Day 1 - 4 Basic Control Principles

Intelligent Air Conditioning (VRV)
Part 4 – Basic Control Principles.
Presented By : Jack WL Chan
Types of Control
1
Control Methodology
• FEED-FORWARD System.
• FEED-BACK System.
(eg. PI, PID Control)
• PREDICTIVE System.
(eg. Fuzzy Logic, Neural Network)
Feed Forward System
2
Feed Forward System
Basic control system for simple. Not often used in air

conditioning system.
input controlled
signal controlled controlled variable
controller devices process
Feed Back System
3
Feed Back System
Feedback system is used when there’s a need to

maintain predetermined set point. The system’s error is
sensed by a sensor and compared with the set value.
Four (4) Common Feedback System used in air
conditioning
• Two position (on-off)

• Proportional
• Integral
• Derivative
Feed Back System
input controlled
signal + controlled controlled variable
controller devices process
-
feedback error
Sensor
4
Two Position Control
Applies to an actuator controlling device that is either

fully open or fully closed or to switch on or off devices.
input signal
(setpoint)
controller
controlled device
feedback M (motor)
Compressor
controlled variable COIL
(air temperature) Switching the Compressor
on/off according to the
sensed air temperature
5
Proportional Control
The switching on or off of the compressor is determined

by the value of the coil outlet temperature. This control is
normally used in split units.
It is simple, low cost and easily implemented.
6
Proportional Control corrects the controlled variable in

proportion between the controlled variable and the set
point.
For example a proportional controller would make a 10%

increase in cooling capacity if a 10% increase in coil air
temperature is sensed.
The proportionality constant between the error and the

controller output is called the gain Kp.
V = Vo + Kpe
Where,
V = controller output
Vo = constant value for controller output when no error
exists at he control range.
e = error
Kp = Proportional Gain Constant
7
Proportional controllers is used with stable, slow systems

that permit the use of a narrow throttling range and
resulting small offset. Fast acting systems need wide
throttling ranges to avoid instability and large offsets.
Input load
change
error offset
Proportional controllers is used with stable, slow systems

that permit the use of a narrow throttling range and
resulting small offset. Fast acting systems need wide
throttling ranges to avoid instability and large offsets.
Input load
change
error offset
8
Proportional & Integral Control
Proportional-Integral Control
Integral control is often added to proportional control to

eliminate the offset inherent in proportional only control.
The result, proportional plus integral control, is identified
by the acronym PI.
Initially, the corrective action is similar to proportional

only control. Later a further adjustment due to the
integral term reduces the offset to zero.
9
V = Vo + Kpe + Ki eδt
Where,
e = error
Ki = Integral Gain Constant
The integral term has the effect of adding a correction to

the output signal as long as the error term exists. This
factor eliminates the error.
Input load
change
10
The integral term has the effect of adding a correction to

the output signal as long as the error term exists. This
factor eliminates the error.
Input load
change
error
PI controls is often used when fast acting and accurate

respond is required. This control is often used in
• mixed air controls

• duct static pressure controls
• coil controls
11
Proportional, Integral & Derivative

Control
Proportional-Integral-Derivative Control
Derivative control is used to speed up the action of the PI

control. This results in PID control. The derivative term
generates a correction signal proportional to the time rate
of the change in error. This term produces a larger
correction factor more rapidly.
12
V = Vo + Kpe + Ki eδt +Kd δe

δt
Where,
e = error
Ki = Integral Gain Constant
Kd = Derivative Gain Constant
The derivative term reduces the maximum error and it

eliminates the error term faster than a PI system.
Input load
change
error
13
The derivative term reduces the maximum error and it

eliminates the error term faster than a PI system.
Input load
change
error
PID controls is often used when extremely fast acting is

necessary. Often not encountered in air conditioning or
ventilation requirement unless accurate control is
required. This control can be found in
• VRV system
• Computer Air Conditioning
14
Comparison P, PI & PID
Comparison P, PI and PID
Proportional (P) : Never achieves the setpoint and an

error term always exists.
Proportional-Integral (PI) : The integral term generates a

function to eliminate the error signal, but maximum error
greater than PID system.
Proportional-Integral-Derivative (PID) : Takes action

faster to reduce the error compared to PI system.
15
Input load
change
error offset
error
error
Input load
change
error P offset
error P+I
error P+I+D
16
Predictive
Predictive System
Predictive control is a newly developed tool used

extensively since the 1980s. Two (2) major predictive
system is
• Fuzzy Logic
• Neural Network
17
Fuzzy Logic
Fuzzy Logic
Fuzzy Logic theory does not calculate to the definite

objective value but rather made a partnership with a set
of membership values between and including 0 and 1.
Several imprecise logic concept like “very”, “slightly” and
“quite” are pre-assigned.
18
Fuzzy Logic
In room temperature measurement, Fuzzy Logic is

applied on the assumption that coldness or warmness
could not be mathematically expressed. For example, the
room temperature can be “very cold”, “cold”, “moderately
cold”, “not cold”, “very warm”, “warm”, “moderately warm”
or “not warm” Values between “0” and “1” are applied for
every subset for “cold” and “warm”. These truth values
then determines how the air conditioner will respond.
Truth Value - Coldness
1.0 “very cold” [1.0]

