Specialization project 2012
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Transcript of Specialization project 2012
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Specialization project 2012
Temperature control of an unstable chemical reactor
By
Ola Sæterli Hjetland
Supervisors: Sigurd Skogestad, Krister Forsman and Vinicius de Oliveira
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Project description
•Create a simple, generic Matlab model of an unstable CSTR
•Simulate PI and PID control of the process
•Propose a simple way to obtain tuning parameters
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Process Description
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Control Structures
• Power control• Cooling input is linear
• CW flowrate control• Cooling input is highly non-linear
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Open Loop Behaviour
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SIMC Tuning
• Step in input at the open loop steady state
Power control CW flow control
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Linearization and Transfer Functions
• Identify the operating point (x0, u0)• TF linking T and u (cooling power or CW flow
rate)
Power control CW flow control
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Tuning Procedures
• SIMC (non-linearized, open loop)
• Shams* (Linearized, closed loop)
• min(Ld) (Linearized, open loop Nyquist plot)
*Shamsuzzoha, M., Skogestad, S. A simple approach for on-line PI controller tuning using closed-loop setpoint responses, ESCAPE20, 2010
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Setpoint Response• 5 K increase in temperature setpoint
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Disturbance Rejection
• +10% increased feed
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Stability
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Conclusion and Further Work
• Shams tuning procedure seems like the most promising
• Dynamics for valves, sensors etc.• CW flow control• Tuning