2015

DYNAMIC SIMULATION INSTRUCTION OF

CHEMICAL PROCESSES WITH ASPEN PLUS DYNAMICS
V8.0

Melanio Coronado Hurtado

Galo Coronell Higgins
Angello Roncancio Ortega
 DYNAMIC PROCESS SIMULATION INSTRUCTION
CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

DYNAMIC SIMULATION INSTRUCTIONS OF

CHEMICAL PROCESSES WITH ASPEN PLUS
DYNAMICS V8.0

Faculty of Engineering

Chemical Engineering Program

University of the Atlantic

AUTHORS:

Melanio Coronado Hurtado

Galo Coronell Higgins

Angello Roncancio Ortega

Document for academic use

All rights reserved

Barranquilla–Colombia

2015

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 INSTRUCTION FOR DYNAMIC PROCESS SIMULATION
CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

PROLOGUE
During recent years, process control has become established as one of the areas
of greater predominance and demand in the field of the industrial sector, such that
It has been required to have a general and rational understanding of the characteristics
and applications that arise from this discipline. However, it is important to clarify that the
chemical process industries face the difficulty of not having
with effective resources for analysis and planning of sophisticated control systems
that allow them to meet their demands and objectives; whether in terms of
of industrial safety, product quality, and the environment. This is due to
mostly to the complexity of industrial plants or the fact of not having
its reach the capital and sufficient resources to manage control techniques and
automation, which are feasible and compatible with the type of function that is
wants to start primarily.

That said, there are currently alternatives available that help to materialize
approximately the control performance in a chemical plant. Such
herramientas consisten en programas de simulación especializados en mostrar con
Detail the functioning of an automated control diagram and its performance
based on the requirements provided for the process to be studied. In this way,
has simplified the difficulties faced in a real plant, not only in terms of
applicability but has also optimized the levels of learning both in
students as professionals about the discipline of Process Control
Chemists, empowering them to make the right decisions and carry out
actions that would be essential during their activity in reality.

A partir de estos recursos, sobresale la herramienta de simulación Aspen Plus

Dynamics, which is presented for the development of multiple applications and
designs of projects or cases related to dynamic analysis or consideration of
aspectos claves en la Teoría de Control de Procesos de forma justificable y lógica.
This tool is also designed to provide a friendly environment and
simple for the user's skill, allowing them to demonstrate their abilities
interpretative through the use of various options and associated elements
to the program interface.

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 DYNAMIC PROCESS SIMULATION INSTRUCTION MANUAL
CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Based on the above, this document has been created with the aim
show in a concise and clear way, different situations in which they are seen
involved the applications of concepts related to Control Theory such as
they are the tuning methods and advanced control strategies.
Additionally, it should be noted that the book outlines the control systems that
be more easily adoptable and compatible with units such as tanks,
separators, columns, heat exchange equipment, and even reactors; this
in order to present a varied catalog of examples that contribute educationally
creatively to the intellectual training of the user.

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 DYNAMIC PROCESS SIMULATION INSTRUCTION
CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

CONTENT
Page.

1. INTRODUCTION TO ASPEN PLUS DYNAMICS ........................................................... 5

2. PID CONTROLLER SPECIFICATION ....................................................... 35
3. TUNING OF CLOSED LOOP CONTROLLERS: ZIEGLER –
NYCHOLS 78
4. TUNING OF CLOSED-LOOP CONTROLLERS: TYREUS–LUYBEN
.
5. TUNING OF OPEN LOOP CONTROLLERS - ZN .....................141
6. OPEN LOOP CONTROLLER TUNING - CC .....................165
7. TUNING OF OPEN LOOP CONTROLLERS WITH CRITERIA OF
ERROR INTEGRAL (IAE, ISE AND ITAE) .................................................................183
8. TUNING OF OPEN LOOP CONTROLLERS - IMC ....................207
9. CASCADE CONTROL ........................................................................................225
10. CONTROL BY REASON .........................................................................................251
11. SELECTIVE CONTROL ..........................................................................................286
12. CONTROL FEEDFORWARD ..................................................................................311
ANNEX A: LIST OF SYMBOLS AND COMMON TERMS ......................................335
BIBLIOGRAPHY .............................................................................................................340

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 INSTRUCTION MANUAL FOR DYNAMIC PROCESS SIMULATION
CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

1. INTRODUCTION TO ASPEN PLUS DYNAMICS

Aspen Plus Dynamics consists of a dynamic modeling tool for

simple use, developed by Aspentech, which is aimed at operations
in industrial plants and chemical process design. It also trains
users to study and understand the dynamic elements of operations
presented in a real plant, in order to achieve an increase in production, the
safety and productivity.

