Industrial Control Systems Design

by Grimble, Michael J.

• ISBN13: 9780471492252
• ISBN10: 0471492256
• Edition: 1st
• Format: Hardcover
• Copyright: 2001-03-30
• Publisher: WILEY
• More Book Details
• Purchase Benefits

Summary

* Discusses the design of LQG and H-controllers with several degrees of freedom, including feedback, tracking and feedforward functions.

Author Biography

Michael J. Grimble is the author of Industrial Control Systems Design, published by Wiley.

Table of Contents

Preface	xv
Introduction to Advanced Industrial Control	1	(36)
Introduction	1	(6)
Hierarchical Modelling and Control	3	(1)
Benefits of Advanced Process Control	4	(1)
Frequency Domain and State Space Methods	5	(2)
Robust Control Design	7	(6)
Models for Plant Uncertainty	7	(1)
Uncertainties in Multivariable Systems	8	(2)
Robust Stability and Performance	10	(1)
Robust Controllers: Limitations and Advantages	11	(1)
Structured Singular Values	12	(1)
Linear Matrix Inequalities	12	(1)
Fault-tolerant Control Systems	13	(12)
Summary of Terms in Fault-tolerant Control	14	(1)
Summary of Terms in Fault Monitoring	14	(2)
Fault Monitoring and Diagnosis	16	(2)
Redundancy in Fault and Failure Diagnosis Methods	18	(2)
Control Reconfiguration	20	(2)
Multiple Model Approach	22	(3)
Safety Critical Control System Design	25	(1)
Intelligent Control and Artificial Intelligence	25	(4)
Artificial Neural Networks	26	(1)
Fuzzy Control	27	(1)
Expert Systems and Knowledge Based Systems	28	(1)
Genetic Algorithms	28	(1)
Total Control and Systems Integration	29	(2)
Systems Integration and Fault Conditions	30	(1)
Concluding Remarks	31	(1)
References	31	(6)
I Polynomial System Descriptions	37	(244)
H2 Optimal and Feedforward Control	39	(62)
Introduction	39	(4)
Industrial Controller Structures	40	(2)
Discrete-time Models and Terminology	42	(1)
Wiener Feedforward / Feedback Solution	43	(8)
System Model and Signals	44	(2)
LQG Control Problem and Wiener-Hopf Theorem	46	(1)
Wiener-Hopf Solution of 3 DOF Control Problem	47	(3)
Wiener-Hopf Cost-function Minimisation	50	(10)
Structure of the Wiener-Hopf Optimal Solution	60
Polynomial Feedforward / Feedback Solution	51	(20)
Polynomial System Description and Solution	52	(3)
Three DOF Control Law Proof	55	(3)
Cost-function Minimisation	58	(2)
Optimal Solution: Properties and Structure	60	(11)
Multiple DOF LQG Control Problem	71	(11)
Polynomial System Description	73	(1)
Feedback/Feedforward System Equations	74	(1)
Error and Control Signal Costing Terms	75	(1)
Cost-function and Optimal Control Solution	76	(5)
Invariance Property	81	(1)
Design of Feedforward Controllers	82	(14)
Feedforward in Dynamic Ship Positioning Systems	83	(13)
Concluding Remarks	96	(1)
References	96	(5)
H2 Predictive Optimal Control	101	(46)
Introduction	101	(2)
The LQGPC Solution Strategy	102	(1)
Applications of Predictive Control	102	(1)
Predictive Control Terminology	102	(1)
GPC System Description and Prediction	103	(4)
Optimal Linear Predictor	104	(1)
Derivation of the Predictor	104	(3)
Generalised Predictive Control Law	107	(7)
Solution for the GPC Optimal Control Law	107	(2)
Algorithm for the GPC Optimal Control Law	109	(3)
Relationship Between GMV and GPC Control	112	(1)
Predictive Control Laws Properties and Problems	113	(1)
Linear Quadratic Gaussian Predictive Control	114	(27)
Introduction	114	(1)
Plant and Disturbance Description	115	(2)
Optimal Linear Predictor	117	(2)
Stochastic Generalised Predictive Optimal Control	119	(1)
Solution of the LQGPC Problem	120	(6)
Vector-Matrix Computation of Future Controls	126	(3)
Vector-matrix Form of the LQGPG Algorithm	129	(10)
The Value of Disturbance Prediction	139	(1)
Quadratic Programming Theory	140	(1)
Concluding Remarks	141	(1)
References	142	(5)
H2 Multivariable Control	147	(60)
Introduction	147	(1)
Combined Fault Estimation and Control	148	(27)
System Description	150	(4)
LQG Sensitivity Reduction and Fault Estimation	154	(4)
Minimisation of the Combined Criterion	158	(3)
Wiener Solution of the Combined Problem	161	(1)
Polynomial Solution of the Combined Problem	162	(1)
Scalar Continuous-time Results	163	(2)
