Control Valve Position Stability: ISA-TR75.04.01-1998 (R2006)

TECHNICAL REPORT
ISA-TR75.04.01-1998 (R2006)
Control Valve Position Stability
Approved 29 November 2006
NOTICE OF COPYRIGHT
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Provided by IHS under license with ISA
No reproduction or networking permitted without license from IHS Not for Resale
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ISA-TR75.04.01-1998 (R2006)
Control Valve Position Stability
ISBN: 978-0-9791330-2-2
0-9791330-2-5
Copyright © 2006 by ISA. All rights reserved. Not for resale. Printed in the United States of America.
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P.O. Box 12277
Research Triangle Park, North Carolina 27709

-3- ISA-TR75.04.01-1998 (R2006)
Preface
This preface, as well as all footnotes and annexes, is included for information purposes and is not part of
ISA-TR75.04.01-1998 (R2006).
This document has been prepared as part of the service of ISA towards a goal of uniformity in the field of
instrumentation. To be of real value, this document should not be static but should be subject to periodic
review. Toward this end, the Society welcomes all comments and criticisms and asks that they be
addressed to the Secretary, Standards and Practices Board; ISA; 67 Alexander Drive; P. O. Box 12277;
Research Triangle Park, NC 27709; Telephone (919) 549-8411; Fax (919) 549-8288; E-mail:
standards@isa.org.
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system of units in general, and the International System of Units (SI) in particular, in the preparation of
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Modern Metric System, published by the American Society for Testing & Materials as IEEE/ASTM SI 10-
97, and future revisions, will be the reference guide for definitions, symbols, abbreviations, and
conversion factors.
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ISA-TR75.04.01-1998 (R2006) - 4 -`
PROFESSIONAL JUDGMENT CONCERNING ITS USE AND APPLICABILITY UNDER THE USER’S
PARTICULAR CIRCUMSTANCES. THE USER MUST ALSO CONSIDER THE APPLICABILITY OF
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THE USER OF THIS DOCUMENT SHOULD BE AWARE THAT THIS DOCUMENT MAY BE IMPACTED
BY ELECTRONIC SECURITY ISSUES. THE COMMITTEE HAS NOT YET ADDRESSED THE
POTENTIAL ISSUES IN THIS VERSION.
The following people served as members of ISA Subcommittee SP75.04 and approved
ANSI/ISA-TR75.04.01-1998:
NAME COMPANY
J. Reed, Chairman Norriseal

W. Weidman, Managing Director Parsons Energy & Chemicals Group, Inc.
G. Baenteli Bechtel Corporation
G. Barb Consultant
K. Black Cashco, Inc.
J. Borge Neles Controls, Inc.
W. Caudill Arco Products Company
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R. Lytle* Fisher Controls International, Inc.
J. McCaskill TAPCO International
P. Schafbuch* Fisher Controls International, Inc.
A. Shea Copes-Vulcan, Inc.
______
*One vote per company
The following people served as members of ISA Committee SP75 and approved
ANSI/ISA-TR75.04.01-1998:
NAME COMPANY
D. Buchanan*, Chairman Union Carbide Corporation

W. Weidman, Managing Director Parsons Energy & Chemicals Group, Inc.
T. Abromaitis Red Valve Company, Inc.
J. Addington Fluid Controls Institute
H. Backinger J. F. Kraus & Company
G. Baenteli Bechtel Corporation
G. Barb Consultant
H. Baumann H. D. Baumann, Inc.
K. Black Cashco, Inc.
H. Boger Masoneilan/Dresser
G. Borden, Jr. Consultant
S. Boyle Neles Controls, Inc.
R. Brodin* Fisher Controls International, Inc.
F. Cain Flowserve-FCD
C. Corson Fluor Daniel, Inc.
C. Crawford* Union Carbide Corporation
L. Driskell Consultant
J. Duhamel R-K-L
A. Engels Praxair, Inc.
H. Fuller Valvcon Corporation
J. George* Richards Industries, Inc.
M. Glavin Grinnel Corporation
L. Griffith Four G Group

