Escolar Documentos
Profissional Documentos
Cultura Documentos
Abstract: Valve nonlinearities are responsible for producing limit cycles in the loop and consequently
decreasing plant performance. In the case of an integrating plant, once the loop oscillation is detected, the
engineer should distinguish between stiction and backlash, but no method is available in the literature to
address this class of problem. In this paper, it is proposed a data-driven method to distinguish between
loop stiction and backlash for integrating processes. The closed-loop pattern provides enough information
to verify when either stiction or backlash is available. The efficacy of the proposed technique is
corroborated by simulation case studies.
Keywords: Valves, Backlash, Static friction, Integrators, Hysteresis.
regions: when the controller comes to rest or change its loops. Fig. 3 shows the process variable for four SISO loops,
direction (A), the valves becomes stationary until the with variable deadband, when the plant is an integrator.
deadband is overcame (B), and then the valve starts the
motion. The deadband magnitude is given by DB.
321
8th IFAC Symposium on Advanced Control of Chemical Processes
Furama Riverfront, Singapore, July 10-13, 2012
(1)
322
8th IFAC Symposium on Advanced Control of Chemical Processes
Furama Riverfront, Singapore, July 10-13, 2012
These values have been based on a large number of Tab. 3: Percentage of backlash detection with variable
simulations. The main advantages of this method are that it is sampling time.
computationally fast and requires only routine operating data. st % of detection
Moreover, no controller tuning parameters and no
information about the valve stem are necessary. 0.1 100%
0.2 100%
4 CASE STUDIES
0.5 100%
The objective of this section is to evaluate the proposed
method to distinguish between stiction and backlash for 0.75 90%
integrating processes, using only routine operating data. In
the first analysis, the stiction should be diagnosed, 1.0 90%
considering several plants, controllers, and stiction 2.0 78%
parameters, as described in Tab. 1. A SISO loop is used with
a PI controller and integrating plant. The stiction model is 5.0 38%
inserted between controller and plant (Hammerstein model).
In all cases, the sampling time was equal to 0.1.
323
8th IFAC Symposium on Advanced Control of Chemical Processes
Furama Riverfront, Singapore, July 10-13, 2012
Tab. 3 shows the impact of sampling time over the methods LING, B., ZEIFMAN, M. & LIU, M. (2007) A practical
accuracy, where increasing sampling times cause reduction in system for online diagnosis of control valve faults.
backlash detection. However, it is clear that the method does Proceedings of the IEEE Conference on Decision
not require an extremely fast sampling time. and Control.
SRINIVASAN, R. & RENGASWAMY, R. (2008)
Approaches for efficient stiction compensation in
5 CONCLUSIONS process control valves. Computers & Chemical
In this work, we have presented a novel solution to the Engineering, 32, 218-229.
problem of stiction and backlash detection in integrating TUDOROIU, N. & ZAHEERUDDIN, M. (2005) Fault
loops. The detection method is based on process variable detection and diagnosis of the valve actuators in
patterns of a valve with backlash and stiction. The slope in HVAC systems, using frequency analysis. ICIECA
peaks and in the middle of the curve provides the necessary 2005: International Conference on Industrial
information for detection. This procedure can be automated Electronics and Control Applications 2005.
using the proposed Backlash Index
The efficacy of the proposed technique was corroborated
through several simulation case studies. When backlash or
stiction should be diagnosed, a wide variety of plants,
controllers, and stiction or backlash scenarios have been
evaluated. In the first, only stiction is seen in the loop and in
the second only backlash. In both cases, the percentage of
correct detection was around 100%. No incorrect diagnostic
was provided in all cases.
ACKNOWLEDGMENTS
The authors are very grateful for the grants from
PETROBRAS.
REFERENCES
BIALKOWSKI, W. L. (1993) Dreams versus reality: A view
from both sides of the gap. Pulp and Paper Canada,
94, 19-27.
BOCANIALA, C. D., SA DA COSTA, J. & LOURO, R.
(2003) A fuzzy classification solution for fault
diagnosis of valve actuators. Lecture Notes in
Artificial Intelligence (Subseries of Lecture Notes in
Computer Science).
CHOUDHURY, M. A. A. S., JAIN, M. & SHAH, S. L.
(2008) Stiction - definition, modelling, detection and
quantification. Journal of Process Control, 18, 232-
243.
DSTEGR, D., FRISK, E., COCQUEMPOT, V.,
KRYSANDER, M. & STAROSWIECKI, M. (2006)
Structural analysis of fault isolability in the
DAMADICS benchmark. Control Engineering
Practice, 14, 597-608.
FISHER-ROSEMOUNT, A. (1999) Control Valve
Handbook.
HAGGLUND, T. (2007) Automatic on-line estimation of
backlash in control loops. Journal of Process
Control, 17, 489-499.
KANO, M., MARUTA, H., KUGEMOTO, H. & SHIMIZU,
K. (2004) Practical model and detection algorithm
for valve stiction. IN IFAC (Ed.) 7th IFAC
DYCOPS. Boston, USA.
324