Professional Documents
Culture Documents
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Introduction to the Fundamentals of Measurement and Control
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e. lications to above Parameters.
• Measuring/Sensing Pressure.
• Measuring/Sensing Level.
• Measuring/ Flow.
• Measuring Temperatures.
f. Controlling Loops
• Feed Forward.
• Feed Back.
• Cascade.
• Split control.
g. Process Controllers
• On-Off Control Action.
• Proportional Control Action.
• Rest (Integral) Control Action.
• Rate (derivative) Control Action.
• Proportional Plus Integral.
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Introduction to Process Control
Since the very early days, once the man had stepped his feet on the earth planet, he had been trying
to adopt himself to interact and live with the wild environment surrounding him. His need to live
and protect himself has been urging him to develop and improve his life style.
As god shaded him with the mind wealth, he had been chosen to be the master among the livings.
He had started to watch, understand and looking for satisfying answers to many amazing and
mysterious things happening around him; to be able to fulfill his previous target of safe and
comfortable life.
He realized the earliest simplest –but complicated- golden fact; that to do any thing, he has to act
or in a different way to gain; he has to lose /give. This means that to gain certain output out of
any thing; he has to put some inputs. However as he has being traveling in his journey of
development, he added to his knowledge that such inputs should be treated in a way to guarantee
the required specified output.
Recently this could be expressed, as these inputs should be controlled to fruit the desired output.
Process Control
It has been settled that any process should be controlled to get a certain output which
could be tolerated to a limit depends on the type of the output, its purpose and the
nature of the process adopted to produce such output.
Consequently the objective of any control system is to maintain a balance between the
supply (Inputs) and demands (output) of the process over a period of time. In another
words, it is to balance Energy/Materials consumed to get something out of the process.
OUTPUT
INPUTS
PROCESS
From the above figure, to get a specified output; the inputs should be controlled through
understanding the properties of them which could be Weight, Pressure, Volume/Level
and Flow –for materials- or Heat/Temperature, Voltage/Current and Potential/Intensity of
fields –for energy-.
Such parameters have its own features and effects on the process, which could be
reflected into two different ways to the process. The first way, if the behavior of the
process is studied within the time boundary under the effect of any of the above
parameters; it is called Dynamic characteristics; otherwise it will be Static one.
In this unit the features of these parameters will be studied, HOW they could be
described, evaluated/measured, WHAT are their effect on a process, WHEN they have to
be controlled, WHO/WHAT will respond to the changes happen to them.
It could be a good starting to begin with the definitions of the physical parameters, their
measuring units, and stating the basic main relations linking them together.
Moreover, a reasonable brief will be given to each of the following:
PRESSURE, LEVEL, FLOW and TEMPERATURE.
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Part I
While SI units are the preferred system, there are other systems, which remain of
importance in various parts of the world and in particular fields of activity. The Foot-
pound-second system (fps), the centimeter-gramme-second system (cgs) and the meter-
kilogram-second system (MKS). These two systems are coherent to each other and
based on the Newton’s second law, and appear in two forms; the Absolute and
Technical system. In the absolute system; the unit of mass is a fundamental unit while
the force is derivative one. In technical system is the opposite, refer to the given below
table:
Quantity Fps Cgs MKS
Absolute Technical Absolute Technical Technical
Length ft ft cm cm M
Time sec sec sec sec sec
Mass lb-mass slug g--mass 981 g 9.81 kg
Force/Weight pound lb-force dyne g--force kg-force
Dimensions
The units chosen for measurement do not affect the quantity measured.
1 kg of water = 2.2046 lb of water
Sometimes it is convenient to use the fundamental dimension of mass, length, and time
(M, L, T respectively).
