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Inflow
Supply
l l Level
ll ll
(Controlled Variable)
Pump
Overflow
Open vs Closed Loop
! Closed loop
! Automatic control
! Open Loop
! Manual control
! Person takes the place of the controller
Feedback Control
Disturbances
Controller
Error Manipulated Output
Set Point Comparator Amplifier Process (Tank)
(SP - M) Variable (Controlled
Variable - Level)
Measurement
Signal
Process
Sensor
Feedback vs. Feedforward
! Feedback
! Control action after an error exists
! Feedforward
! Reacting to the disturbance before the
error occurs
Typical ON/OFF Control System
V1 Inflow
SP
l Qin
l L2
Electrically Operated
ll ll
L1 Solenoid valve
Solenoid
P1 Power Supply
Qout P1 closes @ L1
P1 opens @ L2
Typical ON/OFF Response
L2
SP
time
L1
Periodic Time
Proportional Control
Level Control of Open Tank
V1
l l
A/C
Qin
SP
ll ll LT 20 - 100 kPa
Qout
Simple Proportional System
Inflow
Valve
l ll
Float
Pivot
l l
Outflow
Open Tank Control
A/O
20 - 100 kPa
Qin
SP
LIC
LT
Qout
Controller Action
A/C
l l
Qin
20 - 100 kPa
Direct
SP
ll ll
LIC
LT
Qout A/O
l l
20 - 100 kPa
Qin
SP
ll ll
LIC
Reverse
LT
Qout
Proportional Control
Setpoint Error
+ k•e + Output
- +
Measurement Bias
m= k(SP-M) + bias
Proportional Band and Gain
Proportional Band – the input change required to
change the output 100%
∆output
gain =
∆input
100%
gain =
PB
Narrow, Wide, High & Low
In Out
Wide PB – Low Gain
Outflow
Input/Output Inflow
t0 t1 time
t
Level originally
at setpoint
Offset New level
Level below setpoint
t0 t1
time
Proportional Response with
Narrower PB
New mass balance
Loss in Volume occurs here
Outflow
Input/Output
Inflow
t0 t1 time
t
Level originally Offset
at setpoint New level
t1 below setpoint
Level t0
time
Response Versus PB, Proportional
Control Only
Load Change
Step Disturbance
time
"Wide" PB
SP
Offset
System Response
"Moderate" PB
SP
Offset
"Narrow" PB
SP
time
¼ Decay Response Curve
System Response
A
A/16
A/4 time
For You To Do
! Read pp. 89-105
! Answer Questions pp. 121-122, #1-19
Reset or Integral
Response Curve: Proportional
Control Only
Step Disturbance
System Response
time
SP
Offset
Additional Control Signal Restores
Process to Setpoint
Outflow
Reset Action
Inflow
Setpoint
time
Offset
Removed
Integral Action
1
TR ∫ edt
Measurement Bias
1
m = ke +
TR
∫ edt + bias
Units
! Minutes per repeat
! MPR
! The length of time that it will take the
integrator to add an amount equal to the
proportional response
! Repeats per minute
! RPM
! The number of times the proportional
response is repeated in one minute
Proportional Plus Reset, Open Loop
Response
error
e
se t R es et
R e rm a l
st No
Fa Slow Reset
Control Signal
}
ke
Proportional
Response
time
A problem
Output initially 50%, Gain = 2, reset = 2 minutes per repeat
A direct acting controller control is subjected to a sustained
error of 5%
What is the output after 4 minutes?
Derivative ceases as
Proportional error stops changing
Action
Output
Derivative
time
Derivative Control
1
TR ∫ edt
Bias
Measurement de
TD
dt
1 de
m = ke + ∫ edt + kTD + bias
TR dt
Simple Flow Control System
_l l
l
√ FT
A/C
FC
The open Loop Response of Proportional Plus
Derivative (PD) Action to Rapidly Changing
Error Signals
B
Process
A C
t0 t1 t2 time
Proportional action
A-B
Rate action due to cessation of increase in e
Rate
Control action Rate action
A-B B -C
Signal Control signal at end of excursion
%
Rate action due to cessation of increase in e
Proportional
action B - C
t0 t1 t2 time
Large System Under Proportional and
Proportional Plus Derivative Control
Control Signal
Load
Disturbance
Applied
Prop. + Derivative
Prop. Only
time
Setpoint
Level
Multiple Control Modes
! Virtually all controls have a proportional
response
! Integral and derivative are added to
improve performance
! Majority have proportional and integral
! Some, typically heat exchangers have
derivative added
Open Tank Level Control With
Valve In Inflow
l l
A/O
Qi
LIC LT
ll ll
Qo
SP
Typical Flow Control Loop
_l l A/O
√ FT
FIC
SP
Pressure Control – Constant
Bleed
SP
PIC PT
Feed Pressure
Pressure Vessel
Bleed
A/C
Split Ranged Feed and Bleed
Pressure Control
SP
PIC PT
A/O
Hot Bleed
Cold
A/C
TT TC
SP
Cooled Bleed
For You To Do
! Read pp. 106-120
! Answer Questions pp. 122-123, #20-38