introduction mimo new

8/9/2019 Introduction MIMO New

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LOGO

MULTIVARIABLE CONTROL

OCTOBER 2014

MASTER IN INDUSTRIAL CONTROL ENGINEERING

UNIVERSITY OF IBAGUE - COLOMBIA

2014-2015


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NOT SO LONG AGO: YESTERDAY:

We take for granted the availability of many products in our daily life. Little we know of what

complex process and ingenious (control) engineer is behind it all.


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All real-world systems comprise multiple interactingvariables.

For example, one tries to increase the flow of water in ashower by turning on the hot tap, but then the temperaturegoes up. The objective is to control both flow andtemperature.

HITCHCOCKS (1899-1980) NIGHTMARE:

SHOWER-WATER TEMPERATURE REGULATION

AND WHAT ABOUT DELAY?


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General Anesthesia is a combinationof several states of the biological

system which interact: muscle relaxation, hypnosis and analgesia

Automatic regulation of depth of anesthesia was introduced in clinicalpractice as late as of 90s.

ANESTHESIOLOGISTS NIGHTMARE: DEPTH OF ANESTHESIA REGULATION


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Some of the first controllers were not very robust.WITH DISASTRUOUS

CONSEQUENCES IN THE DAWN OF TODAYS MIMO CONTROL STATE OF ART

PETRO-CHEMICAL

INDUSTRY:

A FUEL REFINERY


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PULP AND PAPER MILL INDUSTRY

AND WHATS ON YOUR

DESK ?


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AUTOMOTIVE INDUSTRY WHATS IN YOUR CAR ?

The car as a network of about 20000 sub-

systems and much more sensors. Part of the

so-called Internet of things through GPS,Wi-Fi, GSM, etc. Cloud information needs to

deal with huge amount of data in real time

and filter necessary input (risk analysis) to

ensure safety in drivers assistance programe.


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"#$%&'(& )%*+,$#- *. /0$ 12-/3$(/4%5


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11

Save 20% of Energy by 2020


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12

Solar radiation

Geo-Thermal/Industrial waste heat

Evaporator

Expander

Condenser

Pump

Generator

Power Out

Heat Source

Cooling waterReceiver

Exhaust gases of trucks

Heat work

ORC for Waste Heat

Recovery


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3*(/%*,"(&'($$%6

7*%%$7/

7*48,'(&

9:(4.:7/4%$%

3;

?@A


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Helicopter of 2 DOF - Quanser -


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Data acquisition board: the measuring and

control board is a Q4; this versatile boardprovides an extensive range of input and

output support.

High resolution - 14-bit inputs

High speed sampling up to 350kHz

Simultaneous sampling of A/D, digital and

encoder inputs

Extensive I/O: 4 each of A/D, D/A, encoders

& 16 digital I/O on the same board

PWM outputs on-board

Real-time control software: PC equipped

with QuaRC-Simulinkconfiguration.

Helicopter Plant:Quanser 2-DOF Helicopter

aerospace experiment.

Power module: The experiment uses a

Quanser UPM-1503 and a UPM-2405.

Joystick:Logitech Attack-3 USB joystick, or

another windows-enabled joystick.

Main System Components


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Figure 1. Dynamics of 2 DOF Helicopter Figure 2. Kinematics of the helicopter

Kinematics of the Helicopter


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!" #$%&'( )*%+, - +.)/01 2''3)'( 2'43)45 6'!7 5 )*%+,- +.)/87/.9:! :,

!"#$%&'( )*%+,- +.)/.12/34 5 6'78)7 ( 6''8)'9 :'!; ( /)*%+,- +.)

/.123 2,


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Green = reference; Blue = model; Red = real data


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Distillation Column

The reflux flow (u1) is

chosen to control the top

mol fraction of ethanol

(y1), while the reboiler

steam flow (u2) is chosen

t o c o n t r o l t h e

compos i t i on o f the

bottom product (y2)

!"

