M1 Figure 1

Inflow
Supply
l l Level

ll ll
(Controlled Variable)

Pump
Overflow
M1 Figure 2: Typical Control Loop

Disturbances

Controller
Error Manipulated Output
Set Point Comparator Amplifier Process (Tank)
(SP - M) Variable (Controlled
Variable - Level)

Measurement
Signal
Process
Sensor
M2 Figure 1: 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
M2 Figure 2: Typical ON/OFF
Response

L2

SP
time

L1
Periodic Time
M3 Figure 1: Level Control of
Open Tank

V1

l l
A/C
Qin
SP

ll ll LT 20 - 100 kPa

Qout
M3 Figure 2: Simple Proportional
System

Inflow
Valve

l ll
Float
Pivot

l l
Outflow
M4 Figure 1: Open Tank Control

A/O

l l
20 - 100 kPa
Qin
SP

ll ll
LIC

LT

Qout
M4 Figure 2: Proportional Control
Response Curve
New mass balance
Loss in Volume occurs here

Outflow

Input/Output Inflow

t0 t1 time
t
Level originally
at setpoint
Offset New level
Level below setpoint

t0 t1
time
 M4 Figure 3: 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
M4 Figure 4: 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
M4 Figure 5: ¼ Decay Response
Curve
System Response

A
A/16
A/4 time
M5 Figure 1: Response Curve:
Proportional Control Only

Step Disturbance
System Response

time

SP
Offset
M5 Figure 2: Additional Control
Signal Restores Process to
Setpoint
Initial mass balance Final mass balance

Outflow

Reset Action
Inflow
Setpoint
time
Offset
Removed
M5 Figure 3: Proportional Plus
Reset, Open Loop Response

error

e
se t
l Re set
st Re Norma
Fa Slow Reset
Control Signal

}
ke
Proportional
Response
time
 M6 Figure 1: Proportional and
Derivative – Open Loop Pressure
Input

Derivative ceases as
Proportional error stops changing
Action
Output

Derivative
time
M6 Figure 2: Simple Flow Control
System

_l l
l
√ FT
A/C

FC
 M6 Figure 3: 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
Signal A-B B -C
Control signal at end of excursion
%
Rate action due to cessation of increase in e
Proportional
action B - C

t0 t1 t2 time
 M6 Figure 4: Large System Under
Proportional and Proportional Plus
Derivative Control

Control Signal

Load
Disturbance
Applied

Prop. + Derivative
Prop. Only
time
Setpoint

Level
M8 Figure 1: Open Tank Level
Control With Valve In Inflow

l l
A/O
Qi

LIC LT
ll ll
Qo
SP
M8 Figure 2: Typical Flow Control
Loop

_l l A/O

√ FT
FIC

SP
M8 Figure 3: Pressure Control –
Constant Bleed

SP

PIC PT

Feed Pressure
Pressure Vessel
Bleed
A/C
M8 Figure 4: Split Ranged Feed
and Bleed Pressure Control

SP

PIC PT

A/O
Feed Pressure Vessel Bleed
A/C
 M8 Figure 5: Representative Hot
Bleed/Cold Service Water Heat Exchanger

Hot Bleed

Cold

A/C

TT TC

SP
Cooled Bleed