The given table is giving the Dimensions and units of common quantities
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Quantity Defining equation Dimensions Unit Symbol
Geometrical
Angle Arc/Radius M0L0T0 Radian rad
Length L meter m
Area Length2 L2 Square meter m2
Volume Area x Length L3 Cubic meter m3
Strain Extension/length L0 A ratio
Kinematic
Time T Second Sec
Linear Velocity Distance/Time LT-1 meter/sec ms-1
Angular Velocity Angle/Time T-1 radians/sec rads-1
Linear Acceleration Linear velocity/Time LT-2 meter/sec m-2
square
Angular Acceleration Angular Velocity/Time T-2 radians/sec rad s-2
square
Rate of discharge Volume per Time L3T-1 cubic m3s-1
meter/sec
Dynamic
Mass Force/Acceleration M Kilogram Kg
Force Mass x Acceleration MLT-2 Newton=kg- N=kgms-
m/sec2 2
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Part II
Pressure
Contents
SUBJECT Page
Introduction 8
What is Pressure 8
Gas Pressure 8
Liquid Pressure 9
Atmospheric Pressure 9
Pressure Sensitive Devices 10
Pressure Sensitive Error 10
U Tube Manometers 11
Bourdon Tubes 12
Dead Weight Tester 13
Bellows Elements 14
Electric Capacitance Sensor 14
Piezoelectric Pressure Transducer 15
Resistance Strain Gauge 16
Pressure Switches 16
Applications & Devices 17
Pressure Regulators
Flapper & Nozzle Systems
Pneumatic Relay
Transducers 21
Pressure to Current Converter
Current to Pressure Converter
Pressure Transmitters 23
Vector Servo Recorder 25
More Tips 27
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Introduction
A major portion of all industrial measurement relates in some way to pressure in
its several forms. Flow for example is often measured by the determent of the
pressure difference between two points in a system. In a Bourden system, the
change in the pressure value inside a Bourden tube is used to produce a
mechanical deflection (motion) of a pointer on a scale or a pen on a chart.
What is Pressure?
5 kg’s
A B
Fig. “1”
Gas Pressure
Gases have pressure because of the bombardment of gas’s molecules with the
walls of its container. Heat has its effect to the gas pressure as gases have no
coherence/attraction force between its individual molecules. Consequently the
molecules tend to fill the space of the container moreover applying heat will
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agitate the molecules and push it to bombard the internal sides of the container
which means exerting a pressure.
P1 P 2
∴ = at constant volume (pressure temp. law)
T1 T 2
i.e. Pα T this is used to measure temperature
(Expansion & Contraction).
This leads to conclude that the pressure exerted by a
fixed volume of gas depends on the temperature of the
gas. (ssv rupture disc of the wellheads).
Liquid Pressure
A liquid is a state of matter wherein there is a limited attraction force between its
molecules ( but higher than that of the gas). Therefore if a liquid is poured into a container, it will fill
the container to a uniform level while the gas will fill the entire container.
The pressure at a point in a liquid is directly proportional to the depth of that point.
Ex: pressure at point “a” equal to the weight of the liquid above it divided by the area.
P = liquid weight above “a”/ surface area
w desityxvolume ρ .xv ρ
= = = h .a
A area A
ρ . A.h
= = ρ .h Fig. “2”
A
Where A is the area of the surface,
V is the volume of liquid above point “a”,
h is the depth of “a” and
ρ is the density of the liquid.
Liquid has aside pressure called the head (i.e. pressure at certain depth in a liquid is
equal as it is at the same level).
Surface Tension It is the resultant force acting on the surface of a liquid due to the
Attraction force between both molecules of the liquid and the
air.
Capillary Action It is the rise of a liquid surface inside a capillary tube due to the
attraction force between molecules of both liquid and walls of the
tube. It will continue till the weight of the liquid column balances
t
Atmospheric Pressure
It is the weight of the air column above the sea level; it is equal to 14.7 psi or 29.92
inches or 76 cm of mercury, 101.33 kpa. It is called bar.
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measured in inches or millimeters of mercury (Hg).
Zero Shift
It is the change of the neutral position from which there is no recovery. It is generated due to the
release of the internal stress of the substance by cold working.
Hysteresis
It is the difference in reading at any given stress measured between an increase and decrease of
stress in a short period of time.
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UT UBE MANOMETER
Sealing
Unknown Pressure
Normal U
Fig. “4”
Fig. “4”
Fig. “5”
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Bourdon Tube Gauges
The bourdon tube is the most common of all the pressure gauges. It relies on the
simple mechanical principle, which needs few moving parts. It consists primarily
of an elliptical cross-section tube bent into a “C” shape. One end of the tube is
anchored to the pressure connection, while the other is sealed and some form of
linkage is attached. This linkage is usually of the rack and pinion or quadrant
and pinion type. In order to convert the deflection of the tube tip into rotary
pointer movement. A hairspring is fitted to eliminate backlash in the linkage.
As pressure is applied the tube tends to straighten. The movement is very nearly
linear with pressure, therefore facilities to adjust the linearity, span/range and
zero are provided.
-Zero is normally adjusted by re-positioning the pointer- Refer to figure “6”.
For certain applications greater sensitivity is required and two other forms of
tube may be used. The flat spiral Bourdon tube consists of a longer tube wound
spirally to give three or four wraps. It is anchored at its open inner end and the
pointer is attached by a link to the outer end (Fig.“7”)
Another arrangement of the Bourdon tube is the helically wound type. It has
similar characteristics to the spiral one (it gives more deflection). It could be
connected directly to the pointer as its deflection produces a rotary motion.
