Techniques for Adaptive Control

289 Pages·2002·13.8 MB·English

by  Vance VanDoren

Techniques for Adaptive Control
This Page Intentionally Left Blank
Techniques for Adaptive Control
Edited by
Vance J. VanDoren, Ph.D., P.E.
Consulting Editor, Control Engineering Magazine,
Oak Brook, Illinois
A N N
An imprint of Elsevier Science
Amsterdam Boston London New York Oxford Paris San Diego
San Francisco Singapore Sydney Tokyo
Butterworth-Heinemann is an imprint of Elsevier Science.
Copyright (cid:14)9 2003, Elsevier Science (USA). All rights reserved.
No part of this publication may be reproduced, stored in a retrieval system, or transmitted
in any form or by any means, electronic, mechanical, photocopying, recording, or
otherwise, without the prior written permission of the publisher.
@ Recognizing the importance of preserving what has been written, Elsevier Science prints
its books on acid-free paper whenever possible.
Library of Congress Cataloging-in-Publication Data
Techniques for adaptive control / edited by Vance J. VanDoren.
p. cm.
Includes bibliographical references and index.
ISBN 0-7506-7495-4 (pbk. : alk. paper)
1. Adaptive control systems. I. VanDoren, Vance J.
TJ217 .T42 2002
629.8' 36--dc21 2002074432
British Library Cataloguing-in-Publication Data
A catalogue record for this book is available from the British Library.
The publisher offers special discounts on bulk orders of this book.
For information, please contact:
Manager of Special Sales
Elsevier Science
200 Wheeler Road
Burlington, MA 01803
Tel: [phone]
Fax: [phone]
For information on all Butterworth-Heinemann publications available,
contact our World Wide Web home page at: http://www.bh.com
1098765432 1
Printed in the United States of America
CONTENTS
Contributors viii
Preface ix
Introduction
Vance J. VanDoren
Chapter 1 Adaptive Tuning Methods of the Foxboro I/A System 23
Peter D. Hansen
Controller Structure 26
Minimum Variance Control 31
Control by Minimizing Sensitivity to Process Uncertainty 33
Algebraic Controller Design for Load Rejection and
Shaped Transient Response 35
Algebraic Tuning of a Controller with Deadtime 39
Robust Adaptation of Feedback Controller Gain Scheduling 44
Feedforward Control 47
Adaptation of Feedforward Load Compensators 48
Conclusion 52
Chapter 2 The Exploitation of Adaptive Modeling in the Model
Predictive Control Environment of Connoisseur 55
David J. Sandoz
Model Structures 58
Issues for Identification 62
Adaptive Modeling 69
Other Methods 73
Simulated Case Study on a Fluid Catalytic Cracking Unit 76
Conclusion 96
vi Contents
Chapter 3 Adaptive Predictive Regulatory Control with BrainWave 99
Mihai Huzmezan, William A. Gough, and Guy A. Dumont
The Laguerre Modeling Method 101
Building the Adaptive Predictive Controller Based on a
Laguerre State Space Model 105
A Laguerre-Based Controller for Integrating Systems 110
Practical Issues for Implementing Adaptive Predictive
Controllers 114
Simulation Examples 120
Industrial Application Examples 125
Conclusion and Lessons Learned 142
Chapter 4 Model-Free Adaptive Control with CyboCon 145
George S. Cheng
Model-Free Adaptive Control with CyboCon 145
Concept of MFA Control 145
Single-Loop MFA Control System 149
Multivariable MFA Control System 158
Anti-Delay MFA Control System 170
MFA Cascade Control System 173
Feedforward MFA Control 177
Nonlinear MFA Control 180
Robust MFA Control 183
MFA Control Methodology and Applications 186
MFA Control Methodology 186
The Inside of MFA 189
Case Studies 191
Chapter 5 Expert-Based Adaptive Control: ControlSoft's INTUNE
Adaptive and Diagnostic Software 203
Tien-Li Chia and Irving Lefkowitz
On-Demand Tuning and Adaptive Tuning 204
History and Milestone Literature 205
Adaptive Control Structure and Underlying Principles 207
Identification-Based Adaptive Control 209
Expert-Based Adaptive Control: ControlSoft's INTUNE 217
Concluding Observations 230
Contents vii
Chapter 6 KnowledgeScape, an Object-Oriented Real-Time Adaptive
