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DERIVATIVE (T2)
• Changes the output of a controller in proportion to the "RATE" or "SPEED" at which
the controlled variable is moving towards or away from the setpoint.
• Derivative action is expressed in minutes.
• Represents the time that the proportional plus derivative will take to reach a certain
level of output, in advance of the time proportional action alone would produce the
same output.
i.e: When derivative is applied to a two mode controller ( PI ), to make it a three mode
controller ( PID ), it's action consists of decreasing the number of repeats per minute required
to drive the error back to setpoint.
TUNING
ADJUST PROPORTIONAL BAND
Always tune proportional band with very little reset action. That is, for instance with a speed
control loop, always set the reset (integral) adjustment at, say twenty or thirty seconds or
more before adjusting the proportional band.
Then, adjust the proportional band to a smaller value (higher gain) until cycling or instability
begins.
EXAMPLE: Start with 40% proportional band (a gain of 2.5); then halve the proportional
band to 20% (a gain of 5); then halve the proportional band to 10% (a gain of 10); etc.
When cycling just begins, increase the proportional band by 50 percent. That is, from 10% to
15%; from 18% to 24%; etc. Cycling should stop. The proportional band adjustment should
now be properly set and should be left at this value.
This is done by reducing the time value (in seconds). Say the reset is at twenty seconds. Then
reduce the reset to ten seconds; then reduce the reset to five seconds; then reduce the reset to
two seconds; etc. When cycling or instability begins, increase the reset adjustment by 50%.
TUNING CONTROLLERS
Since there are a very large number of combinations of the two or sometimes three, "knobs"
provided for controller tuning, many methods have been developed over the years to aid in
their proper adjustment. A few require upsetting the process to some extent, often an
unacceptable practice in real life. These notes are intended to provide a few simple rules to
use in tuning
controllers which will minimize upsets and still get the job done.
Do not confuse these actions or grief will be your constant companion during your controller
tuning efforts. If the process is slow (i.e. temperature control of a tray part way up a
distillation column), then the controller must be tuned slow TO MATCH THE PROCESS. If
you do not have a feel for the process characteristics or cannot find someone to enlighten
you, leave controller tuning to someone else who can get the needed information.
FLOW
Usually, at least half of the control loops in a plant are flow loops. Set integral (I) at 0.1
minutes. Adjust the proportional band so that the measurement is not too noisy, usually about
300% although an occasional poor meter run installation may require as much as 1000%. A
loop where a valve positioner has been used will require a proportional band setting two to
three times larger than for a loop without a positioner. Slow moving or sticky control valves
may require 0.2 or 0.3 minutes but are rare exceptions. If these settings do not work, inspect
the valve and orifice installation to find the, problem. Fix the problem. Do not adjust the
controller to some ridiculous setting such as a 10 minute reset time. Use the controller in
manual or a hand valve if you think a 10 minute reset time is necessary.
IMPORTANT NOTE: No controller will work when the valve is almost closed or almost
wide open. Don't attempt tuning under these conditions. Have the operator open or close a
bypass (if one exists) or wait until process conditions change enough to get the valve back
within its operating range (from 5 to 95% of travel as extreme limits with 10 to 90% as a
safer range). Never use derivative action in a flow loop.
LEVEL
If close control of level is important, set the proportional band to as small a value as possible
(20-50%) without causing cycling. Use a larger proportional band (perhaps 100%) if smooth
flow control to a downstream unit is more important than tight level control. Never use
derivative action in a level loop.
Level loops will usually show a limit cycle when the level controller sets a valve, which is
not equipped with a positioner. A limit cycle looks like a saw blade, sometimes with flat
bottoms and/or tops
Limit cycle will show about 5% change. There is absolutely nothing you can do to tune out
such a limit cycle. Changes in tuning will shorten or lengthen the period but only a positioner
or level cascaded to a flow controller will eliminate the problem. When the flow is used to
control the level going to tankage, cycling is usually unimportant. If it is the reflux or feed to
a distillation tower, then such a limit cycle may be unacceptable. Please note that a valve
cycling almost closed or fully open will also produce a limit cycle, usually of the flat bottom
type (when almost closed) or of the flat top type when almost fully open.
LIQUID PRESSURE
Tune the same, as flow loops. Noise should not be as severe as for flow and proportional
bands will usually be smaller.
GAS PRESSURE
Tune the same as level loops using a large integral value. Proportional bands can be quite
small (under 100% and often as small as 20-30%.).
Well now that you've tuned over 90% of the loops in the typical plant, on to the more difficult
control tuning applications. These are temperature, vapor pressure, and composition. Included
are the temperatures used to infer composition for so many distillation columns.
If the shortcut method described above is unsuccessful or you want to be a bit more
methodical, follow the procedure given below. It will always work and will leave no doubt
as to the characteristics of the control loop.
When the process is reasonably stable and no plant upsets are expected, switch the controller
to manual. Then set D, (derivative or rate on some controllers) to minimum (if provided on
the controller) and I, (integral or reset on some controllers) to maximum.
Select a set point equal to the measurement and adjust the proportional band to 100% (or gain
at 1.0) to start. Change the output a small amount and transfer the controller to automatic.
Note the starting valve position.
If oscillations do not develop, repeat step 2 reducing the proportional band, perhaps to half
the value tried before. Continue to reduce the proportional band until oscillations start. If
oscillations of increasing amplitude develop on the first try, return to manual and set the valve
at the original position noted in step 2. Double the proportional band and try again until
uniform, or very nearly so, oscillations develop. Measure the period (defined as the time for
one complete cycle to occur).
For a P+I Controller: Set I = to the period x 0.82. Double the proportional band. The period
will increase by about 43%. Readjust the proportional band if more or less damping is
desired. Set I = to the period x O.S. Set D = to the period x 0.12. Double the proportional
band. The period will decrease by about 15%. Readjust the proportional band if more or less
damping is desired.
Remember, safe values are a large I and a small D. These instructions are for controllers
adjusted in terms of minutes per repeat. Some manufacturers use an inverse relationship so
large becomes small and vice versa.
If the measurement is noisy (Ph loops in particular), derivative cannot usually be used; never
under any circumstances set the derivative greater than the integral.
PRESSURE 2 50 .5 2 Min.
(Gas)
Controller output to field devices shall be -6.9% to 106.9% to compensate for calibration
offsets in the field device. Master controller output in cascade loops shall be 0% to 100%.
The controllers (APM) base scan rate will be 0.5 seconds. Some fast loops (according to EPC
contractor) will run at 0.25 seconds.