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I. INTRODUCTION
Many chemical industries have undergone significant changes in the past two decades. PID controllers are the most common
controllers used in process industry. The most common tuning method is ZN method and the above mentioned approach
frequently need manual tuning if the process has nonlinearities. For this reason a number of classical optimization techniques
such as GA, PSO and EA methods are often used to find optimal values. In all of these, tuning is obtained for an operating point
where the model can be considered linear. U.Sabura Banu and G.Uma proposed a gain scheduled genetic algorithm (GA)-based
PID for a continuous stirred tank reactor (CSTR).
The paper is organized as follows. Section 2 gives details about the mathematical modelling of jacketed CSTR process.
Section 3 describes the conventional PID controller design. The conventional cascade controller implementation is given in
section 4. The general approach of designing Internal model based PID controller is dealt in Section 5.The simulated results are
given in section 6. Finally conclusion is given in section 7.
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Internal Model based Cascade Controller Implementation for a Jacketed CSTR Process
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In the schematic diagram shown in Fig.1. The temperature of the reactor is measured and compared with the desired
temperature. The output of the reactor temperature controller acts as a set point to the jacket temperature controller. The jacket
temperature controller manipulates the jacket cooling water flow rate. Here two measurements are made but only one
manipulated variable is ultimately adjusted. In this cascade control strategy, the reactor temperature controller is the primary
controller, whereas the jacket temperature controller is the secondary controller. This is effective because the jacket temperature
dynamics are normally significantly faster than the reactor temperature dynamics. An inner loop disturbance, such as jacket feed
temperature will be felt by the jacket temperature before it has a significant effect on the reactor temperature. The secondary
controller adjusts the manipulated variable before a substantial effect on the primary process output has occurred.
The nonlinear equations that model the CSTR behaviour are given as [1]
The component material balance on the reactant gives
C A = f1 C A , T , T j =
-E
F
C A0 - C A - e RT C A
V
-H
F
T0 - T +
V
r C pr
-E
Au
RT
e C A T - T j
VC
p
Fj
Vj
jf
- Tj +
Au
T - T j
V j j C pj
(1)
The four nonlinear differential equations expressed in equations 1.a to 1.d cannot be solved analytically. The
approximate model is derived about the steady-state operating point of the reactor given in Table.2. The variables C A , T & T j are
considered as state variables and Tjf & T0 are the disturbance variables. The manipulated variable is the cooling water flow rate
F .The controlled variable is the reactor temperature T .The linearized state space model of the plant is obtained using local
j
point linearization.
The state equation and output equation of the CSTR process is given in equation [2].
C A a11 a12
= a
a
T 21 22
a31 a32
T j
a13 C A a14
a23 T + a24
a33 T j a34
a15
F
a25
Fj
a35
y1 1 0 0 C A
y = 0 1 0 T
(2)
2
y3 0 0 1 T j
Substituting the numerical values given in Table 1 & 2, the constants are evaluated. The state space model of the system
thus obtained is given in equation [3].
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Internal Model based Cascade Controller Implementation for a Jacketed CSTR Process
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0
C A -1.67 -0.255 0 CA 2.92
F
= 23.4 -28.8 20.9 T + -28.6
0
T
Fj
0 -200.3 -217 Tj 0 -415.3
T j
(3)
T(s)
-28.6S 2 - 6182.5 S +4450.4
= 3
F(s) S +247.4S 2 +10842.7S +18706.3
-8679.7 S +1.7
T(s)
= 3
Fj (s) S + 247.4S 2 +10842.7S +18706.3
Tj (s)
F(s)
T j (s)
-5720S - 4103.8
S + 247.4S 2 +10842.7S +18706.3
3
(4)
Description
Reactor volume (m3)
Jacket volume (m3)
Arrhenius exponential factor (hr -1)
Activation energy (KJ/K mol)
Heat transmission coefficient
(K J/hr m2 K )
Heat transmission surface( m2)
Perfect gas constant (K J/K mol K)
Value
1.36
0.085
7.08 x 1010
69815
69815
Cp
3.13
C pj
4.18
800
E
U
A
R
H
j
variable
CAos
(5)
3065
23.22
8.314
Water density(Kg/ m )
1000
Table 1: CSTR variables and parameter values
Description
value
Steady state Feed concentration
8
(K mol /m3)
T0s
294.7
Ts
T jfs
333.6
294.7
T js
331.4
CAs
4.031
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Internal Model based Cascade Controller Implementation for a Jacketed CSTR Process
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Fs
1.13
F js
1.41
T(s)
-8679.7S - 14755.5
= 3
Fj (s) S +247.4S 2 +10842.7S +18706.3
(6)
The auto tuned PID controller parameters for the desired open loop bandwidth is 0.2 rad/s is obtained as,
K
Kc 0.000125, i 0.0005 hr; Ki c 0.25
Kc
1.68
Kc 0.000154, i 0.0005 hr ; Ki
Kc
0.31
i
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Internal Model based Cascade Controller Implementation for a Jacketed CSTR Process
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The Rouths Stability analysis is applied to the secondary process given in equation (5) to obtain the secondary controller
parameters. The value of ultimate gain
k cu
c 0 is obtained as,
c 0
2
0.042sec
148.4
Kc 0.45kcu 0.4, Ki
Kc
11.37
The primary controller is designed based on Internal Model structure and the design procedure is given below:
The process model is factorized into good and bad elements.