1.1. Input of dynamic information and file export

Before opening the Aspen Plus Dynamics window, it is necessary to establish a

detailed description of the type of chemical process that is desired to be simulated
implement a control structure. For that, it is necessary first to develop
its steady-state simulation along with the obtained results
respectively in the Aspen Plus environment. Then, the button is clicked
Dynamic Model menuDynamic as shown in Figure 1.1. This allows
the user to insert dynamic information for each block, whether in a tank,
a column, a reactor, a heat exchanger, among other types of units
of operation.

So, once the dynamic mode is activated, the Next Input button must be pressed.
to be transported to other blocks that still need dynamic information
for being supplied. This button is located in the access toolbar
directly, located at the top of the window, represented in the form
.

After entering the dynamic specification data, a

steady-state simulation run. To do this, in the box of
Required Input Complete, click OK.

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CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Dynamic button, pressed in

Figure 1.1. Dynamic menu, located in the Aspen Plus simulation environment.

After this, Aspen Plus activates the control panel where you can see
the simulation messages during the run. It waits until the message
Simulation Calculations Completed appear, just like the notification of
available messages in the status bar to indicate that the run was successful.
Now, press the close box of the control panel window to finish.
action completed.

Based on the above, it is possible to guarantee the export of the files

worked with optimal security. For this, the Export Dynamics button is pressed.
(Note: It should be taken into account that there are two types of export icons, the

what are Flow Driven yPressure Driven The first allows exporting.
files whose process does not experience pressure changes in its extension, is
to say, absence of bombs, valves, compressors, among others; regarding the
second, it is completely the opposite. This manual will make use of
second due to the fact that many of the cases to be studied will present devices that
will influence the pressure profiles of the process streams.)

Once that is done, the dialog box will appear asking for the name of the
dynamic simulation file as evidenced in Figure 1.2. It must
It should also be considered that the simulation must remain in the folder where it is.

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

present the current file (steady-state simulation) because it is in it

They will gather the useful files for the case to be studied.

In the box named nameFile, the desired name for the simulation is inserted; then
Click on Save. The files that were created from this action are:

.dynf: it is the input file for Aspen Plus Dynamics.

.[Link]: contains the information of physical properties stored in

Properties Plus during the dynamic simulation.

Figure 1.2. Action to export the simulation to Aspen Plus Dynamics.

Now that the necessary files for a dynamic run have been generated, it is
It is valid to state that run tests can be executed in Aspen Plus.

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Dynamics. One should not forget to close the Aspen Plus file and move on to the next.
process.

1.2. Modification of the control system

In Aspen Plus Dynamics, you can:

Add, change and remove control elements.

Select measurable and manipulable variables from the selection lists.

Configurar lazos de control en cascada.

Import control structures from other input files generated in the

Aspen Plus Dynamics environment.

When a simulation is created in Aspen Plus Dynamics, the level controllers,

pressure and temperature are included where appropriate.

1.3. About the use of Aspen Plus Dynamics

a) The components of the window

Figure 1.3 alludes to a typical window of the Aspen Plus environment.

Dynamics, in which the different components are clearly identified,
integrate. Next, a detailed description of each one will be made
them.

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Figure 1.3. Aspen Plus Dynamics simulation window and its different components.

Simulation Explorer

The Miscellaneous Simulation Explorer provides an alternative to add objects.

in the simulation window. All objects in the window are organized
under three folders: blocks, currents, and reactions.

Using the explorer, predefined forms can be opened, scripts can be invoked.
tasks.

Within the libraries or folders of custom modeling, they are displayed

the main components of a simulation (known as types), such as

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 INSTRUCTION FOR DYNAMIC PROCESS SIMULATION
Chemicals with Aspen Plus Dynamics V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

the models, parameters, ports, procedures, currents, tasks, and variables.

Además, también permite crear y editartipos.

The main elements of the simulation explorer are:

The simulation folder is at the top level that

it contains folders for all objects and services within the simulation
as illustrated in Figure 1.4.

Figure 1.4. Simulation folder.

Subfolder of the simulation window (Flowsheet Folder). It contains the

information for the blocks, currents, and reactions in the diagram. Using
the explorer for some of these objects can open all forms
predefined, invoke scripts or tasks. Its location is shown in Figure
1.5.