-5- ISA-TR75.04.01-1998 (R2006)
F. Harthun Consultant
B. Hatton Honeywell, Inc.
J. Jamison Bantrel, Inc.
R. Jeanes TU Electric
J. Kersh M. W. Kellogg Company
C. Koloboff Consultant
G. Kovecses Yarway Corporation
C. Langford Cullen G. Langford, Inc.
A. Libke DeZurik Valve Company
R. Louviere Creole Engineering Sales Company
O. Lovette, Jr. Consultant
L. Mariam FlowSoft, Inc.
J. McCaskill TAPCO International
A. McCauley, Jr. Chagrin Valley Controls, Inc.
R. McEver Bettis Corporation
H. Miller Control Components, Inc.
T. Molloy CMES, Inc.
L. Ormanoski Frick Company
J. Ozol Commonwealth Edison
W. Rahmeyer Utah State University
J. Reed Norriseal
G. Richards* Richards Industries, Inc.
M. Riveland* Fisher Controls International, Inc.
K. Schoonover Con-Tek Valves, Inc.
A. Shea* Copes-Vulcan, Inc.
E. Skovgaard Leslie Controls, Inc.
H. Sonderegger Grinnell Corporation
R. Terhune Cranmoor
R. Tubbs* Copes-Vulcan, Inc.
D. Wolfe Agren-Ascher Company, Inc.
______
*One vote per company
This document was approved for publication by the ISA Standards and Practices Board on
15 July 1998.
NAME COMPANY
R. Webb, Vice-President Altran Corporation

H. Baumann H. D. Baumann, Inc.
D. Bishop Chevron Production Technology
P. Brett Honeywell, Inc.
W. Calder III Calder Enterprises
M. Cohen Senior Flexonics
H. Dammeyer The Ohio State University
W. Holland Southern Company Services, Inc.
H. Hopkins Consultant
A. Iverson Ivy Optiks
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K. Lindner Endress + Hauser GmbH + Company

V. Maggioli Feltronics Corporation
T. McAvinew Instrumentation & Control Engineering LLC
A. McCauley, Jr. Chagrin Valley Controls, Inc.
G. McFarland Honeywell, Inc.
E. Montgomery Fluor Daniel, Inc.

ISA-TR75.04.01-1998 (R2006) - 6 -`
D. Rapley VECO Rapley, Inc.

R. Reimer Rockwell Automation A-B
J. Rennie Factory Mutual Research Corporation
W. Weidman Parsons Energy & Chemicals Group, Inc.
J. Weiss Electric Power Research Institute
J. Whetstone National Inst. of Standards & Technology
M. Widmeyer Consultant
R. Wiegle CANUS Corporation
C. Williams Eastman Kodak Company
G. Wood Graeme Wood Consulting
M. Zielinksi Fisher·Rosemount Systems, Inc.
The following people served as members of ISA Subcommittee SP75.04 and reaffirmed
ISA-TR75.04.01-1998 (R2006):
NAME COMPANY
J. Reed, Chairman Consultant

W. Weidman, Managing Director Worley Parsons
G. Baenteli Consultant
W. Black Curtiss-Wright Flow Control Corporation
J. Borge Neles Automation Inc.
W. Caudill Arco Products Company
P. Schafbuch Emerson Process Management
J. Young Dow Chemical Company
The following people served as members of ISA Committee SP75 and reaffirmed
ISA-TR75.04.01-1998 (R2006):
NAME COMPANY
J. Young, Chairman Dow Chemical Company

W. Weidman, Managing Director Worley Parsons
H. Backinger Consultant
H. Baumann Consultant
J. Beall Emerson Process Management
W. Black Curtiss-Wright Flow Control Corporation
H. Boger Masoneilan Dresser
G. Borden Consultant
S. Boyle Metso Automation USA Inc.
J. Broyles Enbridge Pipelines Inc.
F. Cain Flowserve Corporation
W. Cohen KBR
R. Duimstra Fisher Controls International Inc.
J. Faramarzi Control Components Inc.
J. George Richards Industries
H. Hoffmann Samson AG
J. Jamison OPTI Canada Inc.
R. Jeanes TXU Electric
C. Langford Cullen G Langford Inc.
G. Liu Syncrude Canada Ltd.
J. McCaskill Power Chokes
A. McCauley Chagrin Valley Controls Inc.
R. McEver Consultant
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V. Mezzano Fluor Corporation

-7- ISA-TR75.04.01-1998 (R2006)
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T. Molloy CMES Inc.

