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In the earlier chapters the point was made that the characteristics of a process determine how well it can be controlled. Furthermore, the settings of the control parameters were shown to depend directly on these properties. But this chapter demonstrates that control improvement is possible, and additional specifications can be satisfied as well, by using more information from the process. This necessitates, however, a deeper understanding of the process than the earlier work required. The trend will continue, consummated in application work that is exclusively process-oriented. The treatise on adaptive control just concluded should verify the value of such an orientation. Although it is possible to design a controller to adapt itself to the process characteristics with no foreknowledge, a controller already equipped with this knowledge is faster, more accurate, and more reliable. These conclusions will be expanded in Chap. 7, Multivariable Process Control. But the deepest penetration into the
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180 1Multiple-loop Systems
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design of intelligent systems will come in Chap. 8, where the role of
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feedback will be largely eclipsed.
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1. Strohmeyer, C., Jr., K. T. Momose, and T. C. Reits: New Techniques of Control and Fluid Circuitry in Design of Once-through Steam Generators, 6th Natl. P o w e r Instrumentation Symp., May, 1963. 2. Shinskey, F. G.: Feedforward Control Applied, ISA Journal, November, 1963. 3. Shinskey, F. G.: Analog Computing Control for On-line Applications, Control Eng., November, 1962. 4. Mathias, R. A., and R. I. Van Nice: Adaptive Control Systems-A Survey, Electra-Technology, October, 1960. 5. White, B.: The Quarie Optimal Controller, Instruments and Automation, November, 1956. 6. Bernard, J. W., and F. J. Soderquist: Dow Evaluates Optimizing Control, Control Eng., November, 1959. 7. Mamzic, C. L.: Peak-seeking Optimizers, instruments and Control S y s t e m s , October, 1962.
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6.1 The reactor in Example 3.4 is to be equipped with a cascade controller on coolant exit temperature Tc2. Estimate the natural period of the primary loop and compare it to that without cascade control. 6.2 One of the streams in a digital blending system has a process time constant of 0.5 set, a turbine meter time constant of 0.1 set, and a valve with positioner of natural period 1.0 sec. Full-scale flow is 20 gpm, although the valve will deliver 40 gpm when fully open. Time of the first reset term R1 is fixed at 3.0 set by t,he scaling. Estimate the setting of the second reset RP required for >i-amplitude damping, and the resulting period of the loop. 6.3 The flow of liquid leaving a storage tank is to be controlled at a fixed rate as long as the level in the tank is within certain bounds. If the level should fall to a specified low point or rise to a designated high value, however, level ought to be controlled. Design a syst,em incorporating all of these features. 6.4 Table 4.2 gives three combinations of settings for an interacting controller producing +36, 0, and -36 of phase shift; reset and derivative are equal in each case. rlssume now that the settings are constant and that three different values of dead time are represented. If the dead time corresponding to zero controller phase is 1.0 min, what are the other values What is the natural period in each case With a constant proportional band, what is the loopgain at the three values of dead time 6.5 -2pply the same three values of dead time to t,hr optimally adjusted noninteracting controller in Table 4.2. Estimate the period and loop gain for each value of dead time. Why are these results different from those with an interacting controller What precaution does this suggest for adjusting controllers on processes with variable dead time
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ntil now, discussion has been confined to control systems with a single manipulated variable. Furthermore, only one controlled variable has been allowed to be independently specified. But any process capable of manufacturing or refining a product cannot do so within a single control loop. In fact each unit operation requires control over at least two variables: product rate and quality. Whenever two control loops are to be placed in operation on a single process, the question arises as to which valve should be manipulated from which measurement. In some cases the answer will be obvious. But in those where it is not, some basis must be available to permit the correct decision to be made. In every case these variables interact with one another to some extent, which naturally interferes with their individual performance. The most effective arrangement of control loops cannot be determined without an appreciation for the needs of the process. In this chapter the relative significance of several types of controlled and manipulated
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