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Predictive Functional Control - Principles and Industrial Applications
of: Jacques Richalet, Donal O'Donovan
Springer-Verlag, 2009
ISBN: 9781848824935 , 224 Pages
Format: PDF, Read online
Copy protection: DRM
Series Editors’ Foreword
8
Foreword
10
Preface
11
Intended Audience
11
Reading Guide
12
Acknowledgments
13
Contents
15
Abbreviations and Symbols
20
1 Why Predictive Control?
22
1.1 “You would not drive your car using PID control”
22
1.2 Historical Context
23
1.3 Breaking with the PID Tradition
24
1.4 Impact on Industry
26
1.5 Objective
27
1.6 Predictive Control Block Diagram
29
1.7 Summary
30
2 Internal Model
31
2.1 Why Is Prediction Necessary?
31
2.2 Model Types
32
2.3 Decomposition of Unstable or Non-asymptotically Stable Systems
35
2.4 Prediction
38
2.5 Summary Summary Summary
40
3 Reference Trajectory
42
3.1 Introduction
42
3.2 Reference Trajectory
43
3.3 Pure Time Delay
45
3.4 Summary
48
4 Control Computation
49
4.1 Elementary Calculation
49
4.2 No Integrator?
52
4.3 Basis Functions Functions Functions
54
4.4 Extension
59
4.5 Implicit Regulator Calculation
59
4.6 Control of an Integrator Process
61
4.7 Feedforward Compensation
63
4.8 Extension: MV Smoothing
72
4.9 Convolution Representation
74
4.10 Extension to Higher-order System Models
76
4.11 Controller Initialisation
84
4.12 Summary
86
5 Tuning
88
5.1 Regulator Objectives
88
5.2 Accuracy
89
5.3 Dynamics
90
5.4 Robustness
94
5.5 Choice of Tuning Parameters
96
5.6 Gain Margin as a Function of CLTR (First-order System)
101
5.7 Tuning
102
5.8 The Tuner’s Rule
106
5.9 Practical Guidelines
108
5.10 Summary
109
6 Constraints
110
6.1 Benefit
110
6.2 MV Constraints
111
6.3 Internal Variable Constraints
113
6.4 Constraint Transfer Back Calculation
117
6.5 Summary
119
7 Industrial Implementation
120
7.1 Implementation
120
7.2 Zone Control
121
7.3 Cascade Control
124
7.4 Transparent Control
125
7.5 Shared Multi-MV Control
127
7.6 Estimator
134
7.7 Non-linear Control
139
7.8 Scenario Method
143
7.9 2MV/2CV Control
144
7.10 Summary
150
8 Parametric Control
151
8.1 Parametric Instability
151
8.2 Heat Exchanger
152
8.3 Constraint Transfer in Parametric Control
157
8.4 Evaluation
159
8.5 Summary
160
9 Unstable Poles and Zeros
161
9.1 Complexity
161
9.2 Stable Pole and Stable Zero
163
9.3 Unstable Zero and a Stable Pole
164
9.4 Control of an Unstable, Minimum Phase Process
165
9.5 Control of an Unstable, Non-minimum Phase Process
166
9.6 Summary
172
10 Industrial Examples
173
10.1 Industrial Applications
173
10.2 Heat Exchanger
174
10.3 Institut de Régulation d’Arles Exchanger
184
10.4 ARCELOR
193
10.5 EVONIK.DEGUSSA
213
10.6 Summary
216
11 Conclusions
217
11.1 Characteristics of PFC Control
218
11.2 Limits of PFC Control
219
11.3 Final Remark
221
Appendix A
222
A.1 First-Order Process (K,T,D) in MATLAB
222
Appendix B
231
B.1 Calculation of Heat-Transfer Coefficient for Water
231
References
233
Index
234
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