L. Ormanoski York Process Systems
J. Ozol NMC Prairie Island Nuclear Plant
W. Rahmeyer Utah State University
J. Reed Consultant
E. Skovgaard Control Valve Solutions
This document was approved for reaffirmation by the ISA Standards and Practices Board on
29 November 2006.
NAME COMPANY
I. Verhappen, Vice President MTL Instrument Group

M. Coppler Ametek Inc.
B. Dumortier Schneider Electric
D. Dunn Aramco Services Company
W. Holland Consultant
E. Icayan ACES Inc.
J. Jamison OPTI Canada Inc.
R. Jones Consultant
K. Lindner Endress+Hauser Process Solutions AG
V. Maggioli Feltronics Corporation
T. McAvinew Jacobs Engineering Group
A. McCauley Chagrin Valley Controls Inc.
G. McFarland Emerson Process Mgmt. Power & Water Solutions
R. Reimer Rockwell Automation
N. Sands E I du Pont
H. Sasajima Yamatake Corporation
T. Schnaare Rosemount Inc.
J. Tatera Tatera & Associates Inc.
R. Webb Robert C Webb PE
W. Weidman Worley Parsons
J. Weiss KEMA Inc.
M. Widmeyer Stanford Linear Accelerator Center
M. Zielinski Emerson Process Management

This page intentionally left blank.
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-9- ISA-TR75.04.01-1998 (R2006)
Foreword
This document discusses control valve stem position mechanical stability, establishes
a measurement criterion for position instability and provides a bibliography of published papers.
Abstract
This document is intended to help the user recognize, measure, and diagnose the unstable stem motion
of a valve.
Key Words
Control valve stem position mechanical stability, unstable motion, maximum amplitude, design of the
valve closure member, pressure-balancing, deadband, hysteresis, position instability, fluid forces,
actuator forces, control signal, force gradient, pressure balanced.
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- 11 - ISA-TR75.04.01-1998 (R2006)
Contents
1 Scope ................................................................................................................................................. 13
2 Purpose .............................................................................................................................................. 13
3 Definitions........................................................................................................................................... 13
4 Discussion .......................................................................................................................................... 13
5 Measurement of position instability .................................................................................................... 14
Annex A — References............................................................................................................................... 17
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- 13 - ISA-TR75.04.01-1998 (R2006)
1 Scope
This document discusses control valve stem position mechanical stability and establishes a measurement
criterion for position instability of the valve. Other forms of instability associated with control valves and
control systems are not covered.
2 Purpose
This document is intended to help the user recognize, measure, and diagnose the unstable motion of a
valve. A reference section (Annex A) with abstracts provides further references.
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3 Definitions
3.1 position instability:
evidenced by uncontrolled fluctuating valve travel. It is caused by the fluid forces interacting with the
actuator forces. It is a persistent cyclic motion inconsistent with control signal to the valve. It is not a static
deviation caused by dead band or hysteresis.
3.2 control loop instability:

a regular oscillation of a feedback control system caused by excessive loop gain. It is independent of
external disturbances.
3.3 flow rate instability (bistable flow):

an abrupt change in the control valve flow rate that occurs independent of changes in valve position.
It may be caused by variable wall attachment of the fluid stream at the valve orifice, by flashing, or by
cavitation.
3.4 hunting:
a continuing cyclic motion caused by friction, with the positioner or controller attempting to find the set
position.
4 Discussion
4.1 Position instability, as defined in 3.1, may occur when the immediate force-to-travel gradient
associated with the action of the flowing fluid on the moveable valve trim overcomes the stiffness of the
actuator, particularly on flow-to-close valves. Electromechanical and hydraulic actuators, because they
are inherently stiff, are rarely subject to position instability unless there is mechanical backlash.
Pneumatic actuators that depend upon a compressible fluid are more susceptible to position instability.
However, the stiffness of pneumatic actuators varies greatly according to actuator design and application.
Mechanical spring rate, actuator gas density (pressure), and actuator tare (clearance) volume all
contribute to pneumatic actuator stiffness.
4.2 An analysis of forces includes the following:
a) the differential fluid pressure acting across the effective unbalanced area of the valve closure
member;
b) the static fluid pressure acting on the stem area of sliding-stem valves;
c) buffeting forces associated with the fluid velocity, such as vortex shedding, impact, turbulence,
cavitation, and flashing;
d) the actuator spring(s), mechanical or pneumatic, and the opposing pneumatic pressure; and