(Figure “8”).
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D EAD WEIGHT TESTER
It is basically a hydraulic pump, used mainly as a standard reference device.
Fig. “9”
The device as it is clear from figure “9” has a reservoir filled with hydraulic oil
which flows through the valve to both floating and “A” pistons. On dragging the
“A” piston out; the cylinder “A” will be filled with oil.
1. To calibrate a gauge:
2. Fix this gauge as shown.
3. Close the valve
4. Put known standard weights on top of the floating piston and equal to the
required calibrating value (range).
5. Use the hand wheel to start pumping oil to the floating piston till the
carried weight floats freely.
The applied weight will exert a force F which produces a pressure P, where
F
P= A is the cross section area of the floating
A
piston/cylinder.
Normally the error in such arrangement is within 0.05% of the full range,
provided that thee piston and chamber are made of low thermal expansion
material and machined to a low tolerance to minimize the oil leakage.
To expand the range of the device the piston and its chamber (cylinder) could be
changed to provide a typical range of “6000” psi or 407 bar.
This device could be used as well to compare two gauges by replacing the
floating piston and its chamber with a standard gauge.
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B ELLOWS ELEMENTS
The given below two figures 10(a) & 10(b) show a device which is used to sense
pressure.
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Fig. “11”
+ _
+Q + _ _Q
+ _
Fig. “12”
For all have been mentioned up; they could be used to measure the explosion
pressure in engines.
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Resistance Strain Gauge
It is simply consists of a resistance strain gauges which are cemented to a billet
made of high tensile alloy of steel. On acting a tension to the billet within its
elastic limit, it will expand. This expansion will make the resistor wire expands
also – its length will increases while its cross section will decreases- this means an
increase in its resistivety. The variation of the resistance value could be sensed by
connecting a Whetstone bridge circuit bridge, which gives an output voltage
proportional to the tensile stress.
This magic way is used in many applications such as load cell, and in some
pressure transmitters.
Fig. “13”
P ressure Switches
Fig. “14”
1. Any of the pressure sensitive elements may be used as the primary
element in a pressure switch.
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2. The sensitive element activates the micro switch to make or break at the
same pressure (No Hysteresis / deferential), the only difference is in the
contact arrangement as shown in figure “11”.
3. The operating pressure is adjusted by varying the spring force.
Fig. “15”
PRESSURE REGULATOR
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Fig. “16”
Theory of Operation
• Air passes through the ceramic filter (50 : 60 micron) and applied to the
underside of the valve.
• It will be held in closing position by the light spring.
• On acting on the rang spring by the outer handle; a force will be applied
to the light spring pushing it down by the plate fixed to the plug of the
valve. This will allow air to come out.
• During the air passing some of it will pass through a small hole to balance
the diaphragm with the action of the range spring.
Fig.
“17”
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This system is used to convert a weak movement of a measuring/sensing element
into a 3 to 15 psi output signal.
This is verified by linking a flapper to the measuring device, which positions it at
a distance; from a nozzle; proportional to the process reading.
Air will bleed through the nozzle at a rate proportional to the flapper distance,
which reflects the process reading.
To minimize the time lag of such system and make more quicker (sensitive), there
is a very important consideration, which is to reduce the pressure of the nozzle
and limit it to the range of 2 : 4 psi. this is achieved by minimizing the nozzle
cross-section and makes the restriction section smaller than the nozzle. This
pressure should be fed to a pneumatic relay, which converts it into a 3 : 115 psi
output signal. Therefore, this relay could be considered as an amplifier.
Nozzle Pressure
Flapper Travel
Fig. “18’
PNEUMATIC RELAY
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The shown diagram is a pneumatic relay (Continuous bleeding relay). It acts like
the electronic amplifier. It receive thee weak process signal ( 2:4 psi) and convert
it to higher-level signal ( 3:15 psi).
Principle of Operation
The process signal is feed to the inlet of the nozzle to pass through its restrictor
to come out to the relay acting above its diaphragm, which will push down the
ball valve against the spring to allow the air supply to pass through the internal
relay chamber.
The vent is used to control the air supply pressure, as if it increases; it will push
the diaphragm upward, which will pull the ball valve to close the valve. This will
decrease the pressure in the chamber (due to bleeding). At that moment the
effect of the nozzle output will increase and push down again to open the valve
and so on.
There are many different models like the given below.
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Now we are ready to step forward to a new concept, which is how to convert
from pneumatic to electrical signal and vice versa.
