thus, if energy loss is not considered,
~o ~o
(1-10-9)
@ - --'~QI + A Q2
O Q1 ~ Q2
Expanding A 8 in Taylor series in (i-I0-8), we get:
58
QloQ2o Q2 - -Q1
) (i-i0-i0)
.AO = 0 - o 0 = , 2 ( 02 - ° l ) ( - -
Qo Q2o QlO
Let :
QIOQ2o
0
m
- ( e 2 - @1) (1-1o-11)
Q21o
then:
0 A qz AQI
CZ = _ _ = - q2 - ql (1-10-12)
8m Q20 QI0
Now, C 1 and C 2 are the controlled variables of this system.
Suppose that the control characteristics of two flow systems are
identical, i.e. both are W F, then the block diagram of this system is:
Rll I .t WF I ql L K1 ,)
i I[ -1 .
~_~ i - KI
wF I
I q2 --[ 1
I ~
x2 T-I I -I
Fig 1-10-2
Obviously, this is a coupling plant of P-canonical form,
For it, t h e channels of t h e plant are:
C1
- Pll = KI
ql
C1
- PI2 = I - K 1
q2
(1-10-13)
C2
- - = P21 = -I
ql
C2
= P22 = 1
q2
S7
In fact, if we let:
VII = PII = K1
V22 ~ P22 = 1
(i-io-14)
1 - K1
V12 = K1
1
V21 = K1
some people are used to using P-canonical form and on the other hand,
s h o u l d be e x p r e s s e d by P - c a n o n i c a l f o r m s a l t h o u g h t h e y a l s o can be
e x p r e s s e d by V - c a n o n i c a l f o r m s m a t h e m a t i c a l l y .
Plants
problem, namely the control of the level and output flow o£ a vessel,
stroke Yc ' but also to the level in the vessel. Thus , we can get:
valve opens, the larger the output flow ~ at the meantime, the higher
flow and output flow is the increment of liquid in the vessei, i.e.
t
h - F1 f 0 ( qi - qc )dr * ha (1-11-3)
.t
Ah- F1 ~0 ( A q i - A q c ) d t (1-11-4)
But :
so that:
t
Ah -1 J ( ciAYi. Aqc)dt (i-ii-6)
F 0
Taking Laplace transform to both (I-ii-I) and (1-11-6), we get:
qc(S) = Cll(AYc(S) + Clg A h ( S ) ) (1-11-7)
Cll
C.
h(S) - 1----l----( ~ y i (S) ---!----1A qc (S)) (1-11-8)
FS C.
1
The b l o c k d i a g r a m i s shown i n F i g 1 - 1 1 - 2 .
Obviously, this is a V-canonical plant. Cetrainly, it can be a l s o
transferred into a P - c a n o n i c a l plant.
By (1-6-18), its P-canonical form is:
CllF/C12 S C.x
1 + SF/CI2 I + SF/CI2 II ~Yc (1-11-9)
- C11/C12 Ci/C12
~Yi
1 + SF/CI2 I + SF/CI2
Let :
F - T (1-11-10)
C12
then the P-canonical form is shown in Fig i-Ii-3.
Notice that the P-canonical form obtained from the V-canonical form
has identical poles in all channels.
/% Yc
-~ Cll
' /~qL _Sait_
I + TS
._Su_. Ci
Cli i + TS
-CII/C
_I/C i
1 + TS
/% Y i Ci
by
FS
i + TS
Fig 1-11-2 Fig 1-11-5
60
Manipulated Variables
coupling manipulated v a r i a b l e s .
racteristics of this process are the balance of material and the ba-
lance of energy.