ISA-TR75.04.01-1998 (R2006) - 14 -
e) frictional forces caused by packing and other mechanical interfaces.
4.3 The fluid forces tend to promote instability when
a) the pressure differential fluctuates or changes in a manner to overcome or reinforce the actuator
force;
b) the effective unbalanced area of the valve trim changes abruptly;
c) a variable density multiphase stream enters the valve;
d) fluid forces fluctuate due to slug flow of a two-phase stream, downstream flashing, or cavitation; and
e) the valve trim’s pressure balancing port senses a pressure spike inconsistent with the average
pressure on the trim.
4.4 Several methods can be used to analyze the force gradients and potential instability. At the present
stage in the development of control valve technology, this document endorses no single method of
stability analysis but includes references and abstracts that may be used as guides.
4.5 The design of the valve closure member and pressure-balancing flow passages can influence its
vulnerability to unstable operation. Closure members designed for full or partial pressure balancing can
be especially susceptible to instability, due to the amount of fluid force variance being a high fraction of
the low normal force from the pressure differential. Force reversals are not uncommon in pressure-
balanced designs. Careful consideration should be given to ensure that pressure-balanced closure
members have well-averaged pressure distribution on the effective surfaces.
4.6 Several factors unrelated to fluid flow may cause inconsistency between valve position and the
command to the actuator. Dead band, for example, can be created by backlash or friction in the valve or
actuator. Hysteresis affects valve position according to the direction of travel. Both dead band and
hysteresis cause the valve position to lag the signal. Hysteresis and dead band have not been found to
cause position instability but can cause control loop instability. This type of loop instability is beyond the
scope of this document.
5 Measurement of position instability

5.1 Total control valve stem position mechanical stability is the total absence of valve stem movement
when the signal to the actuator is constant. Position instability, that is, valve stem movement, is not an
absolute phenomenon. It occurs in many control valves to some degree. In most applications where it
exists, it is not noticeable or does not exceed the acceptable limit for the application. The acceptable level
of instability is a subjective quantity and varies with the application. There is a need for a quantitative
method to describe instability as it exists or to specify an acceptable performance level. Though unstable
motion can be described in terms of amplitude, frequency, and wave form, the following rating system
applies only to amplitude. Frequency and wave form are not considered relevant to this measurement.
5.2 Measure the maximum amplitude of the unstable motion when the signal to the actuator is constant.
The amplitude measurement technique may be that which is deemed appropriate for the application, such
as a linear scale, dial-indicator, or motion transducer. To determine the instability percentage, use the
following equation to calculate the percentage of the rated valve travel that is unstable:
(Maximum unstable motion amplitude) (100)

Instability Percentage =
Rated travel
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- 15 - ISA-TR75.04.01-1998 (R2006)
5.3 Example:
Rated Travel = 50 mm
Unstable Motion Amplitude = 2.5 mm
(2.5)(100 )
Instability Percentage = =5
50
5.4 The instability percentage from the example does not imply any acceptable level.
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- 17 - ISA-TR75.04.01-1998 (R2006)
Annex A — References
The following references contain abstracts (listed by date of publication)∗ to serve as a guide to specific
areas of interest:
“Selecting Spring Spans for Control Valve Actuators” by J. T. Muller, Fluid Controls Institute, 1965.
Abstract
The problem of specifying standard 3-15 and 3-27 (sometimes referred to as 6-30) spring ranges for
control valves, between user and manufacturer of control valves, has been the cause of much confusion
and discussion. The confusion is caused by the lack of proper understanding of the difference in variable
stem thrust requirements of unbalanced and so-called semi-balanced valves. The following, prepared for
the Engineering Standards Committee of the Control Valve Section of the Fluid Controls Institute, Inc., is
an attempt to give a simple understanding of the problem and the solution.
“Effect of Fluid Compressibility on Torque in Butterfly Valves” by Floyd P. Harthun, ISA Transactions,
Vol. 8, No. 4 (1969), pp. 281-286.
Abstract
A technique is presented by which the shaft torque resulting from fluid flow through butterfly valves can
be determined with reasonable accuracy for both compressible and incompressible flow. First, the
general torque relationship for incompressible flow is established. Then, an effective pressure differential
is defined to extend this relationship to include the effect of fluid compressibility. The application of this
technique showed very good agreement with experimental results.
“Valve Plug Force Effects on Pneumatic Actuator Stability” by Richard F. Lytle, Advances in
Instrumentation, Vol. 25, Part 3 (1970), paper no. 70-765.
Abstract
A study of valve plug forces and the effects of these forces on the dynamic stability of pneumatic
actuators shows that actuator sizing criteria must include total dynamic stiffness of the installed valve-
actuator system along with static thrust requirements. Buffeting forces and negative plug force gradients
are described. Frequency response techniques are used to develop actuator stability criteria based on
installed actuator stiffness.
“Analytical Predication of Valve Stability” by Gareth A. Keith, Advances in Instrumentation, Vol. 25, Part 4
(1970), paper no. 70-838.
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______
∗
Complete copies of the ISA copyrighted papers listed here are available from ISA, 67 Alexander Drive, P.O. Box 12277, Research
Triangle Park, NC 27709, Telephone: (919) 549-8411, Fax: (919) 549-8288.