T ransducers
The importance of this concept comes from the fact that nowadays most of
centralized controlling systems are based on using electric signals. Meanwhile we
still need pneumatic signals. As a common example the control room wants to
send a command signal to a control valve, which recognize only pneumatic
signals. Therefore the electric signal sent by the control room should be
converted to pneumatic one while if the valve wants to send any of its data; it
should be received at the control room side as an electric and so on.
Before starting, it is important to define what is the meaning of a transducer; “It
is a device used to covert a signal from one form to another.
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Fig. “22”
J.W.S. Current to Pressure Converter
Fig. “23”
It is a force balance converter used to convert 4 : 20 mA signal directly to a
pneumatic one of 3 : 15 psi. it uses a booster relay of a rate up to 10 SCFPM.
When the flapper closes the nozzle; on activating the coil; it creates a back
pressure on the servo diaphragm of the booster relay.
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To transmit data from field to a control room, what is called transmitter should
be used .
Such device could be either pneumatic or electronics.
Drain Valve
Fig. “24”
Now let us go to know How it works
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Fig. “25”
1. Pressure of the process is applied to the diaphragm capsule.
2. The movement of the diaphragm affects the force bore, which is pivoted
by the diaphragm seal.
3. The force bare moves the flexure connector, which pulls the flapper to or
from the nozzle.
4. The back pressure of the nozzle is amplified by the continuous bleeding of
the relay (which is more stable than the non bleeding one).
5. To stabilize the system and balance it, a feed back signal is connected via
a below to oppose the force bare movement.
Rc
Safety Controller
Barrier
Electric Series Loop RA
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Generally, you can consider the transmitter behaves as a resistance (RT) in the
circuit. This resistance of a value RT changes with the value of process’s
pressure.
Voltage
I=
Rt + 2 Rb + Rc
Notice that the zero of each pneumatic and electric transmitter is not actual
zeros, as:
In electric it is 4 mA.
In pneumatic it is 3 psi.
Principle of Operation
This instrument operates by applying the force balance principle. To know how
this could act here, let us go through the following:
1. Any increase in the process pressure will make the input bellow to expand
pushing the baffle.
2. This will decrease the distance between the nozzle and the baffle.
Consequently, a back pressure will be reflected to the positioning below (
its pressure will increase).
3. This action will push down the position lever, to make the pen arm raises
up around the suspension pivot.
4. This will act on the range spring which will moves the baffle away from
the nozzle…and so on.
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Tips
Why on closing a nozzle, a back pressure is generated?
Near the nozzle outlet there is a concentric orifice, when the nozzle is uncapped
(by increasing the baffle distance away); a venture effect causes air to be sucked
out of the positioning below through the nozzle line. This line creates a vacuum
in the bellow using the 20 psi air supply.
i.e. this means on shutting off the air supply; the pen will points to position “0”
and pressure will be in the positioning bellow will be Zero.
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Here in this section some more topics related to the practical side will be
discussed.
SETTING UP AN INSTRUMENT
An instrument must be set up to read as accurately as possible. This is usually
carried out to three features. They are the Zero, Mid-Scale, and Full scale.
Zero
This is the first action to set up an instrument. It could be done either
by a variable controlling facility or by moving the pointer’s position.
Parameter Dependence
It is not an easy design to vary any of the above three parameters without
varying the other two. Therefore, to set an instrument accurately; first set the
Zero, then Range, then linearity. Keep repeating the previous three steps till
getting an accuracy of the required order.
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CALIBRATION
The terminology “calibration” means to correct the actual reading of an instrument to as required
within the specified specs of it.
To carry out a successful calibration, the following should be taken care:
Check visually the instrument and be sure that there is no leakage or loose
connection.
Notice its reading.
Be sure that there is no choking anywhere in the impulse lines of the
instruments.
Make the setup procedure explained earlier.
Use a standard classified instruments either to inject well know values or to read
such values.
Then link these standard tools to your instrument.
Start injecting known values and check response of the instrument has to be
calibrated.
Make a table to record the actual reading against the true value.
Identify the correction factor which will be correction = True ±
indicated
Use this value to be as a guide to readjust your instrument.
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The tapping point for a pressure gauge may be drilled either on top or side of a
line whatever is convenient. This is to avoid any choking of the boss. This
choking could be due to sludge or scales.
Isolation valve is used to remove the gauge while the plant is running.
The vent valve is used to depressurize and drain the gauge to be removed safely.
Siphon is used to trap any condensate.
Never try to screw or unscrew the gauge by hand, but two spanners should be
used for that purpose to avoid deformation to the bourdon tube.
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