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Process Response
Rise time
Overshoot
PV
Period
SP2
Undershoot
SP1
Settling time
0 Time
1. Settling time is the period of time taken by the process reach stability.
2. Period is the time interval between two successive peaks.
3. Overshoot is the process response (PV) surpasses the set point.
4. Undershoot is the process response (PV) goes below the set point.
5. Rise time is the period of time taken by the process to reach the set point.
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Process Control Terminology
I/P TC
Heat exchanger TT
Manipulated variable
(high pressure steam)
80°C
Load variable 30°C controlled variable
(Flow, temperature
of saline solution)
100 L/min (temperature of
sterilised saline)
Manipulated variable
(high pressure steam)
Controlled variable Manipulated variable Load variable Set point
“The parameters that The process that being “All other affecting The desired operating
indicate product adjusted (controlled) by variable, other than condition.
quality or the the final control element the one being
operating condition of (such as control valve, manipulated.”
the process.” (L.M. damper, motor speed). (L.M. Gordon)
Gordon)
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Process Control Loop
Pressure
Flow I/P
Level
Process Temperature
pH
dP cell
Capacitance
Sensor Radar, Sonic
Magnetic
Resistance
IR/Laser
4-20 mA
Transmitter 1-5 Vdc
PID
Controller Fuzzy logic
4-20 mA
Transducer 3-15 psig
FC I/P
FT
Final Control Control Valve
Tyristor
Element
3
Process Control Loop
Process SP
Sensor SP
CONTROLLER
Transmitter
CONTROL
TRANSMITTER
VALVE
Controller
Transducer PV PROCESS
Final Control
Element PV
4
Process Control Loop
SP
SP
CONTROLLER
SP C F P PV
CONTROL
TRANSMITTER
VALVE
T
PV PROCESS
PV
5
Process Control Schemes
Feedback control
TC I/P
TT
Heated Steam in
product
out
Product
Steam out
in
Merit?
Simple design. Easy to tune (for linear, fast & short
dead time processes: flow, level & pressure). SP
Demerits?
Slow recovery for slow process upon load tim
disturbance or change in set point (such as e
temperature control). A process with long dead time
may exhibit oscillatory process response and with
6 longer settling time.
Process Control Schemes
Cascade control
TC FC I/P
TT FT
Heated Steam in
product
out
Product
Steam out
in
Demerits?
Controllability will be worst than SISO if both tim
controllers were not properly tuned. e
7
Process Control Schemes
Ratio control
X FC I/P
FT
Heated Steam in
product
out
FT
Product
Steam out
in
Merit?
Keep two flows in proportion with one another.
Demerits?
Inherits PID characteristics.
8
Process Control Schemes
TC Σ X FC I/P
TT FT
Heated L/L
Steam in
product
out
TT FT
Product
Steam out
in
9
Tutorial
Feedback
Cascade
Ratio
Feedforward
Temperature (product)
Flow (fuel) product
TT
Temperature (product)
Flow (fuel) Fuel
Temperature (product)
Temperature (feed)
Flow (fuel) FT
Flow (feed)
10
Tutorial
11
Process Control Schemes
SP C F P PV
12
Process Control Schemes
SP PV
Sensor / Transmitter
13
Process Control Schemes
14
Process Control Schemes
15
Process Control Schemes
Controller
16
Process Control Schemes
Consider an electronic pressure transmitter with a range of 0 to 200 psig. Time constant is 30 s.
17
Tutorial
100−0
100−0 d. 𝐾𝑇 = = 12.5%/𝑓𝑡
a. 𝐾𝑇 = = 2%/℃ 8−0
150−100
𝐾𝑇 = 2%/℃ 12.5
𝐻 𝑠 = = 12.1
0𝑠 + 1
2
𝐻 𝑠 = 𝐿(𝑠) 𝐶(𝑠)
1.2𝑠 + 1 12.5
𝑓𝑡 %𝑇𝑂
𝑇(𝑠) 2 𝐶(𝑠)
℃ 1.2𝑠 + 1 %𝑇𝑂
0.4
𝐻 𝑠 =
0.5𝑠 + 1
2
𝐻 𝑠 =
0.05𝑠 + 1
18
Tutorial
1
a. GC K C 1
I
s
100 0
b. KT ? %TO / C
150 100
KT
H ( s)
T s 1
c.
? ? ? ?
? ?
? ? ? ?
? ?
?
? ?
19