Overview

Regulation: what is a control loop?

What is a PID controller?
What is advanced control?
Identifying, Modeling . Tuning
Advanced control example: predictive control
Schneider tool for Modeling and Tuning
available in ITCO
Application for GCS: MultiController
1

Sbastien Cabaret - October 2007

Regulation: what is a control loop?

I want to see a measured value which

corresponds to my request

Sbastien Cabaret - October 2007

Regulation: what is a control loop?

Controller
or human!

Desired
Temperature
(ex: 150C)

Acts on heating
power (4-20mA)
(0-500W)
Reaction:
The water temperature reacts
on heating power changes

Temperature

TE

Sbastien Cabaret - October 2007

Sensor

Regulation: what is a control loop?

Control Loop system Representation
Example: Open Loop representation

Sbastien Cabaret - October 2007

Regulation: what is a control loop?

Control Loop system Representation
Example: Closed Loop representation

Sbastien Cabaret - October 2007

G(p)

C(p)

Desired Temperature
(SP, 150C)

Acts on heating power

(u, 4-20mA)

Reaction:
The water temperature reacts
on heating power changes

Temperature

TE

Sbastien Cabaret - October 2007

Sensor (y)

What is a PID controller?

PID means Proportional, Derivative Integrative.
In a classic control loop system, the PID is the controller placed
before the process:

Sbastien Cabaret - October 2007

What is a PID controller?

PID Elementary actions
Proportional

C P ( p) = K

Sbastien Cabaret - October 2007

What is a PID controller?

PID Elementary actions
Integrative

C I ( p) =

1
Ti . p

Ti is the coefficient given to increase or decrease the integrative action

Sbastien Cabaret - October 2007

What is a PID controller?

PID Elementary actions
Derivative

C D ( p ) = Td . p

Td is the coefficient given to increase or decrease the derivative action

10

Sbastien Cabaret - October 2007

What is a PID controller?

PID Elementary actions
Sum up

11

Sbastien Cabaret - October 2007

What is advanced control?

Advanced Control

System complexity

Basic
corrections

PID

Other
strategies

Advanced
strategies

Others

GPC, PFC, RST,

IMC

Fuzzy, Neuronal
network,

Need for process identification

12

Sbastien Cabaret - October 2007

Advanced Control - Sbastien Cabaret 9 Feb. 2006

Identifying, Modeling Tuning

Process to tune a controller
We should have the knowledge of the system
We should give information to the controller for its tuning

System information

Data acquisition

13

Methods

Controller parameters
TUNING
Ex: P,I and D for PID

Identification Modeling
Sbastien Cabaret - October 2007

Advanced control example: predictive

control
The predictive control method is an advanced control
strategy
It is a good compromise between performance and
complexity
It is based on a model for the prediction of the process
output and on a determinate horizon
It also uses a reference trajectory to attempt the desire
response
Several predictive controls exist due to various
mathematical approaches of automation people.
14

Sbastien Cabaret - October 2007

The predictive control is closed to human driver

behavior
The controller contains the model of the process to drive
The driver has built a mental picture
of its car behaviors

A process model is integrated into the

controller
SetPoint

Process
Output

Action

He knows the efficiency of the brakes

and knows the effect to his car

The controller has the system

knowledge and is able to calculate
future action to have a desire output
behavior

The model allows to predict the effect of the action to the system output
15

Sbastien Cabaret - October 2007

Predictive Control

The model used by the controller is a dynamic

representation of the input/output relationships (ex:
mental model of the car vs. the road)
The reference trajectory is known by the controller (ex:
car trajectory)
The horizon definition is specified (ex: 20 seconds)

16

Sbastien Cabaret - October 2007

Model
Set Point
Horizon

Real trajectory
Reference trajectory

17

Sbastien Cabaret - October 2007

Future
18

Sbastien Cabaret - October 2007

Schneider tool for Modeling and Tuning available

in ITCO

DataStore

Optireg
Some predictive
algorithms

Schneider PLC

PID

19

Sbastien Cabaret - October 2007

Application: MultiController object in GCS project

FBI_1
14
MultiController
EN
ENO
MV
OutO
AuSPo
MVSt
AuRegSel
SPoSt
RegSelSt
MRegSel
IoError
IoSimu
AuSPoSt
ManReg01
AuPosVSt
AuRegR
TR
IoErrorW
TRVal
IoSimuW
Ramp
AuMoSt
AuPosVal
MMoSt
AuAuMoR
FoMoSt
MPosVal
RegSt
MSPo
TRSt
MPReal
PosValSt
MPRSel
MPTime
MPTSel
StsReg01
MPBSel
LimHSP
LimLSP
LimHO
LimLO
Param
Scaling
EnRcpy
RCPY
RA
FromOutO