Modeling and Optimization Expert Control System
for the Process Industries 233
Lynn B. Hales and Kenneth S. Gritton
Intelligent Software Objects and Their Use in
KnowledgeScape 235
Artificial Intelligence and Process Control 239
Neural Networks 252
Genetic Algorithms 256
Documenting the Performance of Intelligent Systems 258
Putting It All Together: Combining Intelligent Technologies
for Process Control 261
Results: Using Intelligent Control in the Mineral-Processing
Industry 264
Conclusion 266
Appendix: Table of Artificial Intelligence Reference Texts 268
Author Index 271
Subject Index 273
CONTRIBUTORS
George S. Cheng, Ph.D.
President and Chief Technical Officer, CyboSoft, General Cybernation Group Inc.,
Rancho Cordova, California
Tien-Li Chia, Ph.D.
President, ControlSoft, Cleveland, Ohio
Guy A. Dumont, Ph.D.
Professor, Department of Electrical and Computer Engineering, University of British
Columbia, Vancouver, Canada
William A. Gough, P.Eng.
Vice President, Universal Dynamics Technologies Inc., Richmond, British Columbia,
Canada
Kenneth S. Gritton, Ph.D.
Director of Technology and Development, EIMCO Process Equipment Company, Salt
Lake City, Utah
Lynn B. Hales, B.S.
General Manager, KnowledgeScape Systems, EIMCO Process Equipment Company,
Salt Lake City, Utah
Peter D. Hansen, B.S., M.S., Sc.D.
Consultant, and Bristol Fellow (Retired), The Foxboro Co., Foxboro, Massachusetts
Mihai Huzmezan, Ph.D., P.Eng.
Assistant Professor, The University of British Columbia; President, MIH Consulting
Group Ltd., Vancouver, Canada
Irving Lefkowitz, Ph.D.
Vice President, ControlSoft, Cleveland, Ohio
David J. Sandoz, Ph.D.
Director (Retired), Control Technology Centre Ltd., Manchester, United Kingdom
VIo~I I
PREFACE
The nature of this book bears some explaining. First, the term "control" in the title
refers to feedback controllers used in factories and processing plants to regulate flow
rates, temperatures, pressures, and other continuous process variables. Discrete
controls, computer numerical controls, financial controls, and TV remote controls
are different subjects altogether.
Second, the genre of this book is not easily classified. It is not a "textbook" in the
sense of lessons presented in a logical order for the edification of college students
studying a particular subject. The Introduction does present an overview of adaptive
control technology, but each of the subsequent chapters has been written by a
different author as a stand-alone presentation of his favorite approach to the subject.
The chapters are not otherwise intended to relate to each other and are presented in
no particular order.
Nor is this a "handbook" where each chapter describes a different aspect of the same
subject. Here the chapters all describe the same thing--adaptive control techniques
available as commercial software products--but from radically different points of
view. Some of the authors have even gone so far as to suggest that their techniques
are not merely acceptable alternatives to the competition, but are superior for certain
applications. Which of them is right is still a matter of debate.
This book could be considered a "survey" of adaptive control techniques, but not in
the academic sense. The chapters have not been peer reviewed, they do not begin to
cover the wide variety of adaptive controllers that have been developed strictly for
academic purposes, nor have they been written according to academic standards.
They are certainly technical and they contain plenty of equations to describe how
each technique works, but simulations and real-life applications have been given
more emphasis than detailed mathematical proofs.
Perhaps "trade show on paper" would be a more accurate description. Each author
has contributed a chapter that describes his technology rather than a booth that
displays it. However, the idea is the same--assemble related products side-by-side
ix