Open Plant Model

The plant is a continuous stirred tank reactor (CSTR) that operates over a wide range of operating points. A single PID controller can effectively use the coolant temperature to regulate the output concentration around a small operating range for which the PID controller is designed. However, since the plant is a strongly nonlinear system, control performance degrades if the operating point changes significantly. The closed-loop system can even become unstable.

Open the CSTR plant model.

mdl ='scdcstrctrlplant'; open_system(mdl)

For more information on this system, see [1].

Introduction to Gain Scheduling

A common approach to solve the nonlinear control problem is to use gain scheduling with linear controllers. Generally speaking, designing a gain scheduling control system takes four steps.

For more information on gain scheduling, see [2].

This example focuses on designing a family of PID controllers for the nonlinear CSTR plant.

Obtain Linear Plant Models for Multiple Operating Points

The output concentrationCis used to identify different operating regions. The CSTR plant can operate at any conversion rate between a low conversion rate (C=9) and a high conversion rate (C=2). In this example, divide the operating range into eight regions represented byC=2through9.

Specify the operating regions.

C = [2 3 4 5 6 7 8 9];

Create an array of default operating point specifications.

op = operspec(mdl,numel(C));

Initialize the operating point specifications by specifying that the output concentration is a known value and specifying the output concentration value.

forct = 1:numel(C) op(ct).Outputs.Known = true; op(ct).Outputs.y = C(ct);end

Compute the equilibrium operating points corresponding to the values ofC.

opoint = findop(mdl,op,findopOptions('DisplayReport','off'));

Linearize the plant at these operating points.

Plants = linearize(mdl,opoint);

Since the CSTR plant is nonlinear, the linear models display different characteristics. For example, plant models with high and low conversion rates are stable, while the others are not.

isstable(Plants,'elem')'

ans = 1x8 logical array 1 1 0 0 0 0 1 1

Design PID Controllers for the Plant Models

To design multiple PID controllers in batch, use thepidtunefunction. The following commands generate an array of PID controllers in parallel form. The desired open-loop crossover frequency is at1rad/sec and the phase margin is the default value of60degrees.

控制器= pidtune(植物,'pidf',1);

Display the controller forC=4.

Controllers(:,:,4)

ans = 1 s Kp + Ki * --- + Kd * -------- s Tf*s+1 with Kp = -12.4, Ki = -1.74, Kd = -16, Tf = 0.00875 Continuous-time PIDF controller in parallel form.

To analyze the closed-loop responses for step setpoint tracking, first construct the closed-loop systems.

clsys = feedback(Plants*Controllers,1);

Plot the closed-loop responses.

figure holdonforct = 1:length(C)% Select a system from the LTI arraysys = clsys(:,:,ct); sys.Name = ['C=',num2str(C(ct))]; sys.InputName ='Reference';% Plot step responsestepplot(sys,20);endlegend('show','location','southeast')

All the closed loops are stable, but the overshoots of the loops with unstable plants (C=4, through7) are too large. To improve the results for the unstable plant models, increase the target open-loop bandwidth to10rad/sec.

控制器= pidtune(植物,'pidf',10);

Display the controller forC=4.

Controllers(:,:,4)

ans = 1 s Kp + Ki * --- + Kd * -------- s Tf*s+1 with Kp = -283, Ki = -151, Kd = -128, Tf = 0.0183 Continuous-time PIDF controller in parallel form.

Construct the closed-loop systems, and plot the closed-loop step responses for the new controllers.

clsys = feedback(Plants*Controllers,1); figure holdonforct = 1:length(C)% Select a system from the LTI array.sys = clsys(:,:,ct); set(sys,'Name',['C=',num2str(C(ct))],'InputName','Reference');% Plot the step response.stepplot(sys,20)endlegend('show','location','southeast')

All the closed-loop responses are now satisfactory. For comparison, examine the response when you use the same controller at all operating points. Create another set of closed-loop systems, where each one uses theC=2controller, and plot their responses.

clsys_flat = feedback(Plants*Controllers(:,:,1),1); figure stepplot(clsys,clsys_flat,20) legend('C-dependent Controllers','Single Controller')

数组分别设计的PID控制器or each concentration gives considerably better performance than a single controller.

However, the closed-loop responses shown above are computed based on linear approximations of the full nonlinear system. To validate the design, implement the scheduling mechanism in your model using the PID Controller block as shown inImplement Gain-Scheduled PID Controllers.

Close the model.

bdclose(mdl)

References

[1] Seborg, Dale E., Thomas F. Edgar, and Duncan A. Mellichamp.Process Dynamics and Control. 2nd ed., John Wiley & Sons, Inc, 2004, pp. 34-36.

[2] Rugh, Wilson J., and Jeff S. Shamma. 'Research on Gain Scheduling'.Automatica36, no. 10 (October 2000): 1401-1425.