LimHSPSt
LimLSPSt
LimHOSt
LimLOSt
ParamSt
ScalingSt

20

OutOD

Sbastien Cabaret - October 2007

Application: MultiController object in GCS project

Smith Predictor

IF1

FBI_4

FBI_3

The MultiController is a standard

UNICOS object for Schneider PLC and
PVSS SCADA system
Replace UNICOS PID controller
UNICOS compatible (modes,
connection, hierarchy)
It has a single interface for all
regulation algorithms
The design allows the addition of
new control loop algorithms without
changing the object interface
It has been design to offer a recipe
mechanism. It allows the process
expert to keep and reuse pertinent
sets of tuning parameters
21

PID
FBI_7
8

PIDFF
PV
SP
FF
RCPY
MAN_AUT O
PARA
TR_I
TR_S
OUT

INIT
PV
SP
RCPY
IMP
TUNE
LIM
DECOMP
MAN
YMAN

Smi thPredictor_sc

IF1_V2

Y
IMV
ERR

MultiController
FBI_0
MultiController
MV
AuSPo
AuRegSel

OUTD

MA_O
INFO
STAT US

MRegSel
IoError
IoSimu
ManReg01
AuRegR
TR
T RVal
Ramp
AuPosVal
AuAuMoR
MPosVal
MSPo
MPReal
MPRSel
MPT ime
MPT Sel

OUT

FBI_1
RST _sc
MV
SetPoint
r0
r1
r2
r3
r4
r5
r6
s0
s1
s2
s3
s4
s5
s6
s7
s8
s9
s10
s11
t0
t1
t2
t3
t4
t5
t6

start

Output

RST

DC3
FBI_5
DC3_V2
INIT
PV
SP
RCPY
IMP
TUNE
LIM
MAN
YMAN

Sbastien Cabaret - October 2007

MV
SetPoint
Instabl e
Order
T ime_constant
Gain
Li mHOutput
Li mLOutput
Li mHSetPoint
Li mLSetPoint
ReverseAction
RangeHSetPoint
RangeLSetPoi nt
PI_RA
Tr

Y
IMV
ERREUR

MPBSel
LimHSP
LimLSP
LimHO
LimLO
Param
Scaling
EnRcpy
RCPY
RA
FromOutO

OutO
MVSt
SPoSt
RegSelSt

Output

Del ay

AuSPoSt
AuPosVSt
IoErrorW
IoSimuW
AuMoSt
MMoSt
FoMoSt
RegSt
T RSt
PosValSt

Start

FBI_2
PFCgene_sc
SetPoint
MV
y
N
Te
Tref
H
d

StsReg01

LimHSPSt
LimLSPSt
LimHOSt
LimLOSt
ParamSt
Scali ngSt

start

SF1
OutOD

FBI_6
SF1_V2
INIT
PV
SP
RCPY
IMP
T UNE
LIM
MAN
YMAN

Y
IMV
ERR

OUT
Kr
ai
dz
bh

Application: MultiController object in GCS project

The MultiController is a standard

UNICOS object for Schneider PLC and
PVSS SCADA system
It has a unique Human Machine
Interface with different views
It is composed of a synoptic, trend
views, navigation buttons
It allows a global control of the
regulation loop via a centralized
object representation in the HMI with
different views

22

Sbastien Cabaret - October 2007

MultiController operation under PVSS

23

Sbastien Cabaret - October 2007

MultiController future application: adaptive control

Model representation:
Ex: first order in discrete
approach

System to
control

B1.z-1
H(z)=
Online Model
Identification under PLC

1+A1.z-1

A1, B1

u
GPC tuning
Mechanism in PLC
(Predictive strategy)

GPC
Parameters

Set Point

24

Sbastien Cabaret - October 2007

MultiController
FBI_1
14
Multi Controll er
EN
ENO
MV
OutO
AuSPo
MVSt
AuRegSel
SPoSt
RegSelSt
MRegSel
IoError
IoSimu
AuSPoSt
ManReg01
AuPosVSt
AuRegR
TR
IoErrorW
T RVal
IoSi muW
Ramp
AuMoSt
AuPosVal
MMoSt
AuAuMoR
FoMoSt
MPosVal
RegSt
MSPo
TRSt
MPReal
PosValSt
MPRSel
MPTi me
MPTSel
StsReg01
MPBSel
Li mHSP
Li mLSP
Li mHO
Li mLO
Param
Scaling
EnRcpy
RCPY
RA
FromOutO

Li mHSPSt
LimLSPSt
Li mHOSt
Li mLOSt
ParamSt
Scali ngSt

OutOD