Sbastien Cabaret - October 20071Overview Regulation: what is a control loop? What is a PID controller? What is advanced control? Identifying, Modeling . Tuning Advanced control example: predictive control Schneider tool for Modeling and Tuning available in ITCO Application for GCS: MultiControllerSbastien Cabaret - October 20072Regulation: what is a control loop?I want to see a measured value which corresponds to my requestSbastien Cabaret - October 20073Regulation: what is a control loop?Reaction:The water temperature reacts on heating power changesTemperature SensorTEController or human!Acts on heating power (4-20mA)(0-500W)DesiredTemperature (ex: 150C)Sbastien Cabaret - October 20074Regulation: what is a control loop? Control Loop system Representation Example: Open Loop representationSbastien Cabaret - October 20075Regulation: what is a control loop? Control Loop system Representation Example: Closed Loop representationSbastien Cabaret - October 20076Reaction:The water temperature reacts on heating power changesTemperature Sensor (y)TEC(p)Acts on heating power (u, 4-20mA)Desired Temperature(SP, 150C)G(p)Sbastien Cabaret - October 20077What is a PID controller? PID means Proportional, Derivative Integrative. In a classic control loop system, the PID is the controller placed before the process: Sbastien Cabaret - October 20078What is a PID controller? PID Elementary actions ProportionalK p CP= ) (Sbastien Cabaret - October 20079What is a PID controller? PID Elementary actions IntegrativeTi is the coefficient given to increase or decrease the integrative actionp Tp CiI.1) ( =Sbastien Cabaret - October 200710What is a PID controller? PID Elementary actions DerivativeTd is the coefficient given to increase or decrease the derivative actionp T p Cd D. ) ( =Sbastien Cabaret - October 200711What is a PID controller? PID Elementary actions Sum upSbastien Cabaret - October 200712What is advanced control?Advanced Control - Sbastien Cabaret 9 Feb. 2006Basic correctionsPIDOther strategiesAdvanced strategiesGPC, PFC, RST, IMCOthersFuzzy, Neuronal networ, Nee! "or pro#e$$ %!ent%"%#at%onSy$tem #omple&%ty'!(an#e! ControlSbastien Cabaret - October 200713Identifying, Modeling Tuning Process to tune a controller We should have the knowledge of the system We should give information to the controller for its tuningSystem informationController parametersTUNINGEx: P,I and D for PIDData acquisitionIdentification ModelingMethodsSbastien Cabaret - October 200714Advanced control example: predictive control The predictive control method is an advanced control strategy It is a good compromise between performance and complexity It is based on a model for the prediction of the process output and on a determinate horizon It also uses a reference trajectory to attempt the desire response Several predictive controls exist due to various mathematical approaches of automation people.Sbastien Cabaret - October 200715The predictive control is closed to human driver behaviorThe controller contains the model of the process to driveThe model allows to predict the effect of the action to the system outputThe driver has built a mental picture of its car behaviorsHe knows the efficiency of the brakes and knows the effect to his carA process model is integrated into the controllerSetPointThe controller has the system knowledge and is able to calculate future action to have a desire output behaviorActionProcessOutputSbastien Cabaret - October 200716 The model used by the controller is a dynamic representation of the input/output