= Biles BILAGA B. Decoupling in Distillation Decoupling of multivariable contro) systems can have advantages. Setpoint changes and trol are gen- erally easier performed for a decoupl than for an interacting one. The calculation and realization of feed- forward controllers are usually simplified if the system is decoupled. ‘Due to the dynamic characteristics of the process, two- ‘composition control of continuous distillation is well suited for decoupling, Schemes obtained by very simple calcula- tons uilizing partial decoupling may compare quite favor- ably with schemes obtained by optimal control theory (see Waller et al., 1974). ‘A paper by Luyben (1970) on distillation decoupling has Been pald considerable attention, Niedetinski (1871) showed that advantages can be taken of interaction in order to attenuate disturbances. Changlai and Ward (1972) discussed Luyben's schemes on the basis of pre- vious work. Toijala and Fagervik (1972) showed the gen- exality of ‘some of Luyben's results, and Luyben and Vinante (1972) followed up the theory experimentally. DECOUPLING THEORY To deco G, a decoupl le a process with the transfer function matrix 1g matrix D is chosen so that eD=T @ is diagonal (Figure 1). The scheme is illustrated in Figure 2 for a system with two inputs and two outputs controlled by two primary feedback controllers P, where o-[B] [22] The matrix D is obtained from (1) as D = G- KURT V.T, WALLER Department of Chemical Engineering ‘Abo Akademi, Abo, Finland Vided that G~" exists. With the matrices given in (2) and Tm 0 [73 2] Tw, —Cula oe ] » GCiGa— GaGa b-GuT, Guts There awe two general approaches to sly this cont problem. One is to choose the T matrix and then realize, if possible, the elements of the resulting D matrix (Chang- lai and Ward, 1972). A common choice in this approach (Zalkind, 1967) is Ty = Tez = 1. It is hard to see the merits of this choice. Zalkind (1967) comments on it with the words “the non-interacting coatroller network (D) usually carries too much load, leaving the conventional controllers (P) with nothing to do.” A mor atl cows Ta = Go and Ta = Ge This choice is labeled ideal decoupling by Luyben (1970). As Seen from Equation (9) this choice leads to rather com plicated expressions for the elements of D, which then often are difficult to realize. A study of the general charac- Dis given by o>» Ea 6 > ——— Fig. 1. Decoupling of process @ Poge 592 © May, 1974 AIChE Journal (Vol. 20, No. 3)- 8.2 - teristics of the distillation process (Toijala and Jonasson, 1970; Toijala, 1971) reveals that this is the case in distle lation, a result supported by Luyben’s Figure 2 (1970). ‘The other general approach to chaore some of the ‘elements of D and then tune the feedback controllers P ac- cording to the resulting T. This choice seems to be the more logical one. The choice can usually be made so as to give easly realizable decoupling elements, Since Dis and at are principally feedforward controllers, this approach more closely follows the common principle that the feed- forward controllers do the rough corrections of the dis- turbances, whereas the feedback controllers correct the errors caused by the inaccuracy of the feedforward control. As shown by Equation (3), two elements of D can be arbitrarily chosen. (Generally, n elements of a system with inputs and m outputs may be freely chosen.) A common choice is Din = Dz = 1 (Zalkind, 1967; Niederlinski, 1971), labeled simplified decoupling by Luyben (1970). With this choice the D matrix becomes D= Gu ; (4) Ca In general the off-diagonal decoupling elements —Gri/ Gy and —Ga/Giy [not —C2/Gu and —Cu/Gaz as stated by Zalkind (1967)] are easier to realize than the decoupling elements obtained by choosing simple elements in T. For continuous distillation —Gz,/Ger and especially =Gin/Gu ate often frequency independent up 10, quite high frequencies (Toijala and Fagervik, 1972). This is also illustrated by Luyben's Figure 6 (1970). ‘The choice of iswo elements in D equal to unity means that there are only twe decoupling elements to be realized. This is a considerable advantage. A drawback is that the off-diagonal elements of (4) mav be physically impossible to realize. This drawback, however, might be eliminated through another choice of D, which