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Figure 1.5. Flowsheet Subfolder.

From the simulation diagram subfolder, you can:

a) Appreciate the blocks, currents, and reactions used in the current diagram.

b) Define equations that contain variables from different blocks in the

simulated diagram, by double-clicking on the iconFlowsheet of the panel
content.

c) Show all local variables for the diagram by just clicking

about the iconLocalVariables.

Component Lists Folder. Allows you to define

a list of component names for the simulation; and access lists
existing in the simulation. This is appreciated in Figure 1.6.

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Figure 1.6. Location of the Component Lists folder.

Model Library Menu

It is responsible for providing an additional method to add models and streams to a

diagram, and it is similar to the one established in Aspen Plus. This menu is adjusted in the
background of the main window below the simulation environment. The panels
are defined for each category model (for example, separators, columns,
reactors, among others). This is represented in Figure 1.7.

Figure 1.7. Model library menu.

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Clicking on a menu icon puts the cursor in insert mode so that

the subsequent points in the diagram execute new replicas of the model
selected. Also click on the Streams icon, it provides the ease of
add new currents and make connections with a single stroke at the port
of the block.

Each model in the library is displayed through its default icon, along with
with its relative name. You can also change icons by clicking on the
dropdown arrow, located next to the icon respectively. Select an icon
different implies changing the one indicated in the model menu, and from that, it is
employee for new cases. Two types of actions are developed from
then:

Movement: it is possible to move right and left using the

scroll buttons for folder models that contain many
they manage to be covered in most of the window.

Selection: clicking on a block or flow icon places the cursor

in insert mode so that multiple replicas of the block or current can be inserted
selected with multiple stabs in the simulation environment. When you
activate Insert mode for a current, all compatible ports are
highlighted.

Next to the Streams button, a dropdown list is generated that provides

information to the user about the various types of useful currents in the library
selected.

Simulation Messages Window

The simulation messages window frees

Messages about uploading an input file, verifying specifications, and everything

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

normal diagnosis about the solvers during the obtaining process of

results. The window design is represented as shown in Figure 1.8.

In the Simulation Messages window, right-click to:

Pause or rewind simulation messages.

Change the print level and output destination for a simulation.

Clarify the contents of the message window.

Figure 1.8. Simulation message window.

Simulation Window (Flowsheet Window)

It allows the user to view and interact with their simulation space. To view the
options to interact with a block or stream, you click on one of them
to select it and then right-click.

The simulation window (Flowsheet Window) can also be used to

edit the same. Like:

Add new blocks by dragging model icons from the Library folder
Dynamics of the explorer towards the simulation window.

Create current or control connections by dragging MaterialStream.

ControlSignal from the Stream Types folder in the simulation space.

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CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
Blue arrows appear on the blocks where the ports are available.
for the connection. It is also valid to drag ports around the icon to
to adapt to a simulation diagram design specifically.

Particularly, this window is used for:

Enter graphs, tables, and other forms for currents and blocks in the diagram
of process.

Add, remove, or reconfigure drivers.

Toolbar (Flowsheet Toolbar)

It is used to manipulate objects in the simulation window. The functions of the

the elements that make up this barrier are described in Figure 1.9.

Figure 1.9. Toolbar with its respective elements.

Status bar

Provides a quick means of verifying the status of the simulation. The indicator
of specification allows to verify the status of the simulation specification
as the user works on it.

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 DYNAMIC PROCESS SIMULATION INSTRUCTION MANUAL
CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
The symbols that frequently appear are:

- Indicates that the simulation window is empty or incomplete. The state of

specification cannot be determined yet.

- It establishes that the simulation is specified correctly.

- It points out that the adjusted specifications are either under or over.
specified.

- Indicates that the initial specifications are under or over

specified.

- The simulation presents the correct number of specifications, but one of

she is not valid.

- The dynamic simulation is poorly structured and has a higher index than
one.

b) Preparing a dynamic simulation

With Aspen Plus, a process is evaluated in terms of energy consumption in

steady state, performance improvement, and process alternatives. Using
Aspen Plus Dynamics, the same process model is also used for
analysis of dynamic processes such as: examining operation and control of the process,
evaluate plant safety and resolve operational issues.

When a steady-state simulation is developed in Aspen Plus, the simulation

dynamic is prepared by:

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
Introduce any additional information required to generate the
dynamic simulation, such as the volume and initial conditions of a tank.
Many of these have default values.