relationships (ex: mental model of the car vs. the road) The reference trajectory is known by the controller (ex: car trajectory) The horizon definition is specified (ex: 20 seconds)Predictive ControlSbastien Cabaret - October 200717ModelReference trajectoryReal trajectoryHorizonSet PointSbastien Cabaret - October 200718FutureSbastien Cabaret - October 200719Schneider tool for Modeling and Tuning available in ITCOOptiregSchneider PLC Some predictive algorithmsPIDDataStoreSbastien Cabaret - October 200720Application: MultiController object in GCS projectENTRRampLi mHSPLi mLSPMRegSelScal i ngFromOutOManReg01AuAuMoRMPosValMPTSelIoSi muMPRSelRAMPBSelAuSPoTRValAuRegRMSPoMPTi meIoErrorRCPYParamAuRegSelAuPosValLi mLOMVLi mHOMPRealEnRcpyENOIoSi muWLi mHSPStLi mLSPStStsReg01AuPosVStFoMoStRegStMVStIoErrorWAuMoStRegSel StTRStScal i ngStAuSPoStOutODParamStSPoStMMoStLi mLOStOutOLi mHOStPosVal StFBI_1Mul ti Control l er14Sbastien Cabaret - October 200721Application: MultiController object in GCS projectTRRampLi mHSPLi mLSPMRegSelScal i ngFromOutOManReg01AuAuMoRMPosValMPTSelIoSi muMPRSelRAMPBSelAuSPoTRValAuRegRMSPoMPTi meIoErrorRCPYParamAuRegSelAuPosValLi mLOMVLi mHOMPRealEnRcpyIoSi muWLi mHSPStLi mLSPStStsReg01AuPosVStFoMoStRegStMVStIoErrorWAuMoStRegSel StTRStScal i ngStAuSPoStOutODParamStSPoStMMoStLi mLOStOutOLi mHOStPosVal StFBI_0Mul ti Control l er1s0s2t1t2r2t6r5s3s5s10r4s8starts11SetPoi nts1r1s6s4r3t0t5r0r6t4s9MVt3s7OutputFBI_1RST_sc2NyTrefstartdTeMVHSetPoi ntOUTKraidzbhFBI_2PFCgene_sc3Li mLSetPoi ntRangeHSetPoi ntTi me_constantLi mLOutputRangeLSetPoi ntTrLi mHOutputSetPoi ntReverseActi onOrderDel ayPI_RAGai nInstabl eLi mHSetPoi ntMVStartOutputFBI_4Smi thPredi ctor_sc6INITPVSPRCPYIMPTUNELIMMANYMANYIMVERRFBI_6SF1_V24INITPVSPRCPYIMPTUNELIMMANYMANYIMVERREURFBI_5DC3_V25INITPVSPRCPYIMPTUNELIMDECOMPMANYMANYIMVERRFBI_3IF1_V27PVSPFFRCPYMAN_AUTOPARATR_ITR_SOUT OUTSTATUSMA_OOUTDINFOFBI_7PIDFF8 The MultiController is a standard UNICOS object for Schneider PLC and PVSS SCADA system Replace UNICOS PID controller UNICOS compatible (modes, connection, hierarchy) It has a single interface for all regulation algorithms The design allows the addition of new control loop algorithms without changing the object interface It has been design to offer a recipe mechanism. It allows the process expert to keep and reuse pertinent sets of tuning parameters IF1PIDMultiControllerRSTDC3SF1Smith PredictorSbastien Cabaret - October 200722Application: MultiController object in GCS project The MultiController is a standard UNICOS object for Schneider PLC and PVSS SCADA system It has a unique Human Machine Interface with different views It is composed of a synoptic, trend views, navigation buttons It allows a global control of the regulation loop via a centralized object representation in the HMI with different views Sbastien Cabaret - October 200723MultiController operation under PVSSSbastien Cabaret - October 200724MultiController future application: adaptive controlSystem to controlOnline ModelIdentification under PLCuyModel representation:Ex: first order in discrete approachB1.z-1H(z)=1+A1.z-1GPC tuningMechanism in PLC(Predictive strategy)A1, B1GPCParametersSet PointENTRRampLi mHSPLi mLSPMRegSelScal i ngFromOutOManReg01AuAuMoRMPosValMPTSelIoSi muMPRSelRAMPBSelAuSPoTRValAuRegRMSPoMPTi meIoErrorRCPYParamAuRegSelAuPosValLi mLOMVLi mHOMPRealEnRcpyENOIoSi muWLi mHSPStLi mLSPStStsReg01AuPosVStFoMoStRegStMVStIoErrorWAuMoStRegSel StTRStScal i ngStAuSPoStOutODParamStSPoStMMoStLi mLOStOutOLi mHOStPosVal StFBI_1Mul ti Control l er14MultiController