“cold” [0.7]
“normal” [0.5]
0.7 “moderately cold” [0.3]
Truth Values
“not cold” [0.0]
0.5
0.3
Temperature (oC)
19
Truth Value - Warmness
1.0 “very warm” [1.0]

“warm” [0.7]
“normal” [0.5]
“moderately warm” [0.3]
0.7 “not warm” [0.0]
Truth Values
0.5
0.3
Temperature (oC)
Fuzzy Logic
Applying Fuzzy Logic then requires a set of IF/THEN Rules

in the form of logical argument. “IF variable IS condition
AND/OR/NOT condition THEN action”.
•IF temperature IS very cold [logic 1.0] NOT warm [logic 0.0]
THEN reduce setpoint temperature
•IF temperature IS cold [logic 0.7] NOT warm [logic 0.0]

THEN turn down fan
•IF temperature IS normal [logic 0.5] THEN maintain level
•IF temperature IS not cold [logic 0.0] AND warm [logic 0.7]
THEN speed up fan
20
Motor and Speed
Motor Speed Background
The speed of a motor is the number of revolutions in a

given time frame, typically revolutions per minute
(RPM). The speed of an AC motor depends on the
frequency of the input power and the number of poles
for which the motor is wound.
The synchronous speed in RPM is given by the

following equation, where the frequency is in hertz:
120 x Frequency
Synchronous Speed, RPM =
Nos. Poles
21
Nos. of Synchrounous
Frequency
Poles Speed
120 x 50/2 = 3,000 rpm
50 Hz 2
50 Hz 4 120 x 50/4 = 1,500 rpm
50 Hz 6 120 x 50/6 = 1,000 rpm
50 Hz 8 120 x 50/2 = 750 rpm
60 Hz 2 120 x 60/2 = 3,600 rpm
60 Hz 4 120 x 60/4 = 1,800 rpm
60 Hz 6 120 x 60/6 = 1,200 rpm
120 x 60/8 = 900 rpm

60 Hz 8
The actual speed, which the motor operates, will be

less than the synchronous speed. The difference
between synchronous and full load speed is called slip
and is measured in percent. The actual motor speed is
then calculated as follows:
120 x Frequency x (1-Slip) (%)

Synchronous Speed, RPM =
Nos. Poles
22
Nos. of Synch Slip

Freq Actual Motor Speed
Poles Speed (%)
3,000 x (1 -0.05) = 2,850 rpm
50 Hz 2 3,000 5%
50 Hz 4 1,500 5% 1,500 x (1 -0.05) = 1,425 rpm
50 Hz 6 1,000 5% 1,000 x (1 -0.05) = 950 rpm
50 Hz 8 750 5% 750 x (1 -0.05) = 712 rpm
60 Hz 2 3,600 5% 3,600 x (1 -0.05) = 3,420 rpm
60 Hz 4 1,800 5% 1,800 x (1 -0.05) = 1,710 rpm
60 Hz 6 1,200 5% 1,200 x (1 -0.05) = 1,140 rpm
900 x (1 -0.05) = 855 rpm

60 Hz 8 900 5%
As shown from the formula above, the speed of an AC

motor is determined by the number of motor poles and
by the input frequency. It can also be shown that the
speed of an AC motor can be varied infinitely by
changing the frequency. Notice that with the addition of
a Variable Frequency Drive, the speed of the motor
can be decreased as well as increased.
23
Volt / Hertz Relationship
It has been shown that by changing the frequency, you

can change the speed of the motor. However,
frequency is not the only item that must be changed to
the motor. Notice in the motor model below that the
impedance of a motor will change with frequency since
the impedance of an inductor is = 2π fl. At low
frequencies this impedance approaches zero making
the circuit appear to be a short circuit.
To maintain a constant flux in the motor, the voltage to

the motor must also be changed. This ratio is constant
over most of the entire speed range. By keeping the
ratio constant, a fixed speed induction motor can be
made to run variable speed.
100
80
%Volts
60
40
20
10 20 30 40 50 60 Hertz
24
To maintain a constant flux in the motor, the voltage to

the motor must also be changed. This ratio is constant
over most of the entire speed range. By keeping the
ratio constant, a fixed speed induction motor can be
made to run variable speed.
100
80
%Volts
60
40
20
10 20 30 40 50 60 Hertz
At very low speeds, due to the motor having inherent

resistance in the windings, the ratio must be altered to
provide enough magnetizing flux to spin the motor.
100
80
%Volts
60
40
20
10 20 30 40 50 60 Hertz
25
At low speeds, due to the motor having inherent