Export the dynamic simulation.

Open the dynamic simulation in Aspen Plus Dynamics.

If necessary, edit the simulation, for example, configure the scheme of

control.

Run the dynamic simulation.

Enter dynamic data

It is crucial to consider that in order to produce a dynamic simulation in Aspen Plus

Dynamics requires starting from an existing steady-state simulation in Aspen.
Plus. On the other hand, some models require additional information to
dynamic simulations. This information is used to represent the
dynamic behavior of an operating unit. Generally, this information
additional consists of the geometry of the container and some initial conditions.

The models that require additional information for the model are: decanters
(Decanter), 2-phase separators (Flash 2), 3-phase separators (Flash 3)
evaporators/condensers (Heater), heat exchangers (HeatX)
compresores (MCompr), mezcladores (Mixer), columnas (RadFrac), reactores
CSTR (RCSTR), Gibbs reactors (RGibbs), plug flow reactors (RPlug),
stoichiometric reactors (RStoic), among others.

Other models supported by Aspen Plus Dynamics do not require information.

additional for dynamic simulation.

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 INSTRUCTIVO DE SIMULACION DINAMICA DE PROCESOS
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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
To introduce dynamic information, the dynamic input mode is selected.
To apply this action, you must click on the Dynamic Mode button in the
dynamic menu, where the button is seen as:

Similarly, in the Global Sheet of the Setup Specifications form, the

inputMode as Dynamic.

Both methods are valid, and changing one will lead to the emergence of the other. Choosing the
dynamic input mode makes useful dynamic input forms, and activates the
consistency and integrity for the verification of dynamic information of
input for different units. After this, Next is pressed.

Create a pressure driven simulation

To create a simulation in Pressure Driven, it is necessary to modify the simulation.

original in Aspen Plus. A typical case consists of modeling the dynamics of
flow/pressure of a process, before exporting the dynamic simulation that
I need to: increase the detail of the original steady-state simulation of Aspen
Plus; and include additional equipment such as compressors, pumps, and valves that do not
they were considered in the original.
Additionally, as an application, it is important to highlight the fact that it must be ensured that the
pressures within the simulation in Aspen Plus are consistent, as is the
example of heat exchangers frequently.

In Aspen Plus, there is a tool named pressure checker or

Pressure Checker

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

which is designed to help create a simulation in Aspen Plus that is

available to be run as a dynamic pressure-driven simulation. The
The pressure checker is responsible for reviewing the flow diagram for some
problems that prevent their conversion into Pressure Driven; gives notice on how
change the diagram to make it more consistent with the desired study
to apply; and warns of some problems that do not prevent a simulation in
Pressure Driven is to be created but tends to cause problems with this mode of
simulation.

To run the Pressure Checker, you need to ensure that the user is
find in dynamic input mode that the simulation in Aspen Plus converges
successfully. Then, in the Dynamic toolbar, you click on the
Pressure Checker Button.

If the Pressure Checker finds errors, the dynamic simulation will not be able to be
exported. The noted errors must be corrected, and the simulation should be run again.
stationary and run the verifier again.

Export the dynamic simulation

Once the dynamic information has been fully provided

necessary in Aspen Plus, the following procedure consists of exporting the
dynamic simulation. Before doing so, it should be inspected that the simulation in
steady state along with the entered data converges without any difficulty
to generate the dynamic simulation. To do this, it must be ensured that:

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 INSTRUCTION FOR DYNAMIC PROCESS SIMULATION
CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
In the global sheet of the Setup Specifications form, the running mode is
find in Flow sheet the medium Input is Dynamic.

The stateRunseaResults Available, Results Available with Warnings Results

Available with Errors.

If the state of the run indicates that there are errors in the results (Results with
Errors), the cause of the error should be corrected and a new test should be run before
that it is exported. Exporting it without being corrected beforehand can imply serious
consequences during the dynamic simulation.

The dynamic simulation can be exported in many ways:

Use the buttons provided by the Aspen Plus toolbar:

i. is responsible for exporting a driven flow simulation (Flow

Driven).

ii. export a pressure driven simulation.

iii. In the File menu, hover over Send Toy and click on one of the
the two types of files shown below, according to the type
from simulation to export: Flow Driven Dyn Simulation (*.dynf and *.[Link]:
create a driven flow simulation) and P Driven Dyn Simulation (*.dynf and
*.[Link]: create a conducted pressure simulation.

