Tafazolli replaces the injured Jordy de Wijs in the centre of defence, while Elder comes in for Brandon Fleming at left back and Irvine comes in ahead of Daniel Batty in midfield.
Todd Kane and Marc Pugh, who were on loan with the Tigers last season, are on the QPR bench.
Hull City: George Long, Eric Lichaj, Ryan Tafazolli, Reece Burke, Kevin Stewart, Tom Eaves, Kamil Grosicki, George Honeyman, Jarrod Bowen, Callum Elder, Jackson Irvine.
Subs: Matt Ingram, Daniel Batty, Jon Toral, Josh Bowler, Matthew Pennington, Josh Magennis, Leonardo Da Silva Lopes.
Queens Park Rangers: Liam Kelly, Geoff Cameron, Ebere Eze, Josh Scowen, Ryan Manning, Ilias Chair, Bright Osayi-Samuel, Nahki Wells, Angel Rangel, Yoann Barbet, Toni Leistner.
Subs: Joe Lumley, Todd Kane, Marc Pugh, Luke Amos, Jordan Hugill, Dominic Ball, Jan Mlakar.
Referee: Mr T. Harrington.