Tec-Campus Qro Control Lab-MR3029

LAB ACTIVITY 5 Inner loop Controller NA

ADVANCED CONTROL STRATEGIES Output

Disturbance d(t)
Objectives
To understand and implement the Cascade Control and the Feedforward Outer Loop Setpoint ro(t)
Control strategies.

Activity – Cascade Control

Control Objective using cascade control: 3. Using the Design Tools option. characterize the valve (process that the inner
loop “see” [Inner Controller Output Manipulated Variable] as a FOPDT
 Reduce the Deviation percentage and the stabilization time under making a step change (39% to 30% ) of the inner Controller Output). Record
disturbances of the current single loop design.
your step changes results, include the manipulated variable. (Make sure the
 During bump testing, reduce the overshoot and the stabilization time when
disturbance is at 43° before recording)
the primary temperature is moved from 90°C to 92°C and from 90°C to
88°C.
4. Design the inner loop using the synthesis method formulas.

5
1. Open the Cascade Jacketed Reactor process. Kc=
t0
2. From the next block diagram identify the following variables in the Jacket
Reactor (Do not forget the units).
(
K 1+ 0. 25
τ )
t0
τ i =τ +
2
5. Test your design by performing a setpoint change in the inner loop controller
from 76°C to 70.9°C and to 76°C. Why these values? Open your recorded data
in the previous step and look to the Manipulated variable.

6. Using the Design tools option to characterize the process that the outer loop
controller “see” (Outer loop COPV) as a FOPDT model by making a step
change from 76°C to 70.9°C. Record the step change test. . (Make sure the
Variable name Jacket Reactor Name disturbance is at 43° before recording)

Process Variable c(t) 7. Design a PID for the outer loop using the ITAE formulas for setpoint changes.

Manipulated Variable m(t) 8. Test your cascade control by following the next procedure (Make sure the
disturbance is at 43° before recording):
Outer Loop Controller NA
Output a. With the controller at automatic mode, take the PV to 90°C and wait
Inner loop Setpoint rI(t) for stabilization.
b. Start recording.
Tec-Campus Qro Control Lab-MR3029
c. Change the setpoint from 90°C a 92°C wait for stabilization and Stop 10. Compare your results against the single loop operation and against the cascade
recording. operation in terms of overshoot, rise time, stabilization time, % of deviation,
d. Return PV to 90°C and wait for stabilization. etc.
e. Start recording
f. Change the setpoint from 90°C to 88°C (make sure, the disturbance
input temp is kept at 43°C). Wait for stabilization and Stop recording.
g. Return PV to 90°C and wait for stabilization.
h. Start recording
i. Make a step change in the disturbance from 43°C to 50°C. Wait for
stabilization and stop recording.
9. Compare results against single loop operation in terms of overshoot, rise time,
stabilization time, % of deviation, etc.

Activity – Feedforward
Perform and answer the following:

1. Disturbance Characterization as a FOPDT(DPV).

a. Open the Jacked Reactor process (no cascade). Once the PV is stable
at 90°C, perform a step change by modifying the disturbance input
temp from 43°C to 50°C to 43°C.

b. Write down the disturbance transfer function model.

Disturbance Dead
Model K Tau Time
Parameters

2. Using the FOPDT of the process of the single loop design (See Lab Activity 5-
Reactor Operation), design a Feedforward control. Write down the resulting
feedforward control formula obtained.

3. Include a complete block diagram. Do not forget to include all the parameters,
process and units.

4. Put the process at automatic mode using the PID values of the Lab Activity 5-
Reactor Operation document.

5. Test your design by making a step change in the disturbance temp from 43% to
50% while the process variable is at 90°C.