Marine Roll Stabilisation Example	165	(9)
Remarks on Combined Control/Fault Estimation	174	(1)
Separation Principle for Polynomial Systems	175	(29)
Polynomial System Description	176	(1)
Noise Free Output Feedback Control Problem	177	(6)
Discrete-time Output Estimation Problem	183	(7)
Output Feedback Problem and Separation Principle	190	(2)
Alternative Separation Principle Result	192	(2)
Closed-loop System Stability	194	(1)
Flight Control Example	195	(9)
Concluding Remarks	204	(1)
References	205	(2)
H∞ Optimal Control Laws	207	(32)
Introduction	207	(1)
Scalar H∞ Feedback/Feedforward Control	208	(7)
LQG Embedding Principle	209	(1)
Mixed H2 and H∞ Cost Minimisation	210	(1)
Equalising Solutions	211	(1)
The GH∞ Cost Function and Computations	212	(2)
Summary of Scalar H2/H∞ Results	214	(1)
Single-input Multi-output Control Design	215	(11)
SIMO System Description	215	(5)
The H2 SIMO Control Problem	220	(3)
The H∞ SIMO Control Problem	223	(1)
Mixed H2 and H∞ Cost Minimisation Problems	224	(1)
Computation of the GH∞ Controllers	224	(2)
H∞ Predictive Optimal Control Laws	226	(7)
Plant and Disturbance Description	227	(1)
Review of the LQGPC Control Law	227	(2)
Vector-matrix Form of LQGPC Algorithm	229	(2)
The H∞ Predictive Control Problem	231	(1)
The Equalising H∞ GPC Solution	232	(1)
Need for Adaptation and H∞ Robustness	233	(1)
Concluding Remarks	234	(1)
References	234	(5)
H2 and H∞ Filtering and Prediction	239	(42)
Introduction	239	(1)
H2 Estimation Using Probabilistic Models	240	(12)
Uncertain Signal Model and Noise Descriptions	241	(3)
The H2 Cost Minimisation Problem and Theorem	244	(2)
Solution of Uncertain H2 Deconvolution Problems	246	(4)
Properties of the H2 Estimator	250	(2)
H∞ Optimal Estimation Problems	252	(8)
H∞ Robust Estimator and Uncertainty	252	(3)
H∞ Estimation and Embedding	255	(1)
Derivation of the Weighting Filter Wσ	256	(1)
The H∞ Estimator and Example	257	(3)
Standard System for H2 Estimation	260	(7)
Signal Processing Standard System Description	261	(2)
Polynomial Models and System Equations	263	(2)
The Standard H2 Optimal Estimation Problem	265	(2)
Standard System for H∞ Estimation	267	(8)
Relationship between H2 and H∞ Problems	267	(1)
Derivation of the Weighting Filter Wλ	268	(2)
H∞ Optimal Estimator for the Standard System	270	(1)
Properties of the Optimal Estimator	271	(1)
Deconvolution Filtering Problem Example	272	(3)
Multivariable Estimation Problems	275	(1)
Concluding Remarks	275	(1)
References	276	(5)
II State Space and Frequency Response Descriptions	281	(138)
H2 and H∞ State-space Control and Filtering	283	(52)
Introduction	283	(2)
Smith Predictor	284	(1)
Wiener-Hopf Optimal Controller	285	(10)
Discrete-time System Description	286	(2)
The LQG Stochastic Regulating Problem	288	(3)
Wiener-Hopf Solution for Optimal Controller	291	(4)
State-space Form of Optimal Controller	295	(27)
LQG Output Feedback Controller	297	(4)
Finite-impulse Response Form of Control Law	301	(3)
Stability of the Closed Loop System	304	(1)
Unstable Open Loop Plant Example	305	(6)
Relationship to the Smith Predictor	311	(1)
Hot Strip Mill Profile Control Example	312	(10)
Remarks on LQG Delay Compensation	322	(1)
H∞ State-space Control and Estimation	322	(8)
H∞ State Regulation Problem	323	(1)
H∞ State Estimation Problem	324	(2)
Output Feedback Control Problem	326	(4)
Concluding Remarks	330	(1)
References	331	(4)
State-space Predictive Optimal Control	335	(44)
Introduction	335	(2)
Model Based Predictive Control	336	(1)
Set-point Optimisation	336	(1)
State-space Form of GPC Controller	337	(4)
Prediction Modelling	339	(1)
GPC Performance Index and Optimal Solution	340	(1)
State-space Form of LQGPC Controller	341	(8)
LQGPC Dynamic Performance Index	341	(2)
The Deterministic Problem	343	(4)
Stochastic Disturbance Case	347	(2)
State-space GPC with Through Terms	349	(7)
GPC Performance Index and Optimal Solution	355	(1)
State-space LQGPC with Through Terms	356	(10)
Augmented System Model Including Through Terms	358	(1)
Current and Future Tracking Error Terms	359	(2)
LQGPC Dynamic Performance Criterion	361	(2)
Separation Principle Proof	363	(1)
