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CONTROLLER DESIGNING OF MIMO SYSTEM

(Phase 1) for the degree of B.Tech. Instrumentation and Control Engineering By Sulagna Sarkar (IC-513) Madhumita Mantri (IC-505) Pratik Nath (IC-530) Debayan Sen (IC-526) Under the Supervision of Mr. Parikshit Kr. Paul Calcutta Institute of Engineering and Management

INTRODUCTION

SYSTEM An inter connection of elements and devices for a desired purpose.

CONTROL SYSTEM It is a device or set of device that manages, commands, directs or regulates the behavior of other device(s) or system(s).
Input Signal

Control System
Disturbance

Output Signal

Fig 1.diagram of control system

OPEN LOOP CONTROL SYSTEM: Without feed back or Non-feedback control system. control action is independent. output is not compared with the input. E.g.- Automatic washing machine , Immersion rod.

Fig 2. open loop control system

CLOSED LOOP CONTROL SYTEM: Known as Feedback Control System. Control action is dependent on desired output. E.g.- Air conditioner

Fig 3. closed loop control system

AUTOMATIC CONTROL SYSTEM

A Control System in which regulating and switching operations are performed automatically in response to predetermined conditions. Control system only) automatic control system (Involving machines

E.g.- Design a machine, or use a computer to do it, then the system is an automatic control system.

CONTROL SYSTEM CLASSIFICATIONS

SISO (Single Input Single Output) TITO (Two Input Two Output) MIMO(Multiple Input Multiple Output)

Fig 4. SISO , TITO , MIMO System 6

SISO SYSTEM

Single Input Single Output. Single loop control Control system have only one controlled variable and only one manipulated variable.

BLOCK DIAGRAM:

Fig 5. Diagram of SISO system 7

TITO SYSTEM

Two Input Two Output System. It is a type of MIMO system. Control system have two controlled variable two manipulated variable.

BLOCK DIAGRAM:

Fig 6. Diagram of TITO system

MIMO SYSTEM

Multiple Input Multiple Output. control systems have more than one controlled variable and more than one manipulated variable.

BLOCK DIAGRAM:

Fig 7. Diagram of MIMO system

APPLICATIONS OF MIMO SYSTEM

Aircraft Control System Four Tank System

Fig 8. Aircraft control system

Fig 9. Four tank apparatus

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BLOCK DIAGRAM OF MULTILOOP CONTROL

Fig 10. Multiloop control system 11

TRANSFER FUNCTION MODEL

Transfer function of a MIMO is very important to determine the effect of the manipulated variables on the controlled variables. Two controlled variable two manipulated variable (Four transfer function required)

Input Output relation for the process

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In vector matrix,

Where Y(S)= output vector and U(S)= input vector ,written as

=process transfer function matrix, written as

The steady state process transfer matrix (S=0) is called the process gain matrix, K

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CONTROL LOOP INTERACTION

It is a undesirable interaction between two or more control loops. Control loop interactions are presence due to the third feedback loop. Third feedback loop also known as hidden feedback loop PROBLEM DUE TO HIDDEN FEEDBACK LOOP: It usually destabilize the whole system. It makes the controller tuning much more difficult .

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Hidden feedback loop

Fig 11. 1-1/2-2 pairing control system

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BRISTOLS RELATIVE GAIN ARRAY METHOD

Bristol(1966) developed a systematic approach for the analysis of multivariable process control problems. It requires only steady state information(the process gain matrix K) Consider a process with n controlled variable and n manipulated variables. The relative gain, relates the ith controlled variable and the jth manipulated variable

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CALCULATION OF RGA

Steady state process model for

matrix

The RGA is defined as:

Properties: 1. The sum of the elements in each row or column equal to one 2. The relative gain are dimensionless 3. A large RGA element indicates that small changes in can change the process control characteristics.

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calculate the value of

and expressed as

RGA ,

Where,

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RGA FOR HIGHER ORDER SYSTEM

For higher order matrix, the RGA can be calculated as

Denotes element by element multiplication

= The (i , j) element of K (Steady state gain matrix) =The (i , j ) element of H

is an element of the transpose of the matrix inverse of K.

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Strategies for Dealing with unwanted control loop interactions

1. "Detune" one or more FB controllers. 2. Select different manipulated or controlled variables. e.g., nonlinear functions of original variables 3. Use a decoupling control scheme. 4. Use some other type of multivariable control scheme. Decoupling Control Systems Basic Idea: Use additional controllers (decoupler) to compensate for process interactions and thus reduce control loop interactions Ideally, decoupling control allows set point changes to affect only the desired controlled variables. Typically, decoupling controllers are designed using a simple process model (e.g., a steady-state model or transfer function

Block Diagram of Decoupling system

Decoupler Design Equations

We want cross-controller, T12, to cancel the effect of U2 on Y1. Thus, we would like GP11T12U12+G12U22= 0 or, GP11U12+G12U22= 0 Because U22 is not equal to 0 in general, then T12=-

Similarly, we want T12 to cancel the effect of U1 on Y2. Thus, we require that, GP22T21U11+GP21U11= 0 T21=Compare with the design equations for feedforward control based on block diagram analysis

Different types of Decoupling

1. Partial Decoupling: Use only one cross-controller.

2. Static Decoupling: Design to eliminate Steady-State interactions Ideal decouplers are merely gains:

T12 = T21 = 3. Nonlinear Decoupling Appropriate for nonlinear processes

CONCLUSION
In this project we have considered control problems with multiple inputs and multiple outputs using a set of single-loop controllers. Such MIMO control problems are more difficult than SISO control problems due to the presence of process interactions. They produce undesirable control loop interactions for multiloop control. If these interactions are unacceptable, then different model-based multivariable control strategies are taken. One such is the decoupling method which is used to reduce the control loop interactions. In MIMO system another problem is that on changing the input variable output variable also changes. So relative gain array (RGA) is used for pairing the manipulated and controlled variable to get a desired output. In this phase we have studied upto this and in our next phase we want to design a controller on MIMO and implement this on MATLAB simulink.
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REFERANCE

[1] http://www.google.com [2] http://www.daenotes.com/electronics/industrialelectronics/process-control [3] Benjamin C.Kuo, Automatic Control Systems, 7th Edition [4] Dale E. Seborg, Thomas F. Edgar, Duncan A. Mellichamp, Process Dynamics and Control,2nd Edition [5] N. Jensen, D.G. Fisher, S.L. Shah, Interaction analysis in multivariable control system, AIChE J. 32 (6) (1986) 959970.

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SCOPE OF PROJECT
We want to design controller for MIMO system and to implement that in MATLAB in our phase 2.

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THANK YOU
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