stil retains the ad- ‘vantage of (4) that two decoupling elements are equal to unity. This fact seems to have been somewhat overlooked in the literature. Actually, any two elements of D in (3) may be chosen equal to unity, as long as they are not in the same column in the D matrix. This is alo obvious after a glance at Figure 2. Thus, in addition to (4) there are the following three possibilities for a system with two in- puts and two outputs 1 Gu : "Ga (5) Gu "Gi (8) eran Ca -2o1 p=| * fe a a, -= Ga “This has interesting and important If non. unity clement of (4), s8y “Cy/Gay is difficult to realize, ies usaly easy to reali its inverse, —Gu/Cn, and use (8) [or (7)] instead of (4), ete. Ie should be noted thatthe closed loop are different for (4), (5), (6), and (7), a fact that should bbe taken into account when tuning the controllers P. AIChE Journal (Vol, 20, No. 3) APPLICATION TO DISTILLATION In tw ition control of distillation columns a sensor (usually) in the enriching section is used in a feed- back control scheme with the refux flow or distillate rate as the manipulative variable. A second sensor (usually) in the stripping section is used for manipulation of heat input to the reboiler. If the reflux and vapor flow rates are used for control, the transfer functions of G (neglecting dynam- ies of piping, valves, and reboiler) ate, for example, Gy = 2/sL, Cu = 4/3L, Gu = %/3V, Ca = 24/3V (a) In binary distillation (Toijala and Jonasson, 1970; Toi- jala, 1971) and to a large extent in multi-component dis- tillation also (Toijala and Gustafsson, 1972), the transfer funetins of (8) are with Row lags neglected, close to Bist ae Furthermore, the time constants of Gy; and Gy; are ‘often approximately equal, the same being true as regards Gar and Gzs, too. The realization of the elements ig (4) to’ (7) (through a lead-lag network or simply a gain) is thus easy up fo quite high frequencies where secondary effects like flow lags become important. ‘Usually the liquid low lags are considerably larger than the vapor How Ings. Since the number and magnitude of flow lags are larger in Gy. than they are in Caz, the de- coupling element —Gy,/Gzy is easier to realize than its inverse. Although the dynamics of valves, reboiler, and bing iso be cade in th ater funcion of © (se Toijala and Fagervik, 1972), these lags do not usual make —Gz2/C2 easier than its inverse to realize. Conse. fuentiy 6 Carly general role tn distin that the schemes (4) or (5) should be used, not (6) or (7). Co general rule can be given forthe choice between (4) and (5), that is, whether —Gy2/Gi, or its inverse is easier to renlize. The higuld flow lage are urge than the vapor How lage, Dut the numberof vapor few luge 1s usual considerably larger than the nuner of liguld How Tags in the element —Cyq/G,,, However, the cohimn flow lags in this element are sometimes so small that lags in piping, re- boiler, ete., become determining. ‘Tro numerical examples chesen from the literature will itgsuate the general Siscussion above: te «simulation study Luyben (1970) obtained —Gni/G =. 0.95 e713 m/(0.4 min ¢ + 1) and —Gys/Gy, = 0.95, Thus, in this case (4 )and (5) can be realized with the same case. Than experimental study by Luyben and Vinante (182) on eeaplate bubblecuy clan the sensors were located at plates 4 and 17 (counting from below). The transfer functions of (8) (with secondary effects included) were found to be approninatay Gy = —2.2 e119 4/(7 mins + 1), Giz = 1.3 e~ 03 min #/(7 mins + 1), Gu = -28 ¢-!460+/(9.5 mins + 1), and Gaz = 4.3 e058 min #/(9.2 min s + 1). Since the dead times in Gry and Gzz are nearly equal, the flow lags seem to have been {wo smal to be detected The dead time measured for these transfer functions is probably mainly caused by the reboiler system. The dead- time difference between Gri and Gy: is 0.8 min. and the number of plates between the twojsensrt is 10, These figures would give liquid ow la ut 4 sec/plate, a resonable valbe (Tatala, 1971), Since there are only 7 liquid flow lags included in the 1 min. dead time of Gu, there is an additional dead time of about 0.5 min. in the reflux flow system, probably a transportation lag mainly May, 1974 Page $93- B.3 - caused by the piping between the column and the reflux