process, for a first order reaction we can get the following equation
dA
QA i = QA + KAV + V (1-12-1)
dt
or :
dA _ q ( Ai A) KA (l-lZ-Z)
dt V
For a second order reaction:
dA = q ( Ai A) - KA2 (1-12-5)
dt V
61
dT =
q (Ti_T) +
KA(-AH) -
BMATm (i-12-5)
dt V C Cp V ~ Cp
dT - q (Ti-T) +
KA2(_~H) BM&Tm (1-12-6)
dt v cp v %
Thus, if we l e t :
2Q c pcCc (1-12-9)
F =
BM
then Z~Tm may be written as:
T - T
AT c (1-12-1o)
m 1 + 1/F
Therefore, (1-12-S) and (1-12-6) may be w r i t t e n as:
KA2Z~H BMF( T - T c )
dT _ q ( Ti_T ]_ (i-12-12)
dt V ~Cp V{9 Cp (I+F)
62
Equations (1-12-2) and {i-12-ii) are the basic dynamic equations for
At the first glance, it seems that (1-12-2) and (i-12-ii) are two
ture. The relation about these two terms is given by thr well-known
Arhenius formula:
K = A R e -E/RT (i-12-13)
take the first two terms of the series as their approximations. Because
A K E
KA = KsA s + Ks(A-As) + s s
RT 2
( T- TS) (1-12-15)
S
A~KsE
KA2 = KsA~ + 2KsAs(A'As) + RT~ (T-Ts) (1-12-16)
sult is:
= +
2Qcs ~cCc ( T - T
Tm A Tms s) +
2Qcs¢cCc + BM
63
BM( T s - Tc )
( qc - Qcs ) (1-12-17)
2 1)2
2Qc s cCc ( 1 +
F
Denote:
T= T- Ts
Qc -- qc - qcs
(1-12-18)
Ai = Ai
K =A-A
and : s /
A~ -~ o (1-12-19)
then for a first o r d e r r e a c t i o n , we g e t :
dA + K4 K = K5~i" K6 T (1-1z-23)
dt
Because linearization is always carried out at steady points, so
all initial values are zeros. Thus, taking Laplace transform to the
above two equations and combining them, we get:
K5( S + K1 ) K3K6
A(S) =. Ai(S ) + Qc(S)
(S+K I) (S+K 4)+K2K 6 (S+K I)(S+K 4)+K2K 6
(1-12-24)
In this expression, we see that KI,K3,K4,K 5 and K 6 all are positive,
84
then an unstable plant of second order occurs. That means that the
heat produced in this process is more than that removed from it •
is related not only to the variation of the density of the input flow,
but also to the variation of the cooling medium flow and both are with
Ks(S+K1) _ Ai
~_~ K3K6 F
Qc ~ K3K6 A(S)
/%
Fig 1-12-2
Likewise, we can get:
K2K s Ks(S+K4)Q c
-T(S) = (-Ai)+ (1-12-26)
(S+KI)(S+K4)+KzK6 (S÷KI)(S+K4)+K2K6
Similarly, when:
[K2K61>KIK4 C1-12-27
the plant is unstable. That means when the heat produced in the pro-
cess can not be removed entirely , then the temperature in the reactor
will increase graduately. There is a minus sign between T(S) and Qc(S)
increases. Now, combining the flow control system with the composition
Qc A
&__
A
K5(S+K 1)
K3K6 A.
1
K2K 5
K3(S+K 4)
K315+K4 ) -T
A
Fig 1 - 1 2 - 3
used f o r t h e s e two s y s t e m s , thus , any c h a n g e s o f Qc in e i t h e r system
will c a u s e t h e change o f t h e o u t p u t in the other system.
Symbols u s e d in t h i s paragraph:
Q Volume flow of both input and output,
No, it is not.
L
different densities is poured in HUL
f
this decanter in order to sepa-
So, if we hope that the change of HLL will not give influence on QTO,
then the upper output should not be controlled aucording to the upper le-
Because the decanter can not hold balance itself, so the plant is with
[%1
/ ,
Fig 1-13-2
Where, A is the section area of the decanter,
plants may exist, but they can be transferred to either P-canonical forms
SRL Qil
As I
-]
HLL
Fig 1 - 1 3 - 3