.dynfse files open automatically in Aspen Plus Dynamics. This type of

files are created in the same folder where the simulation performed in Aspen Plus
it is located: *.dynf (a text file that stores the input for the
dynamic simulation), and *.[Link] (a binary file that contains information

about physical properties, and in some cases other types of information, that are
used during the operation of the dynamic simulation).

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 DYNAMIC PROCESS SIMULATION INSTRUCTION MANUAL
CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

While the dynamic simulation is being generated, inspections are carried out
consistency regarding the information provided. If problems occur with
generate the dynamic simulation, error and warning messages will appear in
a dialogue box.

Si ocurren errores, no se genera la simulación dinámica. Pero si hay solamente

warnings, the simulation is generated, although the need for it is required
make changes and export it again before running it.

c) Running a dynamic simulation

In Aspen Plus Dynamics, you can run 5 different types of simulation:

Initialization: specifies the initial conditions for a subsequent run

dynamic. Variables can be initialized, time derivatives or a
combination of both.

Steady state: run a simulation where the time derivatives

from a dynamic simulation are equivalent to 0.

Dynamics: run a simulation where the variables change with respect to the
time.

Estimation: it can be of:

Parameter estimation: adjusts model parameters to information

experimental.

Data comparison: compares the performance in steady state of a

plant with the prediction with a model.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Optimization: optimize dynamic or stationary simulations using a

objective function and provided constraints.

The following describes the common activities during a simulation in

Aspen Plus Dynamics.

Open a simulation

To open a dynamic simulation in Aspen Plus Dynamics, you need to locate yourself in
Click on the File menu and then click on Open. Then, select the Aspen Plus file.
Dynamics (*.dynf) that was exported from Aspen Plus; then Open is pressed.

Run the simulation

To run a dynamic simulation, the mode icon is verified.

located in the Run Controls toolbar is set to Dynamic.
Entonces, en esa misma barra, se pulsaRun to carry out the run.

Some of the following actions can also be performed during a run.

dynamic

Scale the simulation time over a specified interval.

Pause the simulation for a previously specified time interval.

Restart the simulation, so that the next run starts again from the beginning.
of the initial conditions imposed at time 0.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Change the simulation time settings. For a dynamic run, it is

it is possible to modify the time interval in which the information is compatible
for graphics during a simulation, which is known as the interval or
communication time, and the units for that interval.

1.4. Commonly used elements in Aspen Plus Dynamics

a) Streams

In Aspen Plus Dynamics software, three types of streams are used:

material (MaterialStream), energy (HeatStream) and work (WorkStream).

MaterialStreaming dynamic simulations

Material Streams used to represent material food flows, connected

in blocks. During a dynamic simulation, variables in food are manipulated.
deMaterialStream to change its conditions in the simulation, for example,
for:

Introduce disturbances in the food to test the operation and control.

Similar changes in raw materials or grade transitions.

Control a flow rate.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega
MaterialStreamcambia con el tiempo pero no es estrictamente dinámico porque los
changes are instantaneous.

HeatStream dynamic simulations

HeatStreams used to represent connected energy food flows.

in blocks. During a dynamic simulation, the load of a food is manipulated.
HeatStream to introduce disturbances that test operation and control.

HeatStream does not present dynamics and allows manipulation of the load (Q) if it is adjusted.

Dynamic simulations in WorkStream

WorkStreams used to represent work food flows, connected to

blocks. During a dynamic simulation, the power of a food is manipulated
WorkStream to introduce disturbances that test operation and control.

WorkStream does not provide dynamics and allows manipulation of power (W) if it is
adjusted.

a) Control models

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Control models are the elements that allow to recreate a

control structure required in the flowchart studied within the environment
from Aspen Plus Dynamics. A brief description of each will be provided next.
one of those elements:

Comparator

Figure 1.10. Comparator Block.

A comparator calculates its output as the difference between the 2 input signals.
(Figure 1.10) through [1.1]:

= 1− 2 1.1

Generally, the comparator does not have configuration parameters.

Dead Time

Figure 1.11. Dead_time block.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega
Dead_time represents pure downtime. The output of the Dead_time element
the delayed entry due to the delay of time.

= 1.2

The only configurable parameter in this element is the value of the dead time that
is greater than or equal to 0 in units of minutes. The Dead_time block comes
represented according to Figure 1.11.

FeedForward

Figure 1.12. FeedForward Block.

