Documente Academic
Documente Profesional
Documente Cultură
Guy A. Dumont
January 2011
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 1 / 28
Contents
1 Introduction
2 Feedforward Action
4 Decoupling
6 Summary
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 2 / 28
Feedforward Action
and, for simplicity, we consider only the effect of the j loop on the ith loop.
We can then apply the feedforward ideas developed in Chapter 10 to obtain
the architecture shown on the next slide.
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 3 / 28
Feedforward Action
Figure 21.6
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 4 / 28
Feedforward Action
The feedforward gain Gjiff (s) should be chosen in such a way that the coupling
from the jth loop to the ith loop is compensated in a particular,
problem-dependent frequency band [0 ff ] i.e.
from which we observe the necessity to build an inverse. Hence all of the
issues associated with building inverses discussed in earlier chapters arise
again.
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 5 / 28
Feedforward Action
Example 21.6
Consider again the system
2 k12
s2 +3s+2 s+1
G0 (s) =
k21 6
s2 +2s+1 s2 +5s+6
with k12 = 1 and k21 = 0.5. We recall the results presented earlier for this
case.
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 6 / 28
Feedforward Action
We see that there is little coupling from the first to the second loop, but
relatively strong coupling from the second to the first loop. This suggests that
feedforward from the second input to the first loop may be beneficial.
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 7 / 28
Feedforward Action
where
s
" 2
#
s2 +3s+2 s2 +3s+2
G00 (s) = 0.5 6.5s2 +14.5s+9
s2 +2s+1 (s2 +2s+1)(s2 +5s+6)
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 8 / 28
Feedforward Action
The RGA is now = diag (1, 1) and when we redesign the decentralized
controller, we obtain the results presented below.
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 9 / 28
Converting MIMO Problems to SISO Problems
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 10 / 28
Converting MIMO Problems to SISO Problems
H(s) = G0 (s)P(s)
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 11 / 28
Decoupling
Types of Decoupling
Dynamically decoupled: Here, every output depends on one and only one
input. The transfer-function matrix H(s) is diagonal for all s. In this case, the
problem reduces to separate SISO control loops.
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 12 / 28
Decoupling
Example of Decoupling
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 13 / 28
Decoupling
Example of Decoupling
The control scheme consists of 4 controllers:
Two feedback controllers Gc1 and Gc2
Two decouplers D12 and D21
The decoupler D21 is designed to cancel C21 arising from the process
interaction between M1 and C2 . The cancellation will occur at the C2 summer
if the decoupler output M21 satisfies
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 14 / 28
Decoupling
Example of Decoupling
Gp12 (s)
D12 (s) =
Gp11 (s)
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 15 / 28
Decoupling
Example of Decoupling
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 16 / 28
Industrial Case Study
university-logo
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 18 / 28
Industrial Case Study
Based on the above discussion, a simplified model for this system (ignoring
nonlinear heat-transfer effects, etc.) is shown in the block diagram on the next
slide, where U denotes a vector of spray valve positions and Y denotes the
roll-thickness vector. (The lines indicate vectors rather than single signals.)
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 19 / 28
Industrial Case Study
The sprays affect the roll in a roughly exponential fashion as described by the
matrix M:
1 2
1
2 .. ..
M= . .
..
. 1
1
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 20 / 28
Industrial Case Study
1
1 2 1 2
0 0
1+ 2 ..
1 2 1 2
.
1
M =
..
0 . 0
..
1+ 2
. 1 2 1 2
1
0 0 1 2 1 2
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 21 / 28
Industrial Case Study
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 22 / 28
Industrial Case Study
1
The nominal decoupled system then becomes simply H(s) = diag (s+1) . With
this new model, the controller can be designed by using SISO methods. For
example, a set of simple PI controllers linking each shape meter with the
corresponding spray would seem to suffice. (We assume that the shape meters
measure the shape of the rolls perfectly).
This idea is routinely used in this particular application and leads to excellent
results. (Of course, the practical problem has many other features that we
leave aside so as not to distract from our key point here).
Actually, control problems almost identical to the above can be found in many
alternative industrial situations where there are longitudinal and traverse
effects. Examples are paper making and plastic extrusion.
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 23 / 28
Industrial Case Study
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 24 / 28
Industrial Case Study
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 25 / 28
Summary
university-logo
Guy A. Dumont (UBC EECE) EECE 460 - Decoupling Control January 2011 28 / 28