The Discrete-time Kalman Filter	364	(2)
LQ State-space Predictive Optimal Control	366	(4)
System Description	366	(1)
LQ State Feedback Predictive Control Problem	367	(3)
LQG Predictive State Estimate Feedback	370	(4)
LQG State Estimate Feedback for Finite-time Cost	372	(1)
Receding-horizon Optimal Control	373	(1)
Concluding Remarks	374	(1)
References	375	(4)
QFT and Frequency Domain Design	379	(40)
Introduction	379	(1)
Quantitative Feedback Theory	380	(30)
Frequency Responses and the Nichols Chart	385	(1)
Stability Criterion	386	(1)
Uncertainty and Plant Templates	387	(3)
QFT Design for Single-input Single-output Systems	390	(7)
The QFT Design Procedure Example	397	(12)
Summary of Design Steps	409	(1)
QFT for Multi-input Multi-output Systems	410	(5)
Nonlinear QFT	412	(1)
QFT and its Relationship to H∞ Control Theory	412	(3)
Disadvantages of the QFT Design Approach	415	(1)
Advantages of the QFT Approach	415	(1)
Concluding Remarks	415	(1)
References	416	(3)
III Industrial Applications	419
Power Generation and Transmission	421
Introduction	421
Automatic Voltage Regulator Design	423
Synchronous Machine Stability	424
Automatic Voltage Regulator Design	425
Electro-mechanical Equations	426
Electro-mechanical Oscillations	427
Nonlinear Operation	429
Additional Feedback Control Signals	429
H2 Automatic Voltage Regulator Design	431
Frequency and Time-domain Results	434
H∞ Automatic Voltage Regulator Design	443
Frequency and Time Domain Results	447
Failure Detection and Systems Integration	454
Conclusions	455
References	455
Design of Controllers for Metal Processing	459
Introduction	459
Hot Strip Mill Objectives	460
Background on Multivariable Control in Hot Mills	461
Finishing Mill Features	463
Hot Mill Modelling	465
Mill Equations	467
Gaugemeter Principle in Classical Control	467
Measurements	468
Control of Interstand Tension	469
Strip Tension Calculation	470
Classical Design of Looper Control Systems	472
Classical Gauge Control System Design	474
Flatness and Profile Control	474
Factors Affecting the Strip Profile	476
Parameterisation of Strip Profile and Flatness	476
Hot Mill Shape Measurement	477
Flatness Control Systems	477
Thickness Profile Control	478
Classical Control of Hot Strip Mills	480
Classical Gauge and Tension Control	481
Classical Cordinate Control	481
Hot Rolling Mill Advanced Control Design	482
Summary of Control Requirements	483
Mill Modulus Uncertainty	483
Advanced Mill Control Structure	488
Performance and Disturbance Weightings	491
Stand Zone Control Design Philosophy	493
Plant and Controller Frequency Responses	496
Hot Strip Mill Simulation Results	503
Reliable Tension Control	509
Coordinated Control	511
Concluding Remarks	515
References	516
Marine Control Systems	521
Introduction	521
Fin Roll Stabilisation Control Systems	522
System Description	522
Selection of H∞ Cost Function Weightings	525
Frequency Responses Results	527
Time Response Results	529
H∞ Fin Roll Stabilisation Progress	532
Robust Ship Positioning Systems Design	532
H∞ Design of Dynamic Ship Positioning Systems	534
Advantages of H∞ Design in Ship Positioning	535
Polynomial Based H∞ Ship Positioning Design	537
Frequency Responses	539
Time Responses	544
Feedforward Controller Tuning	547
Multivariable State-space Ship Positioning	549
Dynamic Ship Positioning Multivariable Models	551
The Ship Positioning Criterion	553
Multivariable Ship Positioning Example	556
Adaptation and Future Generation	564
Concluding Remarks	564
References	564
Aero-engine and Flight Control Design	569
Introduction	569
Aero-engine Gas Turbine Control	569
Introduction to Gas Turbine Control	570
The Engine and Gas Turbine Control Problem	572
Major Engine Components	573
Surge Margin and Working Lines	575
Classical Gas Turbine Control and Design	577
Gas Turbine Control Design Study	578
Remarks on the Gas Turbine Control Problem	596
Introduction to Flight Control Design	596
Dynamic Modes of Aircraft	598
Vectored Thrust Aircraft	598
Problems In Flight Control Systems Design	602
The Aircraft Model	603
Flight Control Loop Design	607
Concluding Remarks	614
References	615