ISA-TR75.04.01-1998 (R2006) - 18 -
Abstract
Valve stability under widely varying operating conditions is one of the many concerns of control valve
application. The mathematical analysis developed to determine the unbalanced forces includes the
influences of the ratio of valve pressure drop to total system pressure drop in addition to valve
unbalanced area, flow characteristic, and varying plug position. The valve rate of change of unbalanced
forces is then determined and compared to the rate of change of actuator forces. Valve stability is
achieved when the actuator rate of change of force exceeds the rate of change of forces acting on the
valve plug. The mathematical analysis is confirmed by laboratory test data. This approach has resulted in
a practical analytical method to determine valve stability when controlling gas or liquid during subcritical
flow conditions.
“Understanding Fluid Forces in Control Valves” by Charles B. Schuder, Instrumentation Technology:

Journal of the Instrumentation Society of America, Vol. 18, No. 5 (May 1971), pp. 48-52.
Abstract
To minimize field problems arising from fluid forces, it is necessary to identify the nature of these forces
and then to relate them to valve service conditions. Eleven types of fluid reaction forces have been
identified and described here. These forces act on the valve’s moving parts, such as the plug of a sliding-
stem valve, or the ball or disc of a rotary valve. In most cases, the appropriate service limitation is
differential pressure and not fluid velocity or hydraulic horsepower.
“Problems of Undersized Actuators” by C. E. Wood and A. R. Nenn, presented at the ISA/72 Conference,
October 9-12, 1972, New York City.
Abstract (prepared by Committee)
The selection of the type and size of the actuating device is to be determined by the control valve
manufacturer. In order for the manufacturer to determine the power requirements of the individual control
valve actuators, the following data are supplied on the project specification: (1) flowing quantity, (2)
upstream pressure, (3) downstream pressure, (4) specific gravity of fluid, (5) flowing temperature, and (6)
control valve size. These data are calculated data and not measured data such as would be available
from an operating unit. They are, however, close enough to the final operating numbers to allow a
manufacturer to make a reasonable estimation of power requirements. A conclusion drawn from
mathematical evaluation was that the rate of change of spring force should be at least twice as large as
the rate of change of stem force.
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“Hammering Control Valves - Diagnosis and Solution of a Stability Problem” by W. G. Gulland and
A. F. Scott, Transactions Institute of Instrument Measurement Control, Vol. 3, No. 2, April-June 1981.
(This abstract is reproduced with the permission of the Institute of Measurement and Control, 87 Gower
St., London, WC1E 6AA, England.)
Abstract
Plug-type control valves are often installed in the flow-to-close close-on-air failure configuration. In this
configuration, it is possible for the valve to become unstable even though the actuator can generate
sufficient force, in the steady state, to overcome the forces opposing it. For a valve that is not fitted with a
positioner, instability will occur if the curve-of-equilibrium valve-actuator pressure against lift is not
monotonically increasing. If a positioner is fitted, instability will occur if the curve-of-equilibrium mass of air
in the valve actuator is not monotonically increasing. This paper presents the stability analyses for both
cases. It outlines areas where instability may occur and suggests a variety of solutions.
“Control Valve and Process Stability” by Gayle E. Barb, Advances in Instrumentation, Vol. 37, Part 3
(1982), paper no. 82-901, pp. 1277-1298.

