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Multiple-Output Processes
Chapter 18
Multiloop controllers
Modeling the interactions
Relative Gain Array (RGA)
Singular Value Analysis (SVA)
Decoupling strategies
Control of multivariable processes
Definitions:
Example: 2 x 2 system
Y1 ( s) Y1 ( s)
GP11 ( s), GP12 ( s)
U1 ( s ) U 2 (s)
Y2 ( s) Y2 ( s)
GP 21 ( s), GP 22 ( s)
U1 ( s ) U 2 (s)
Example: 2 x 2 system
Control loop interactions are due to the presence
of a third feedback loop.
Problems arising from control loop interactions
i) Closed -loop system may become destabilized.
ii) Controller tuning becomes more difficult
Block Diagram Analysis
Figure 18.6 Stability region for Example 18.2 with 1-1/2-2 controller pairing
Chapter 18
Figure 18.7 Stability region for Example 18.2 with 1-2/2-1 controller pairing
Relative gain array
i) ij is dimensionless
ii) ij ij 1.0
Chapter 18
i j
For 2 x 2 system,
1
11 , 12 1 11 21
K K
1 12 21
K11K 22
Examples:
Process Gain Relative Gain
Matrix, K : Array, :
K11 0 1 0
0 K
22
0 1
0 K12 0 1
K
21 0
1 0
K11 K12
0 K 1 0
0 1
22
K11 0
K
21 K 22
1 0
0 1
Recall, for 2X2 systems...
1
Y1 K11U1 K12U 2 11 , 12 1 11 21
K K
1 12 21
Y2 K 21U1 K 22U 2 K11K 22
EXAMPLE:
Chapter 18
K K12 2 1.5
K 11
K 21 K 22 1.5 2
2.29 1.29
Recommended pairing is Y1
1.29 2.29 and U1, Y2 and U2.
EXAMPLE:
2 1.5 0.64 0.36
K
1.5 2 0.36 0.64
Recommended pairing is Y1 with U1, Y2 with U2.
Chapter 18 EXAMPLE: Thermal Mixing System
Wh Wc
W Wc Wh
W W Wc Wh
c h
Wh Wc
T W W Wc Wh
c h
y = Ku
2 x 2 process y1 = 5 u1 + 8 u2
Chapter 18
y2 = 10 u1 + 15.8 u2
Adj K
u=K y =-1
y
det K
K11K22 K11K 22
RGA : 11
K11K22 K12K21 det K
effect of det K 0 ?
RGA for Higher-Order Systems:
For and n x n system,
U1 U 2 Un
Y1 11 12 1n
Y2 21 22 2 n
Chapter 18
Yn n1 n1 nn
Each ij can be calculated from the relation
ij K ijH ij
Where Kij is the (i,j) -element in the steady-state gain matrix, K :
Y KU
U1 U2 U3 U4
Y1 0.931 0.150 0.080 0.164
Y2 0.011 0.429 0.286 1.154
Y3 0.135 3.314 0.270 1.910
Y4 0.215 2.030 0.900 1.919
10.1 0
(K ) = CN = 101
0 0.1
CN = 166.5 (1/3)
CN suggests only two output variables can be controlled. Eliminate one input and one output
(3x32x2).
Chapter 18
Chapter 18
Alternative Strategies for Dealing with Undesirable
Control Loop Interactions
T12GP11U 2 GP12U 2 0
Chapter 18
zero)
Process Interaction
Partial Decoupling:
Use only one cross-controller.
Static Decoupling:
Chapter 18