FeedForward is a generalized feedforward controller that uses a

combination of delay–advance and a dead time to model the dynamics of the
process. This includes the following properties:

Trimming and scaling of the process value and the output.

Forward and reverse action.

It is provided with an external connection for combined control.

Feedforward/feedback has been implemented. (See Figure 1.12)

Figure 1.13 provides a block diagram for FeedForward:

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Figure 1.13. Block diagram for a Feed-Forward control strategy.

The elements that need to be configured in the FeedForward block of Aspen

Plus Dynamics are:

Controller action: Direct or inverse depending on the situation.

Set point of the operator (SP).

Bias.

Controller Gain: The block comes with a default numeric value

of 1.

Delay time constant (Alpha): In minutes.

Lead time constant (Beta): In units of minutes.

- Tiempo muerto (DeadTime): En unidades de minutos.

Clip PV (PVClipping): Yes or no.

Clip OP (OPClipping). Yes or no.

Minimum value of PV (PVMin).

Maximum PV value (PVMax).

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Angello Roncancio Ortega
Minimum value of OP (OPMin).

Maximum value of OP (OPMax).

Selector (HiloSelect)

Figure 1.14. ThreadSelect Block.

HiloSelect models a high or low signal selector. The output is the largest or the
smaller of the 2 entries, depending on the type of option desired
specify. (See Figure 1.14)

Dynamic Lag (Lag_1)

Figure 1.15. Block Lag_1.

The block Lag_1 models a first-order dynamic delay between the signals of
input and output. (See Figure 1.15)

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega
The transfer function in the Laplace domain for first-order delay
es:

( ) = [1.3]
tau s + 1

Where:

K is the gain in steady state (last change in output divided by

the change in the input).
-τ is the time constant in minutes.

The model uses the following equation to implement it in the domain of

time

( )
. = + 1.4

According to the above, the only parameters to configure in the blockLag_1 are
the gain and the time constant in minutes. But if the process model is
adapted to work in hour units, for example, it will be necessary to modify
the time units of the control model.

Multiplier

Figure 1.16. Multiply Block.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega
The Multiply block evaluates its output as the product of the 2 input signals.
For this reason, the equation used to represent this block is

= 1∗ 2 1.5

It should be added that this block does not present configurable parameters. (See Figure
1.16)

PID Controller (PIDIncr)

The PIDIncr block (see Figure 1.17) models a proportional integral controller.
derivative using an enhanced control algorithm that is used in
many modern electronic controllers. The key functions of PIDIncr
include:

Ideal algorithms, in series and in parallel.

Automatic, manual, and cascading operation.

Figure 1.17. Incremental PID Block.

Optional tracking of the process variable by the set point when

find in manual mode.

Self-tuning capability.

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Angello Roncancio Ortega
One of the 3 modes of the controller (proportional) can also be controlled.
integral and derivative) for using appropriate values of the constants of
tuning, for example:

Proportional (P): A very large integral time value is used (commonly

it works with a million).

Proportional-Integral (PI): An integral time value required according to

in the event that it occurs.

Proportional–Integral–Derivative (PID): Integral time values and

derivatives justifiable according to the given situation.

To configure a PID, the Configure form must be used as demonstrated in the

Figure 1.18.

Figure 1.18. Window for the Configure form of the PIDIncr block.

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Angello Roncancio Ortega
The window is divided into 4 panels for different configuration aspects of the
controller. The values in the Tuning and Ranges panels will need to be changed.
but the default values in the Filtering panels and Others are influential in
many applications. (Note: This guide will only focus on characterizing the
the first two panels because they are more useful during the construction of
control schemes.

At first, to configure the driver, it is vital that it has been carried out
the connections of the process variable (PV) and output (OP); and then it is pressed
the Initialize Values button of the Configure form.

After clicking that button, the current values of the measured variables
and manipulated are used to initialize parameters of the controller such as
else point, initial output, PV and OP intervals. Because the PV intervals
And OP affect the controller tuning, they are calculated only when one
new is initialized first.

Panel tuning configuration parameters

The configuration parameters of the tuning panel for a PID are:

i. Set point (SP).

ii. Initial output (OPMan).

[Link]: controller gain.

Integral time: Integral time, in minutes.

[Link] time: Derivative time, in minutes.

[Link] action: Controller action. It can be direct or inverse, depending on the

case.

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Angello Roncancio Ortega
-PanelRanges configuration parameters

The configuration parameters of the panelRanges for a PID are:

[Link]: Valor mínimo de la variable de proceso yset point.

