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Liankui DAI
Institute of Industrial Control, Zhejiang University, Hangzhou, P. R. China
2009/04/22
Contents
Feedforward Concept Design of Linear Feedforward Controllers Design of Nonlinear Feedforward Controllers Design Examples of Feedforward Control Feedforward-Feedback Control Simulation Results Summary
Problem Discussion
Consider the heat exchanger shown in the figure, it is required to control the outlet temperature of process fluid, T, Tm by manipulating the steam flow, RV. Please design the relevant control schemes on the diagram for the T following cases: Case #1: both of the flow, RF, and steam inlet pressure, PV, are stable; Case #2: RF is stable, but PV varies frequently; Case #3: PV is stable, but RF varies frequently; Case #4: both of PV and RF varies frequently.
Steam PV
RF
cp, RF , T1 Condensate
T2
Feedforward Concept
ysp Feedforward control system u(t)
D1(t)
...
Dn(t)
Idea: to compensate for some measurable disturbances before they affect the controlled variable.
+ u(t)
ysp
Design Objective:
Ym ( s ) GYD ( s ) GYC ( s )GFF ( s )GDM ( s ) D( s) 0
y(t)
Process D(t)
D (t)
Disturbance Path GYD (s) Disturbance Measurement GDM (s) Feedforward Controller GFF (s)
Dm (t)
u(t)
ym (t)
Dm (t)
u(t)
ym (t)
Design Objective:
Ym ( s ) GYD ( s ) GYC ( s )GFF ( s )GDM ( s ) D( s) 0
FF max 0, D C ( Why ? )
37 36 35 34 33 32 40
50
60
70
80 Time, min
90
100
110
120
Steady-state Equation
RVm Steam HV, RV Process Fluid T2 Condensate
c p RF (T2 T1 ) H V RV
RF
cp, RF , T1
sp RV 1
Kv
RF (T2sp T1 ) ,
K v HV / c p
Discuss the realization of nonlinear feedforward controller and the effect of relevant measurements
Feedback Control
CV is measurable Control MV based on control ERROR Closed-loop, Stability is the most important All disturbances are detected No accurate model needed Adaptable to nonlinear or timevaried systems
FFC RF k1
RVsp
FC
RV
Steam
T1 T2
FFC RF k1
RVsp
FC
RV
Steam T2
T1
Summary