4/6/09 Edited by D. H.

Chen 1
Aspen DMC Plus
DMC Control Law
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MPC Tuning - C3/C4 Splitter Example
MV
Reflux flow SP
Tray 28 Temp
DV
Feed Flow
Feed Temp
CV
C3 in Isobutane
C4 in Propane
(Steam Flow)
C3/C4
Splitter
From Cutler &
Finlayson
FC
AI
LC
TC
TC
FC
Steam
AI
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MPC Identification - Test
Inferential calculations determined
Data for cost factors included
Testing time estimate (#independents * 8
moves * TTSS)
one day for a charge gas controller
three weeks for an ethylene fractionator
Step each MV multiple times at several
times during the test

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Example
A prior unit MV move is made
without SP change, to calculate 2
future MV moves
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MPC Tuning - Prediction Horizon
TTSS TTSS TTSS/2
Control Horizon
Prediction Horizon
Current Time
Manipulated
Variable
Past Future
Controlled
Variable
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MPC Tuning - MV weighting
Ridge estimator
A value k can be chosen for which
the system becomes stable
the regression coefficients have reasonable
values
the residual sum-of-squares is not inflated
There exists k>0 which reduces the total
mean square error (variance + bias)
( ) Y X kI X X
n
'
+
'
=
1
~
|
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MPC Tuning - MV weighting
As the move suppression is increased
Stability increases
More sluggish behavior results
Usually determined by trial and error
for a given step change the controller should
compute an acceptable MV move
Acceptable MV moves come from
operating experiences
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Move Suppression (Luybens Textbook)
A
T
*A* AMV = A
T
* (ACV
Target
- ACV
Open
) Control
(A
T
*A + k* I)* AMV = A
T
*E
where E = ACV
Target
- ACV
Open

A way of adding move suppression by adjusting
k

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Implemented by DMC
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Identification: Multiple CVs & MVs
2 MVs and 2 CVs.
A big A (18x8) can be constructed with 4
submatrices
A big A MV (8x1) can be made with 2 sub-
vectors; etc.
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A Different Move Suppression for Each MV
Move suppression for MV
1
is K; for MV
2
is
L, etc.
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MPC Tuning - CV weighting
If the weight is equal to the inverse of an
equivalent measure (equal concern error) then
each residual will receive the appropriate weight


The equal concern error (ECE) represents the
standard deviation the operation can tolerate.
The smaller the ECE, the more important is the
CV (i.e., the weight is bigger).
| |
i
i
e D o =
1
1
=
(

i
i
e D
o
i
i
w
o
1
=
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MPC Tuning - C3/C4 Splitter Example
Concentration of propane in
isobutane given higher equal
concern (or smaller ECE)
most difficult to control
isobutane most valuable
Move suppression set so that
20% fluctuation in disturbance
would not cause more than 10%
move in reflux or 0.5C move
in tray temperature
FC
AI
LC
TC
TC
FC
Steam
AI
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