[Link]: Maximum value of the process variable and set point.

[Link]: Valor mínimo de la señal de salida.

[Link]: Valor máximo de la señal de salida.

Ratio

Figure 1.19. Ratio Block.

The blockRatio (See Figure 1.19) calculates its output as the ratio between Input1 and
Input2 as exposed by the equation:

Input1
= 1.6
Input2

This block does not present configuration parameters.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega
1.5. Bibliographic reference

Aspentech. Introducing Aspen Plus Dynamics V8.0. Aspen Plus Dynamics V8.0
Help. December 2012 [Internet]. [Consulted April 4, 2015]. Available at:
[Link]

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega
2. PID CONTROLLER SPECIFICATION

2.1. Introduction

Process Control is one of the fields of Chemical Engineering that

they require vital attention and mastery today. Because one of the
objetivos primordiales en esta carrera es la optimización y control de los procesos
prominent chemicals in the industrial area, it is always feasible to obtain a value of
desired performance for both product quality and overall performance
in the plant, or even, establish the appropriate measures or precautions to ensure
for the safety of both the present employees and the external environment; already
environment, nearby residences, among others.

Regarding what has been established, in order to achieve a better understanding of the
repercussions promoted by the field of Control Theory within the context
from Chemical or Process Engineering, it is common to develop a brief review
some concepts that could be crucial throughout this work such as
support material for the user.

A. General concepts

Dynamics. Behavior of a time-dependent process.

Set point. It is the desired value of the variable to be controlled. It can be constant or
variable.

Variables. The types of variables involved are defined below.

dynamics and control of chemical process systems:

Controlled variable. It is the variable that must be maintained or controlled within

a desired range. These can be currents, levels, temperatures,
pressures, among others.

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Angello Roncancio Ortega
Manipulated variable. It is the variable used to maintain the controlled one.
at the set point control; that is, it can be regulated. Normally it
they deal with process flows.

-Uncontrolled variable. It is a variable that cannot be controlled but can be

measure.

Disturbance. It is defined as any variable that causes a deviation from the

variable of the set point control. This cannot be controlled but has a value
fixed throughout the process.

Gain. It is a parameter that indicates how much the output variable changes by
unit of change in the forcing function or input variable; that is,
The gain defines the sensitivity of the process.

Feedback control. The controlled variable is measured at the

output of the process and is compared with the set point reference value.
the difference (error) is fed back to the controller which modifies
the manipulable variable.

B. Elements of a control loop

In section A, the concept of feedback control was defined, which

reference to the actions that usually intervene in a control system or also
called a loop. From this, it is necessary to reflect the scheme of a loop
control to develop a better understanding of the topic. In this case, it
Plans to illustrate a feedback control loop as evidenced in Figure 2.1.

In Figure 2.1, the basic elements that are always present are shown.
a control system, which will be defined below:

Sensor. Also known as a measuring element, is a device that

convert the output variable into another available one as an offset,

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Angello Roncancio Ortega
pressure or voltage, which can be used to compare the output signal with
the reference entry.

Transmission lines. They carry the signal from the sensor to the controller and the
controller to the final control element.

Controller. Receives the signal from the sensor and decides the action that should be taken.
Compare the current value of the plant output with the reference input
(desired value), determines the deviation and produces a control signal that
it will reduce the deviation to zero or a small value.

Figure 2.1. Feedback control loop.

Final control element. Also called actuator, it is a device of

power produced by the input to the plant according to the control signal for
that the output reaches the reference input. This element can be
an electric, hydraulic, pneumatic motor, or even a valve.

2.2. Statement of the Problem

In this practice, the isobaric separation of a two-phase mixture will be studied.

liquid-vapor composed of 10% molar ethane, 20% molar propane, 30% molar
i-butane and 40% molar n-butane. This enters a phase separator with a
temperature of 70°C, pressure of 20 bar and with a molar flow of 100 kg-mol/hr.

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Angello Roncancio Ortega

The control of 4 process variables is sought, such as the molar flow of the mixture,
the liquid level, the pressure, and the temperature of the phase separator. This is
Implement in a system that has 3 valves because three out of 4
variables will be easy to control from the manipulation of those
accessories; such as flow, liquid level, and pressure. Regarding the variable
of temperature, this will be controlled by manipulating a current
of caloric load supplied to the phase separator, so a
service fluid for supply. Also to simulate a more realistic process,
a pump has been added to the liquid outlet line, since
generally this current needs to be transported to another site, and due to this
team, the valve that is going to be installed in this liquid current line is located
in the discharge flow of the pump.