- 19 - ISA-TR75.04.01-1998 (R2006)
Abstract
Stability is defined and a technique is presented for determining stable operation of a spring opposed
pneumatic-actuated control valve in a relationship with the process that is being controlled. All the
information required to test for stability is not available to the valve industry. The novelty of the technique
lies in the use of a programmable calculator to “crunch” all the data into two values and make a simple
stability test.
“Actuator Selection” by Gayle E. Barb, Advances in Instrumentation, Vol. 39, Part 2 (1984), paper no. 84-
780, pp. 1319-1332.
Abstract
Actuator selection when using spring-opposed pneumatic diaphragm and piston actuators involves the
unique combination of many variables. Analyses of many combinations are made showing the resultant
direction of force action from the variables considered. Principal forces related to the process, valve, and
actuator are developed. Stability criteria are also presented.
“Fluid Inertia Effects on Unbalanced Valve Stability,” by Paul J. Schafbuch, Final Control Elements,
proceedings of the ISA Final Control Elements Symposium held April 9-11, 1985, New Orleans,
Louisiana, paper no. 85-207, pp. 31-48.
Abstract
Stability is an important performance consideration for control valves. One requirement for stability is that
actuator stiffness should exceed the magnitude of negative plug force gradients. This study shows fluid
inertia to greatly affect dynamic gradients for certain valves and at buffeting (high) frequencies, in
particular. A rigorous mathematical expression for unbalanced, stem-guided valves is derived from the
Joukowsky water hammer relation. This expression explains why high-stiffness piston actuators are
usually necessary for unbalanced flowdown valves in liquid service. Previous works do not explain this
observation except in a loose, qualitative fashion. The full expression is simplified to a practical actuator
sizing guideline. Experimental results are also cited.
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Developing and promulgating sound consensus standards, recommended practices, and technical
reports is one of ISA’s primary goals. To achieve this goal the Standards and Practices Department
relies on the technical expertise and efforts of volunteer committee members, chairmen and reviewers.
ISA is an American National Standards Institute (ANSI) accredited organization. ISA administers United
States Technical Advisory Groups (USTAGs) and provides secretariat support for International
Electrotechnical Commission (IEC) and International Organization for Standardization (ISO) committees
that develop process measurement and control standards. To obtain additional information on the
Society’s standards program, please write:
ISA
Attn: Standards Department
67 Alexander Drive
P.O. Box 12277
Research Triangle Park, NC 27709
ISBN: 978-0-9791330-2-2
0-9791330-2-5


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TECHNICAL REPORT

Control Valve Position Stability

Approved 29 November 2006

This is a copyright document and may not be copied or

Copyright The Instrumentation, Systems, and Automation Society

Copyright The Instrumentation, Systems, and Automation Society

CAUTION — ISA ADHERES TO THE POLICY OF THE AMERICAN NATIONAL STANDARDS

ADDITIONALLY, THE USE OF THIS DOCUMENT MAY INVOLVE HAZARDOUS MATERIALS,

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J. Reed, Chairman Norriseal

D. Buchanan*, Chairman Union Carbide Corporation

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*One vote per company

R. Webb, Vice-President Altran Corporation

K. Lindner Endress + Hauser GmbH + Company

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D. Rapley VECO Rapley, Inc.

J. Reed, Chairman Consultant

J. Young, Chairman Dow Chemical Company

V. Mezzano Fluor Corporation

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T. Molloy CMES Inc.

I. Verhappen, Vice President MTL Instrument Group

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5 Measurement of position instability .................................................................................................... 14

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3.2 control loop instability:

3.3 flow rate instability (bistable flow):

4.2 An analysis of forces includes the following:

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e) frictional forces caused by packing and other mechanical interfaces.

4.3 The fluid forces tend to promote instability when

b) the effective unbalanced area of the valve trim changes abruptly;

c) a variable density multiphase stream enters the valve;

5 Measurement of position instability

(Maximum unstable motion amplitude) (100)

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Unstable Motion Amplitude = 2.5 mm

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“Understanding Fluid Forces in Control Valves” by Charles B. Schuder, Instrumentation Technology:

Abstract (prepared by Committee)

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