#$%

&!"

#$%

&=!

"

#$%

&)(

)(

)()(

)()(

)(

)(

2

1

2221

1211

2

1

sU

sU

sGsG

sGsG

sY

sY


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With time in minutes, we have the linearized model valid around one operating point:

18.18)189.3(

)16.11(87.0)(

115.8

347.0)(

106.9

0049.0)(

17.6

66.0)(

22

2.9

21

12

6.2

11

++

+

=

+

!

=

+

!

=

+

=

!

!

!

!

ss

essG

s

esG

s

esG

s

esG

s

s

s

s

Transport

Delay3

Transport

Delay2

Transport

Delay1

Transport

Delay

Step1

Step

Scope

-K-

Gain1

0.87*11.6s+0.87

conv([3.89 1],[18.8 1])(s)

G22

-0.347

8.15s+1

G21

0.66

6.7s+1

G11

-0.0049

9.06s+1

G1

Add3

Add2

Add1

Add

500 1000 1500 2000 250-1

-0.5

0

0.5

1

1.5

2

Samples

Signals

u1

u2

y1

y2

OPEN LOOP DYNAMIC

STEP TEST

K=100

500 1000 1500 2000 2500-1

-0.5

0

0.5

1

1.5

2

Samples

gna

s

u1

u2

y1

y2

K=1


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ssC

ssC

15.01)(

25.01)( 21 +=+=

Assume we design two PI controllers for G11and G22 ,

while ignoring G12andG21

Compare for K=1 and K=100

Transport

Delay3

Transport

Delay2

Transport

Delay1

Transport

Delay

u1

To Workspace3

u2

To Workspace2

y1

To Workspace1

y2

To WorkspaceStep1

Step

Scope

num(s)

[3.89 1],[18.8

G22

-0.347

8.15s+1

G21

-0.49

9.06s+1

G12

0.66

6.7s+1

G11

s+0.15

sC2

s+0.25

s

C1

Add3

Add2

Add1

Add


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500 1000 1 500 2000 2500 3000 3500 4000

-0.5

0

0.5

1

1.5

2

Samples

Sign

als

y1

y2

500 1000 1500 2000 2 500 30 00 35 00 4000

-0.5

0

0.5

1

1.5

2

Samples

Signals

y1

y2

500 1000 1500 2000 2500 3000 3500 4000

1

2

3

4

5

6

Samples

C

ontrolEffort

c1

c2

K=100K=100

K=1

500 1000 1500 2000 2500 3000 3500 4000

1

2

3

4

5

Samples

Sign

als c1

c2

K=1


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! All industrial plants have multiple variables used to control the plant

(manipulated variables = inputs) and multiple variables that have to be

controlled (outputs).

!

A change in a manipulated variable implies effects in all other variables(more or less pronounced, depending on the strength of interaction

between sub-systems)

! A controller trying to reduce the effect of such a change in an input

variable; may de-stabilize other control loops - this may lead to

instability of the entire plant !

! Obviously, these kinds of interaction are complex to understand and, as

a result, they make control-system design interesting.

! Of course, one could attempt to solve the problem by using several

SISO control loops, but this might not prove satisfactory.

!

The objective of this specialized course is to give insight to the controlengineer about the possibilities of SISO control and their limitations,

and possible MIMO solutions

! Pitfalls and bottlenecks can be avoided by various techniques


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AN EXAMPLE OF EVERYDAY CONVERSATION:

What are you doing for a living ?

-Im doing research in control.

-

Interesting. What kind of control?

- Oh, automatic control.

-Automatic control of what?

- Oh, of everything. Its everywhere.

CONTROL IS UBIQUITOUS AROUND US

Researchers at the University of Missouri-

Rolla are working on developing the

world's first flapping-wing, unmanned

aircraft driven entirely by solar power.

Meet Rex, the Intelligent Humanoid

Robot (London, Jan 2013)


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