resistance in the windings, the ratio must be altered to
provide enough magnetizing flux to spin the motor.
100
80
%Volts
60
40
20
10 20 30 40 50 60 Hertz
Energy Consumption
In an air conditioning system, the flow of a system is

reduced linearly as the speed is reduced.
26
Energy Consumption
In an air conditioning system, the flow of a system is

reduced linearly as the speed is reduced.
Energy Consumption
However, the power is reduced by the cube as shown

in the following curves.
Power
Power
27
Energy Consumption
However, the power is reduced by the cube as shown

in the following curves.
Power
Power
Energy Consumption
Since most systems are designed for worst case

scenarios and very rarely operate at peak levels, the
addition of a VFD can result in substantial energy
savings.
28
Pulse Width Modulation (PWM)
Pulse Width Modulation
Pulse width modulation (PWM) is a powerful technique

for controlling analog circuits with a processor's digital
outputs. PWM is employed in a wide variety of
applications, ranging from measurement and
communications to power control and conversion.
29
Pulse Width Modulation
PWM is a way of digitally encoding analog signal

levels. Through the use of high-resolution counters, the
duty cycle of a square wave is modulated to encode a
specific analog signal level. The PWM signal is still
digital because, at any given instant of time, the full DC
supply is either fully on or fully off. The voltage or
current source is supplied to the analog load by means
of a repeating series of on and off pulses. The on-time
is the time during which the DC supply is applied to the
load, and the off-time is the period during which that
supply is switched off. Given a sufficient bandwidth,
any analog value can be encoded with PWM.
Duty Cycle
The output from a PWM can be adjusted to vary at any

load. Below are some examples. For a 10% duty cycle,
the signal is on for 10% of the period and off the other
90%.
30
Duty Cycle
2 sec
20 sec 20 sec 20 sec 20 sec
Duty Cycle = 2 sec / 20 sec x 100% = 10%
If full load Voltage is 50 V, part load voltage = 50V x 10% = 5V
Duty Cycle
10 sec
Duty Cycle = 10 sec / 20 sec x 100% = 50%
If full load Voltage is 50 V, part load voltage = 50V x 50% = 25V
31
Duty Cycle
How do draw a Duty Cycle of 30% for a 20 sec period
Duty Cycle
6 sec
How do draw a Duty Cycle of 30% for a 20 sec period
On Period = 30% x 20 sec = 6 sec
32
End of Part 4
33

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Intelligent Air Conditioning (VRV)

Part 4 – Basic Control Principles.

Presented By : Jack WL Chan

Intelligent Air Conditioning (VRV)

Intelligent Air Conditioning (VRV)

Feed Forward System

Basic control system for simple. Not often used in air

Intelligent Air Conditioning (VRV)

Feed Back System

Feedback system is used when there’s a need to

• Two position (on-off)

Feed Back System

Two Position Control

Two Position Control

Applies to an actuator controlling device that is either

Two Position Control

The switching on or off of the compressor is determined

It is simple, low cost and easily implemented.

Proportional Control corrects the controlled variable in

For example a proportional controller would make a 10%

The proportionality constant between the error and the

Proportional controllers is used with stable, slow systems

Proportional controllers is used with stable, slow systems

Proportional & Integral Control

Integral control is often added to proportional control to

Initially, the corrective action is similar to proportional

The integral term has the effect of adding a correction to

The integral term has the effect of adding a correction to

PI controls is often used when fast acting and accurate

• mixed air controls

Proportional, Integral & Derivative

Derivative control is used to speed up the action of the PI

V = Vo + Kpe + Ki eδt +Kd δe

The derivative term reduces the maximum error and it

The derivative term reduces the maximum error and it

PID controls is often used when extremely fast acting is

Comparison P, PI & PID

Comparison P, PI and PID

Proportional (P) : Never achieves the setpoint and an

Proportional-Integral (PI) : The integral term generates a

Proportional-Integral-Derivative (PID) : Takes action

Comparison P, PI and PID

Predictive control is a newly developed tool used

Fuzzy Logic theory does not calculate to the definite

In room temperature measurement, Fuzzy Logic is

Truth Value - Coldness

1.0 “very cold” [1.0]

“not cold” [0.0]

1.0 “very warm” [1.0]

Applying Fuzzy Logic then requires a set of IF/THEN Rules

•IF temperature IS cold [logic 0.7] NOT warm [logic 0.0]

•IF temperature IS normal [logic 0.5] THEN maintain level

Motor and Speed

Motor Speed Background

The speed of a motor is the number of revolutions in a

The synchronous speed in RPM is given by the

50 Hz 6 120 x 50/6 = 1,000 rpm

50 Hz 8 120 x 50/2 = 750 rpm

60 Hz 2 120 x 60/2 = 3,600 rpm

60 Hz 4 120 x 60/4 = 1,800 rpm

60 Hz 6 120 x 60/6 = 1,200 rpm

120 x 60/8 = 900 rpm

Motor Speed Background