~
g p g p (s) g p (s)
The ideal internal model controller is the inverse of the good portion of the process model.
q(s) g p (s)
q( s) q( s) f ( s) g p ( s) f ( s)
1
f (s)
n
( S 1) and n is
In order to track step set point changes, the filter transfer function usually has the form
g p (s)
k p s 1
( p1s 1)( p 2 s 1)
Where is a positive real number, indicating a positive zero (yielding inverse response) in the process transfer
function. For a dynamic open loop controller,
q( s) g p1 ( s) f ( s)
( p1s 1)( p 2 s 1)
k p s 1
f ( s)
1
q( s )
kp
( p1s 1)( p 2 s 1)
( s 1)( s 1)
Now when the model inverse is used for control system design, the zeros of the process model become the poles of the
controller. This creates an unstable controller and the possibility of unbounded, manipulated variable action. In order to make the
controller proper a filter factor is added. The IMC filter parameter is tuned to improve robustness.
The transfer function of the primary process (outer loop) is,
g1 =
0.65 0.587S +1
T(s)
=
Tj (s) 0.018S 2 +0.555S +1
The internal model controller transfer function for the primary loop in case of set point tracking is,
q(s)=
is chosen as 0.04.
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Internal Model based Cascade Controller Implementation for a Jacketed CSTR Process
(GRDJE / CONFERENCE / ICIET - 2016 / 086)
Kc
Ki
-0.000125
-0.0005
Primary controller
IMC based PID
Kc
Ki
Kd
28.5
51.3
0.92
Primary PI Controller
Kc
Ki
0.000154
0.31
Kd
Secondary PI
Controller
Kc
Ki
-0.4
-11.4
Secondary PI
Controller
Kc
Ki
-0.000084
-1.68
The performance of conventional PI controller in comparison with cascade controller and Internal Model based cascade
controller is shown in Fig. 4 for step change in cooling water flow rate.
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Internal Model based Cascade Controller Implementation for a Jacketed CSTR Process
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The set point variation has been introduced to assess the tracking capability of the proposed controllers for nominal and
shifted operating point. The servo tracking response is shown in Fig 5.
Further, it is evident that the coolant flow rate (MV) variation is found to be smooth in all controllers which is shown in
Fig.6.The variation in cooling water flow rate In order to demonstrate the disturbance rejection capability of various control
schemes, simulation studies have been carried by changing the feed temperature as disturbance variable and which is shown in
Fig.7.
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Internal Model based Cascade Controller Implementation for a Jacketed CSTR Process
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VII.
CONCLUSION
The effectiveness of internal model based cascade controller algorithm is demonstrated for a modelled jacketed CSTR process. It
has been shown that, the Internal Model based cascade controller tracks the set point with minimum error values at a lesser
settling time. The IM based Cascade controller offers better transient response specifications than single loop and cascade
controllers. The performance summary is given in Table 4.
Conventional
IMC based
Cascade controller Cascade controller
Peak time tp
50
50
0.95
Rise time tr
11.14
9.85
0.248
Settling time ts
23.4
21
0.512
%Mp
0
0.03
0.12
ISE(servo)
282000
6370
4858
IAE(servo)
1692
251
37
Table 4: Comparison of Time domain Specifications and Performance indices
Parameter
Classical PI Controller
REFERENCES
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[3] Sigurd Skogestad, and Ian Postletwaite, Multivariable Feedback control Analysis and design John Wiley & sons,Ltd , pp.
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[4] George Stephanopoulos Chemical Process Control-.An Introduction to theory and Practice PHI 2004.Process dynamics
and control By Dale E Seborg, Mellichamp and Edgar.
[5] U.Sabura Banu and G.Uma Fuzzy Gain Scheduled CSTR With GA-Based PID Taylor & Francis Volume 195, Issue 10,
2008.P.Albertos and A.Sala., Multivariable control systems Springer International Edition,pp.19-32
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reactor,Journal of Process Control, vol. 18, no. 5, pp. 504514, 2008.
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