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Basic Process Control
Basic Process Control
l l l
l l l
Closed loop
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Automatic control Manual control Person takes the place of the controller
Open Loop
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Feedback Control
Disturbances
Controller
Set Point
Comparator
Error (SP - M)
Amplifier
Manipulated Variable
Process (Tank)
Measurement Signal
Process Sensor
Feedback
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Control action after an error exists Reacting to the disturbance before the error occurs
Feedforward
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SP
Qout
l l l
Qin
P1 closes @ L1 P1 opens @ L2
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L2 L1
P1
L2
SP
time
L1
Periodic Time
Proportional Control
SP
Qout
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Qin
l l l
A/C
LT
20 - 100 kPa
Pivot
l l
Float
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Outflow
20 - 100 kPa
LT Qout
Controller Action
A/C
SP
Qout
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Qin
l l l
20 - 100 kPa
LIC
Direct
LT
A/O
SP
Reverse
Qout
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Qin
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20 - 100 kPa
LIC
LT
Proportional Control
Setpoint + Error ke + + Output
Measurement
Bias
m= k(SP-M) + bias
100% gain = PB
Outflow Input/Output t0
t
Inflow t1 time
time
Outflow Input/Output t0
t
Inflow t1
Offset
time
time
SP
System Response
"Wide" PB
Offset
SP
"Moderate" PB
Offset
SP
"Narrow" PB
time
System Response
For You To Do
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Reset or Integral
System Response
time
SP
Offset
time
Integral Action
1 edt TR
Setpoint
Error -
ke
Output
Measurement
Bias
1 m = ke + edt + bias TR
Units
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MPR The length of time that it will take the integrator to add an amount equal to the proportional response RPM The number of times the proportional response is repeated in one minute
Control Signal
Fa
st
ese R
t
No
s al Re rm
et
Slow Reset
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? Proportional Response = ke = 2x5=10% Integral Action- in 4 minutes the control will go through 2 repeats. Integral action = 2 x 10 = 20% Total output change is proportional + integral = 30%
For You to Do
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Read over text pp. 89 110 Answer questions pp. 121-122, 1-24
Rate or Derivative
Output
time
Derivative Control
1 edt TR
Setpoint
Error -
ke
+ + +
Output +
Bias Measurement
TD
de dt
_l l l FT
FC
A/C
The open Loop Response of Proportional Plus Derivative (PD) Action to Rapidly Changing Error Signals
Process B A t0 C t1 t2
time
Control Signal %
Proportional action A-B Rate action due to cessation of increase in e Rate Rate action action B -C A-B Control signal at end of excursion Proportional action B - C t0 t1 t2 Rate action due to cessation of increase in e
time
Level
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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
A/O
LIC SP
LT
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Qi
Qo
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_l l FT
FIC SP
A/O
Feed A/C
Pressure Vessel
Pressure Bleed
TT
TC SP
Cooled Bleed
For You To Do
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