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University of Khartoum Faculty of Engineering Chemical Engineering Department
University of Khartoum Faculty of Engineering Chemical Engineering Department
Faculty of Engineering
Chemical Engineering Department
D.R. Coughanowr & S.E. LeBlance, Process Systems Analysis and Control, 3rd
Edition McGraw-Hills,2009.
Parbir K. Sarkar, Process Dynamics and Control, PHI Learning Private Limited,
2014.
3 Introduction
Up to this point, the control systems considered have been single-loop
systems involving one controller and one measuring element.
Multi-loop systems include:
1. Cascade Control
2. Feedforward Control
3. Ratio Control
4. Smith Predictor Control
5. Internal Model Control (IMC)
The first three have found wide acceptance in industry. Smith predictor
control has been known for about forty years, but it was considered
impractical until the modern microprocessor-based controllers provided the
simulation of transport lag. Internal model control, based on a rigorous
mathematical foundation and an accurate model of the process, has
been the subject of research for the past twenty years.
Cascade Control
4
Consider the single-loop control of a jacketed kettle as shown in figure(a). the system
consists of a kettle through which water, entering at temperature 𝐓𝐢 , is heated to 𝐓𝐨
by the flow of hot oil through a jacket surrounding the kettle. The temperature of the
water in the kettle is measured and transmitted to the controller, which in turn adjusts
the flow of hot oil through the jacket.
𝐺𝑐2 𝐺1 𝐺2
𝐺𝑎 =
1 + 𝐺𝑐2 𝐺1 𝐺2 𝐻2
To obtain the transfer function relating output
to load 𝐶 Τ𝑈, the block diagram of figure (a) is
rearranged by placing the transfer function
𝐺𝑐2 𝐺1 in the feedback paths of the primary
and secondary loops. the new arrangement
is shown in figure (a) next slide.
8 Since R= 0 for the case under consideration, the block diagram can be
redrawn as shown in figure (b) . This diagram, which has the same form as
the one in figure (a) in the previous slide, can now be reduced to the form
shown in figure (c), which gives:
𝐶 𝐺3 𝐺𝑎
=
𝑈 𝐺1 𝐺𝐶2 1 + 𝐺𝑐1 𝐺𝑎 𝐺3 𝐻1
Where 𝐺𝑎 is the same as given above.
9 Example
Consider the conventional control system of figure(a) in which a third-order
process is under PI control. A cascade version of this single-loop control
system is shown in figure(b) in which an inner loop having proportional
control encloses the load disturbance U.
To obtain a response of the conventional control system for use in comparison
10
with the response of the cascade system, the block diagram of figure(a) was
simulated on a computer.
The values of 𝐾𝑐 and 𝜏𝑖 were chosen by trial and error to give the response to
a step change in set point shown as curve (I) of figure below; this response,
which has a decay ratio of about 1Τ4, was obtained with 𝐾𝑐 = 2.84 and 𝜏𝑖 = 5.
Because of the introduction of the inner loop, the dynamics of the control
system have changed, and it is necessary to tune the primary controller
parameters for a good response to a step change in set point. By trial and
error, primary controller settings of 𝐾𝑐1 = 1and 𝜏𝑖 = 0.63 were found that
produced the response to a unit step in set point, shown as curve (II) in
figure above.
12
the response of the conventional control system
to a step change in U of 4 units as curve II of
figure.
The load response for no control (𝐾𝑐 = 0) is also
shown as curve I for comparison.
Using the controller parameters found from the
step change in set point (𝐾𝑐1 = 1 and 𝜏𝑖 = 0.63 )
the response of the cascade system to a step
change in load of 4 units was obtained and is
shown as curve (III).
As shown in figure , the load response for the
cascade control system is far superior to the load
response of the conventional control system. The
maximum deviation of the cascade response has
been reduced by a factor of about 4, and the
frequency of oscillation has nearly doubled.
13 Generalizations
1
ξ =
11