CHAPTER 1: PEREVIEW. 1. Nature of Process Control Problem CLIENT HARDWARE. LEVEL-6 Planning. LEVEL-5 Scheduling. LEVEL-4 Real-Time Optimization

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1 CHPER : PEREVIEW. Nature o Proe Cotrol Proble CLIEN IMERME CIVIY HRDWRE Upper level aageet Week-Mot LEVEL-6 Plaig Corporate oplex etwork Plat ager Da-Week LEVEL-5 Sedulig Platwide Ioratio te Proe Egieer Hour-Da LEVEL-4 Real-ie Optiizatio Proe otrol oputer Proe Egieer Miute-Hour LEVEL-3 Dai Optiizatio Proe otrol oputer Cotrol Egieer Plat operator Seod LEVEL- Regulator Cotrol DCS or PLC Itruet Egieer < Seod LEVEL- Itruetatio Seor ad atuator Raw Material Proe Plat Produt

2 Regulator Cotrol Objetive: Eure ae operatio Collet eauret Ipleet otrol atio Cotrol atio Itruetatio Objetive: Regulate proe Eure ae tartup utdow Iterae to opertaor Cotrol atio Proe Plat Meaureet ield itruet Real-tie Optiizatio Objetive: Deterie optiu tead ate operatig oditio Deterie loal ot ator Update proe odel arget value or upper level otroller Meaureet Dai Optiizatio upper level otrol Objetive: Deterie bet operatioal otrait Maitai output at target value wile avoidig otrait violatio Set poit or low level otroller Regulator Cotrol Low Level otrol Meaureet

3 . Model-Baed Cotroller optiizer Diturbae arget et poit Model-baed otroller optiizer Maipulated variable Proe Model Meaureet Diturbae/ odel error etiatio Cotrolled output e ajor blok aoiated wit Model-baed otroller:. e proe odel. Diturbae /odel error etiatio 3. Cotroller or optiizer e ajor drawbak o odel-baed otroller i te aura o te odel. e proe odel i ued at alot all laer o te ieraral truture: Regulator otrol: Model are ued to tue PID otroller eed-orward ieretial otroller Dai optiizatio: Model are ued to predit te beavior o te proe i te uture opute otrol atio. Real-tie tead tate optiizatio: Model are ued to opute tead tate operatig oditio. Liear odel are alo ued or plaig ad edulig.

4 3. pe o Model-Baed Cotroller odel -baed otrol iteral odel otroller odel preditive otroller Liear otiuou odel Laplae-doai Noliear otiuou odel ODE Liear direte odel IR Noliear otiuou odel ODE 4. pe o Model PROCESS MODELS Stead tate odel Dai odel udaetal irt priiple odel Data -Drive epirial odel Noliear Dieretial Equatio Liearizatio Liear Model Noliear epirial artiial eural etwork Redued order odel Direte tie z-doai Cotiuou tie tate pae raer utio Laplae-doai

5 4.. ie Doai odel tate Spae Noliear tate pae: u x g w u x dx Liear tate pae: t Cx Dw t t Bu t x dx 4. Laplae Doai odel Cx Dw Bu x x w G u G Dw I C Bu I C w p b b b b a a a a G L L 4.3 Buildig State Spae odel ro irt priiple Exaple: Mixig ak L Ma Balae: d d

6 Eerg Balae: Cp Cp Cp Cp d d d d d e tate pae equatio: d d Deie: x ; ; u Liearize: x u B w D

7 C [ ] dx x t Bu t Cx t 3.4 Idetiig a irt-order proe wit dead tie G θ ke uta ut ial tead tate axiu lope t t iitial tead tate t t θ t θ tie. t

8 5. Propertie o raer utio G N D b a z z L z p p L p Pole: i te root o te deoiator o te traer utio i.e. te root o te arateriti poloial. It diretl deterie: e tabilit o te te poitive pole e potetial o periodi traiet iagiar pole Zero: i te root o te uerator o te traer utio. It deterie a ivere repoe poitive zero. Caualit: pial te i aual we te order o te deoiator i greater ta te uerator ad we te traer utio goe to a te te i ee tritl proper. I te traer utio otai e θ or te order o uerator i iger ta te deoiator te te te i o-aual or ot realizable beaue te urret value o te te deped o te uture value o te variable. Stead tate gai: i te tead tate value o te traer utio i evaluated b ettig i te table traer utio. 5. Eet o pole ad zero e pole ad zero o a traer utio aet te dai o a proe. Coider a iular traer utio: G K ζ e pole i.e. te root o te arateriti equatio are: 3 ζ j ζ 4 ζ j ζ

9 e pole a be repreeted i te oplex plae a ollow: iagiar axi ζ ζ Real axi ζ Coplex pole idiate te repoe will otai ie ad oie ode i.e. will exibit oillatio. Negative pole will reult i a table deaig repoe. Poitive pole idiate tat te repoe will ave utable ode. Iagiar Real Negative real root ie Iagiar Real Poitive real root ie

10 Iagiar Real ie Coplex root wit egative real Iagiar Real ie Coplex root wit poitive real proe wit RHP zero i alled o-iiu-pae proe wit odd uber o RHP zero a a ivere repoe.