Lecture 5
Process examples
1
Process models
model
reality is complex
process
Lecture 5
2013
When the system is stable, what are the characteristics of the system?
Example 1 Heater
model of the system models of the components
W (s) =
K1
K2
K3
1 + T1 s (1 + T2 s)(1 + T3 s) 1 + T4 s
K.Vassiljeva
2013
Lecture 5
Actuator
j
p4
p3
p2
Sensor
Heater
p1
Time constants: T1 , T2 , T3 , T4
(poles p = 1/T )
non-critical states?
Lecture 5
2013
Important dynamical feature of the object provided as time constant, insignificant - as delays (models FOPDT, SOPDT)
1.1
FOPDT model
K
e s
1+T s
(1)
where
Kp - process gain: the ultimate value of the response (new steadystate) for a unit step change in the input.
T - Time constant: measure of time needed for the process to adjust
to a change in the input.
- Delay: the time at which output of the system begins to change
minus the time at which the input step change was made [3].
three parameters: K, T, simple but moderately complex
describes the dynamics of the system with sufficient accuracy
controller are working on their basis
easily obtained with simplification of the complex models
easy to identify
The problem: if the highest insignificant time constant (T2 ) is close to
the important time constant (T1 )
Example 2 Approximation with FOPDT
ISS0080 Automation and Process Control
K.Vassiljeva
2013
Lecture 5
1
eTp s ;
1 + Tp s
(2)
1 Tz S eTz s
(3)
(1 + T1 s)(1 + T2 s)(1 + T3 s) 1 + T1 s 1 + T2 s 1 + T3 s
Kp
eT2 s eT3 s
(1 + T1 s)
Kp
=
e(T2 +T3 )s
(1 + T1 s)
Example 3 Skogestad method [5]
The largest neglected time constant should be divided between the smallest retained time constant and the time delay:
for the first order model:
T10 = T1 + T2 /2,
= 0 + T2 /2 +
Tpi +
i3
Tnj
(4)
T20 = T2 + T3 /2,
= 0 + T3 /2 +
X
i4
K.Vassiljeva
Tpi +
Tnj (5)
Lecture 5
2013
Tz /Tp
Tz /
1 + Tz s
1
1 + Tp s
Tz /Tp
Tp /Tp
Tp Tz
for Tz Tp
for Tz Tp
for Tz Tp
(6)
for Tp Tz 5
where Tp = min(Tp , 5 ) Tz
Kp e(T3 /2+T4 )s
Kp
SOPDT model
(7)
Empirical model
identification
process model based on experimental data:
test, observation of the I/O signals - "black box"
planning
ISS0080 Automation and Process Control
K.Vassiljeva
2013
Lecture 5
what is known?
Lecture 5
model structure
2013
test type
model parameters
step impulse 2 impulses PRBS
1. order
2. order
FOPDT
X
X
X
SOPDT
ARX
Kp , T
Kp , T /,
Kp , T,
Kp , T1 , T2 ,
X
Step response
Two impulses
ISS0080 Automation and Process Control
K.Vassiljeva
2013
Lecture 5
(b) PRBS
1.4
y
y(t )
=
u u(t )
(8)
Locate the inflection point of the process reaction curve and draw a
tangent (puutuja / ) along it. The intersection of the tangent line and the time axis y1 corresponds to the estimate of time delay
K.Vassiljeva
Lecture 5
2013
Time delay can be found like in previous method: = [0 A]. Time constant T can be obtained by looking at the 63% response time. Calculate
the 0.63 y of the output signal. Mark the time instance then output
value is equal to it, so T = [A C]. More accurate technique.
Two-Point Method
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K.Vassiljeva
2013
Lecture 5
(9)
(10)
(11)
= 1.161t20% 0.161t80%
(12)
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Lecture 5
2013
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K.Vassiljeva
Bibliography
[1] B. Wayne Bequette Process Control: Modeling, Design, and Simulation. Prentice Hall, 1998.
[2] William L. Luyben, Process Modeling, Simulation, and Control for
Chemical Engineers. McGraw-Hill, 1990.
[3] Jose A. Romagnoli and Ahmet Palazoglu Introduction to Process
Control. Taylor and Francis, 2006.
[4] F. G. Shinskey, Process Control Systems: application, design, and
tuning. McGraw-Hill, 1996.
[5] Sigurd Skogestad, "Simple analytic rules for model reduction and PID
controller tuning", Journal of Process Control, Volume 13, Issue 4,
June 2003, Pages 291-309.
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