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Identify situations for which feedforward is a good control enhancement Design feedforward control using the five design rules Apply the feedforward principle to other challenges in life
A process challenge - improve performance Feedforward design rules Good features and application guidelines Several process examples Analogy to management principle
feed
T 1
product
TC 2
PID controller
T 3
F 2
heating stream
TC
74 temperature
feed
T 1 Disturbance = feed temperature Control performance not acceptable!
72
minimum
20 40 60 80 100 120 140 160 180 200
70 0
TC 2
T 3
F 2
heating stream
A secondary variable must 3. 4. 5. Indicate the occurrence of an important disturbance Have a causal relationship from valve to secondary Have a faster response than the primary
OK 1.
2.
A secondary variable must 3. 4. 5. Indicate the occurrence of an important disturbance Have a causal relationship from valve to secondary Have a faster response than the primary
OK 1. OK 2.
A secondary variable must 3. 4. 5. Indicate the occurrence of an important disturbance Have a causal relationship from valve to secondary Have a faster response than the primary
OK 1. OK 2.
OK 3.
4. 5.
Indicate the occurrence of an important disturbance Have a causal relationship from valve to secondary Have a faster response than the primary
OK 1. OK 2.
OK 3.
4. 5.
Indicate the occurrence of an important disturbance Have a causal relationship from valve to secondary Have a faster response than the primary
NO!
feed
T 1
L 1
product
TC 2
F 2
heating stream
TC
76
74
Time
T0
0 20 40 60 80
Dm(t) = T0
100 Time 120 140 160 180 200
76
74
72 70 68 66 0 20 40 60 80
Time
T0
0 20 40 60 80
Dm(t) = T0
100 Time 120 140 160 180 200
74
72 70 68 66 0 20 40 60 80
Time
T0
0 20 40 60 80
Dm(t) = T0
100 Time 120 140 160 180 200
74
72 70 68 66 0 20 40 60 80
Time
T0
0 20 40 60 80
Dm(t) = T0
100 Time 120 140 160 180 200
74
MV(t) = v
T0
0 20 40 60 80
Dm(t) = T0
100 Time 120 140 160 180 200
Dm(s)
CV A(s)
Gd(s)
+
Controlled variable, T
Feedforward controller
Gff(s)
MV (s)
CV (s)
How do we measure CVA?
Gp(s)
Manipulated variable
CV B(s)
CV ( s ) = CV A ( s ) + CVB ( s ) = 0
= Gd ( s ) + G ff ( s )G p ( s ) Dm ( s ) = 0
Not a PID algorithm! Why?
??
Gd ( s ) MV ( s ) = G ff ( s ) = Dm ( s ) G p (s)
This is general!
Gd ( s ) MV ( s ) = G ff ( s ) = Dm ( s ) G p (s)
Special case of Gp(s) and Gd(s) being first order with dead time
Please verify.
Tld s + 1 ff s MV (s ) G ff (s ) = e = K ff Tlg s + 1 D m (s )
Gain Lead-lag Dead time
G ff ( s ) = K ff
Lead-lag FF controller gain controller dead time Lead time Lag time
Tld s + 1 ff s e Tlg s + 1
= (Tlds+1)/Tlgs+1) = Kff = - Kd/Kp = ff = d - p 0 = Tld = p = Tlg = d
feed
L 1
FF highlighted in red
T 1 FF TC 2
TY 1
MVfb
TY 2 T 3 F 2
MVff
heating stream
72
TC
The MV changed before T deviated from its set point!
