Networked Control System based on Decoupler and PID Controller for TITO System

Sasiprapa Dolpullop and Sakreya Chitwong

Department of Instrumentation and Control Engineering, Faculty of Engineering King Mongkuts Institute of Technology Ladkrabang Bangkok, 10520 THAILAND kcsakrey@kmitl.ac.th

AbstractThis paper describes the two inputs - two outputs control theory. The theory is using the static decoupler filter that can reduce the disturbance arising from loop interaction. The system controls both the pressure and flow rate in the closed tank. The media of the process is water. The work includes four important aspects: Designing, Simulation, Implementation and Test. In this design consist of two parts such as models of the process and decoupler. In this simulation was used a MATLAB to finding a suitable decoupler. In this implementation was used a personal computer, Pressure Transmitter, Magnetic Flow Meter, DP/PA coupler, Convertered IF 303,FI303 and The controller of SIEMENS S7 400 Modules which all of implements was created to control systems by used the technology of PROFIBUS to create a networked control system(NCS). In this test was used to compare performance of the old TITO systems with the new TITO system. Index TermsTITO system, decoupler, interaction

decoupler. Fifth, Test of decoupling. Sixth, conclusion. Seventh, References.

II.

THEORY AND PRINCIPAL OF CONTROL

I.

INTRODUCTION

Most process control systems in industry are complex and multivariable. They consist of several measurement signals and control signal which are always interaction. Process control problems are always solved using singleloop PID controller that are connection as coupling such as cascade control, ratio control, split-range control, etc. It is very common that different process values interact, which mean that the different control loops disturb each other. Presently, the problem of interacting control loops is solved by tuning the most important loop to give good performance, while the other loop is detuned in such a way that the interaction with the first loop becomes acceptable. The result is one of the loops is forced to perform poorly in order to compensate for the interaction For this reason, a research project has been initiated where the goal is to develop a two input-two output control system which manage to reduce interaction of the process variable. This paper is presented as follows: First, Introduction. Second, Problem of TITO systems and the models of process and Static Decoupler Filter. Third, Configuration of TITO systems. Fourth, Simulation to find suitable
Footnotes: 8-point Times New Roman font; Manuscript received July 1, 2012; revised August 1, 2012; accepted September 1, 2012. Copyright credit, project number, corresponding author, etc.

A. Problem of TITO System [1] Two input two output systems, or TITO systems for short, are systems where there are two properties to control and both control signals may affect both process values. TITO systems are always assumed to be two separate single input single output systems, SISO systems for short, which are controlled by separated controllers. Fig.1 is described structure of TITO System. If we PV1 (Process variable in loop1) is changed then PV2 (Process variable in loop 2) is changed too. Because of relation of two process variables. So we have to design a new control structure of TITO Systems by adding advance compensated called Decoupler, which can reduce effect of interaction between loops, which is depicted in Fig. 2.

Figure 1. Block diagram of old control structure for TITO Systems.

Figure 2. Block diagram of new control structure for TITO Systems

B. The Process model [13] Normally, a process assumes First Order Plus Delay Time

G(s) =

K e Ls Ts +1

(1)

where L is diagonal. So we can find decoupler by

where K is process gain, T is time constant of the process, L is delay time of the process. A TITO system in Fig 3 can be modeled as a 2x2 matrix with transfer functions as elements, see equation (2)

D ( S ) = G ( S ) 1 L( S )
(4) There are many method of designing decoupler.So the static decoupler was used in this paper. The static decouple is a very simple decoupler without dynamics. The decouplers elements are simply static gains. Designing a static decoupler for a process only requires the static gains of the process transfer function at steady state (t and L(s) was assumed identity matrix. So the decoupler becomes to Number footnotes separately in superscripts 1, 2, . Place the actual footnote at the bottom of the column in which it was cited, as in this column. See first page footnote for an example. D. Abbreviations and Acronyms Define abbreviations and acronyms the first time they are used in the text, even after they have been defined in the abstract. Do not use abbreviations in the title unless they are unavoidable. E. Equations Equations should be centered in the column. The paragraph description of the line containing the equation should be set for 6 points before and 6 points after. Number equations consecutively with equation numbers in parentheses flush with the right margin, as in (1). Italicize Roman symbols for quantities and variables, but not Greek symbols. Punctuate equations with commas or periods when they are part of a sentence, as in
a +b=c.

K11 Ls e T11s + 1 G(S ) = K 21 Ls T s + 1e 21

(2)

K12 Ls e Ts + 1 K 22 Ls e T22 s + 1

Figure 3. Block Diagram of TITO systems.

C. The Static Decoupler Filer Model[2] The structure of the TITO System was added decoupler is depicted in Fig 4. Decoupler can reduce interaction between control loops because when set point in loop 1 (SP1) change not only manipulated in loop 1 (MV 1) changed but also manipulated in loop 2 changed after that process variable in loop 1 is changed (PV 1) and affect to process variable in loop 2(PV 2).The result is process variable in loop 2 is not changed because of advanced compensated by decouple.

(1)

Symbols in your equation should be defined before the equation appears or immediately following. Use (1), not Eq. (1) or equation (1), except at the beginning of a sentence: Equation (1) is ... F. Other Recommendations Use either SI (MKS) or CGS as primary units. (SI units are encouraged.) If your native language is not English, try to get a native English-speaking colleague to proofread your paper. Do not add page numbers. G. A Quick Checklist
Figure 4. Block diagram of new control structure for TITO Systems.

Designing the decoupler D added between the controller C and the process G is presented in Fig 4. If D compensated the system perfectly, GD is diagonal, See equation (3)

G ( S ) = D( S ) L( S )

(3)

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[7] SMAR Triple Channel Profibus PA to Current Convertor Series FI303 of Field Device, SMAR, USA, 2004. [8] SMAR Triple Channel Current to Profibus PA Convertor Series IF303 of Field Device , SMAR, USA, 2004. [9] SIMATIC Bus Link DP/PA Coupler DP/PA LinkManual, Siemens, German, 2006. [10] SIMATIC NET S7-CPs for Profibus Configuration and CommissioningManual, Siemens, German, 2009. [11] SIMATIC S7-400, M7-400 Programmable Controller Module Specifications, Siemens, German, 2002. [12] Electropneumatic Positioner type 4763 pneumatic positioned type 4765Manual, SAMSON, German, 2008. [13] K. Ogata, Modern Control Engineering, 3rd ed. NJ: Prentice-Hall, 1997.

Appendixes, if needed, is numbered by A, B, C... Use two spaces before APPENDIX TITLE. ACKNOWLEDGMENT The authors wish to thank A, B, C. This work was supported in part by a grant from XYZ. REFERENCES
[1] P. Nordfeidt and T. Hagglund, Decoupler and PID controller design of TITO system, Journal of Process Control, vol. 16, Iss. 9, pp. 923-936, October 2006. [2] A. Theorim, Implementation of an autotunable decoupling TITO control, M.S. thesis, Department of Automatic Control, Lund University, Lund, Sweden, 2007. [3] SIMATIC S7-SLC V5.3 for S7300/400Manual, Siemens, German, 2005. [4] Process Control System PSC7 Getting Started Part 1 Manual, Siemens, German, 2005. [5] Process Control System PSC7 Getting Started Part 2 Manual, Siemens, German, 2005. [6] SIMATIC Process Control System PSC7 Standard Library V7.1Function Manual, Siemens, German, 2009.

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