drum. With the transfer functions given above, the de- coupling elements of (4) become approximately: —Cx/Caz = 0.6 e158 4/(0,2 min s + 1) —Gu/Gu and 06 e087 mine, It is evident that —Gy1/Gzs is physically realizeable where as ~Gya/Gu, having a negative dead time, is not. How- ever, the inverse —Gix/Gis = 1.7 e-*7 ns, is easily re- alizeable. Thus, in this case (5) is the one of the schemes (4) to (7) that should be used. DISCUSSION Choosing Ti, = Gu and Tz = Gre, Equation (8) be- comes fn Gu 5 CuGa Gr GiGa-GaGx | _ Gu ee Equation (9) is used by Luyben (1970) in his ideal de- coupling scheme, whereas Equation (4) is uod inhi sim. jlifled decoupling scheme. A comparison of Equations (4) and (9) shows that if the ideal decoupling elements are known, the simplified elements are directly obtained. Thus Laybet's Figure 6 is arety obtained from his Figure 2 ‘and the corresponding analytical expressions for the sim- plified elements from the corresponding ideal elements The element Diy = Dzz in ideal decoupling shown in (9) to be GGz2/ (Gui — GizGa), bas a gain which in Luybens example strongly increases with preduct pasty, This causes instability at high product purity for the ideal decoupling scheme whereas the simplified decoupling scheme is stable, From this fact Luyben draws the conclu- sion that ideal decoupling may be of limited applicability. The motive for this conclusion is somewhat misleading, Ideal decoupling may be less preferable because the de- coupling elements are complicated and difficult to realize especially at high frequencies, whereas -the elements of simplified decoupling are generally not. But it should be ‘emphasized that instability results because the settings for the feedback controllers are the same in both schemes in Luyben's example. Looking at the ideal decoupling scheme as itis drawn in Figure 3, it is seen that the P-controllers in the ideal decoupling scheme have to handle the ele- ments Dix and Das in addition to the process and decou- pling slements of the simplied decoupling scheme, In Luyben's Case 2/98, which is unstable with the ideal scheme, Dry = Dz = 10/(12.5 min s+ 1). Quite natu- rally, the controller settings used for simplified decoupling should be altered when these elements are included in the loops. Moreover, the phase lags caused by Dix and Daz put ‘an extra burden on the P-controllers, why the scheme ideal decoupling in this case is less attractive than simplified decoupling, even if the controller settings are corrected so as to give a stable response It is interesting and challenging that relatively small changes of, for example, the gains of the decoupling ele- ments may increase of considerably decrease control qual- ity (Toijala and Fagervik, 1972). Partial decoupling may thus be better than complete decoupling, but there is also quite a risk of drastically decreasing the controllability properties of the process through the introduction of the decoupling elements. NOTATION decoupling matrix decoupling element, Equation (2), Figure 2 process transfer function matrix process transfer function, Equation (2), Figure 2 change in reflux flow rate primary feedback controllers primary feedback controller ‘complex variable matrix, Equation (1) element of T change in vapor fow rate liquid composition change enriching section stripping section LITERATURE CITED ce tnt te Derg ono ct oa tt Dasa SE Se au, oe a a) a > ee i De ion sling,” Kem. Teolliswus, 29, 499 (1972). eee ee Soe at Te a oe aw or ee serena a os es eae ee et Givmrar marae ae se (sz). and K. Fe “~ Simulation Study of Two- Point Feedback of Distillation Columns,” Kem. Teol- liruus, 29, 5 (1972). » and S. Gustafsson, “On the General Characteristics of tie "ibid, 29, 173 ia Reflux Flow Rate, Vapour Flow Rate, and Feed Enthalpy for Mixtures,” Acta ‘Acad. Aboenais Math, Phys., 36, No. 15 (1970). 2's E. Gustafson, and L. G. Hammarstrém, “Tncom- plete State Feedback Integral Control of Distillation Col- ‘umns,” paper presented at the Intern. Scandinavian Congr. fon Chem. Eog,, Copenhagen (1974). G. S-racial Approach fo Non Intrcting. Coo- ‘sol,” Instruments Control Systems, 40, 89 and 111 (1067). Manuscript rcetod December 5, 1073; revlon vediond Jenuary $1 end acerted Jonny 22,1976 AIChE Journal (Vol. 20, No. 3)