0 20 40 60 80 100 120 140 160 180 200 SAM = 11.4394 SSM = 774.0613
T1
TY 1
FF
heating stream
A disturbance in feed inlet temperature A disturbance in heating medium inlet pressure A disturbance in feed flow rate A change to the TC set point
TY 1
FF
heating stream
A disturbance in feed inlet temperature A disturbance in heating medium inlet pressure A disturbance in feed flow rate A change to the TC set point
FF/FB better Both the same Both the same Both the same
Disadvantages
Does not take control action until the CV deviates from its set point Affects the stability of the control system
F 2
T 2 T 3
feed
T 1 A 2
product
heating stream
F 2
T 2 T 3
feed
T 1 A 2
AC
0.2 0.15 CV1 0.1 0.05 0 -0.05 0
maximum
AC 1
100
200
300
400
500
product
Feedforward design criteria 1. Single-loop not acceptable 2. Disturbance variable is measured 3. Indicates a key disturbance 4. No Causal relationship, valve Dm 5. Disturbance dynamics not much faster than compensation
A2 Y Y Y Y Y
F1 Y Y N Y
F2 Y Y N N
T1 Y Y N Y
T2 Y Y N Y
T3 Y Y N N
MVff MV
AC 1
F 1
T 2 T 3
feed
T 1 FF
A 2
Dm
AY 2
CV1
0.15
AC
AC
0.1 CV1
0.05
100
200
300
400
500
T 1 FF
MVfb
AC 1
CV1
FF/FB better
heating stream
F 2 MV2 MVff
F 1
T 2 TC 3 secondary MV1 packed bed reactor primary CV1 AC 1 SP1 from person TY 3
feed
T 1 AY 2
A 2
CV2
F 2 FY 1 FC 1
Desired F1/F2 = R
SPF1 = F2*R
Blended flow
Goal is to keep F1/F2 constant.
Manipulated flow
F 2
Desired F1/F2 = R
SPF1 = F2*R
x FY
1 FC 1
A 1
Blended flow
Goal is to keep A1 constant.
Manipulated flow
F 2
Feedback PID
AC 1
R
SPF1 = F2*R
x FY
1 FC 1
Blended flow
Goal is to keep A1 constant.
Manipulated flow
New legislation will impose stricter emissions regulations in three years Do we need feedback? What is your algorithm? What would you do if the measurement were noisy?
CHAPTER 15: FEEDFORWARD WORKSHOP 1 Evaluate feedforward control for a disturbance in the heating medium inlet temperature. You may add a sensor but make no other changes to the equipment.
F 1 feed T 1 TC 2 L 1 product
T 3
F 2 heating stream
CHAPTER 15: FEEDFORWARD WORKSHOP 2 Prepare a flowchart for the calculations performed by the packed bed feedforward controller. Show every calculation and use process variable symbols (e.g., A1), not generic symbols (CV1). Report the equations for digital control.
heating stream F 2 MV F 1 T 2 T 3 MVff AC + 1
feed
T 1 FF
MVfb
AY 2
AC 1 CV1
CHAPTER 15: FEEDFORWARD WORKSHOP 3 Answer each of the following questions true or false 1. 2. 3. The feedback controller tuning does not change when combined with feedforward compensation. The feedforward controller has no tuning parameter. The feedforward controller should react immediately when the measured disturbance is measured. Feedforward could be applied for a set point change.
4.
CHAPTER 15: FEEDFORWARD WORKSHOP 4 Identify a process that would benefit from ratio control. You may select from examples in your summer/co-op jobs, engineering laboratories, and course projects. Draw a sketch of the process with ratio control. Explain the advantages and any disadvantages of the design.
Lots of improvement, but we need some more study! Read the textbook Review the notes, especially learning goals and workshop Try out the self-study suggestions Naturally, well have an assignment!
CHAPTER 15: SUGGESTIONS FOR SELF-STUDY 1. Suggest some methods for fine-tuning a feedforward controller. 2. Program a feedforward controller for one of the processes modelled in Chapters 3-5. 3. Explain why the feedforward compensation should not be much slower than the disturbance. Why doesnt this guideline apply when no feedback is implemented? 4. Discuss whether you would recommend more than one feedforward controller on the same process. 5. Write a memorandum explaining feedforward compensation for a company with non-technical employees
CHAPTER 15: SUGGESTIONS FOR SELF-STUDY 6. A friend asks whether the general sketch for feedback, textbook Figure 1.4, applies to feedforward. Answer completely, including any changes to the sketch. 7. Discuss why the feedforward controller dead time must be positive.