This case will start from a steady-state analysis used from the environment.
from Aspen Plus, and then it will be exported to Aspen Plus Dynamics for further
study regarding dynamic aspects.

2.3. Fluid package

Components: Ethane, Propane, i-butane, and n-propane.

Equation: Peng–Robinson.

Reaction: None.

Unit system: METBAR.

The following will describe the necessary steps to create a

steady state simulation, and consequently, its posterior
development in a dynamic state.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

2.4. Steady State Simulation: Aspen Plus

In the first instance, a new case is opened in the Aspen Plus simulator and it must be
Deploy the form for data entry by pressing the Data button.
Browser the toolbar. Select the Setup folder and in the window
displayed on the right introduce as title Phase Separator: Basic Control.
Continuously in that same window, in the Global unit set section, the choice is made
METBAR as the system of units to be used.

The Next input button is pressed to open the Components folder. In this window
the components that will be used are introduced, which consist of ETHANE,
PROPANE, I-BUTANE, and N-BUTANE. These are written as presented in the
Figure 2.2.

Figure 2.2. Component specification table.

Once the participation of the components in the simulation has been considered, it
press Next to navigate to the Properties folder. Here you choose as
Peng-Robinson base method, and regularly, a check is performed
the characteristic parameters that govern the model.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Once the identification of the properties of the process is completed, it now turns out
it is necessary to move to the simulation environment (Flowsheet) to install the
currents and units that will be studied. For this case, the simulation is
represented by the scheme depicted in Figure 2.3. Obviously, it must be
assign the names described for each element.

Figure 2.3. Diagram of the phase separator.

Press the Next Input button to open the specifications folder.

corriente ALIMENTO. Las características por añadir están plasmadas en la Figura
2.4.

In it, the installation of a valve named VL - 101 can be observed, which

it has FOOD current as input and SVL - 101 as output. In this valve
a pressure drop of 15 bar is specified.

Then, it shows how the biphasic mixed current SVL - 101 enters the
phase separator V–101, with the purpose of being separated into 2 products:
VAPOR and LIQUID. For the phase separator to converge, introduce as
specifications an operating temperature of 30°C and a pressure of 5 bar.

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Angello Roncancio Ortega

Figure 2.4. Specifications window for the FEED current.

The VAPOR current is connected to a valve called VL - 102, and has

as the flow of matter SVL–102. This is specified with a drop of
pressure of 2 bar.

Similarly, it is evident that the LIQUID output current enters the pump.
P–101, which has an output of SP–101; this is assigned with an increment
of 2 bar pressure to achieve its convergence. Consequently, the last
Flow enters a valve named VL–103, releasing as output SVL–103.
This accessory has a pressure drop of 4 bar.

Once the process has been fully specified, the Run button is pressed, in which
A warning appears asking if everything is ready to run the simulation.
Click on Yes. By then, the simulation should converge without
warnings or errors. The results are shown in the table of the Figure
2.5.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Figure 2.5. Results of the steady-state simulation.

The simulation is saved with the name PHASE SEPARATOR in .apwz format.
In this way, it will be easy to become familiar with the work to be developed.
The following will present the steps to size equipment and other aspects.
to take into account.

2.5. Equipment sizing and export to Aspen Plus Dynamics

After the simulation has reached its convergence, it is necessary to carry out the
necessary considerations before being transferred to the dynamic environment of
Aspen Plus Dynamics. This is commonly associated with what concerns
sizing of equipment such as the phase separator evident in
this simulation; and additionally other less relevant considerations to

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Angello Roncancio Ortega

simple view but influential later in the dynamic behavior of the

system as it will be observed. That said, the following will begin to be described.
the steps that will guarantee the development of an effective simulation:

Select the Dynamics menu and then press the Dynamic Mode option. .
Once this is activated, they can be carried out without any inconvenience.
dynamic considerations required for each process unit
involved.

Unfold the specifications folder of block V–101, and in it choose

the Dynamics option. A window will appear with various panels, in the
each one will deploy a set of specifications related to
the geometric scope, heat transfer conditions and activation of
necessary drivers.

For the moment, interest in the panelVessel will be maintained, in which

they will introduce the geometric design conditions of the separator. First, it will be chosen
as a type of vessel in a vertical position, in this way
You will observe the red activation of the Dynamics option, indicating the lack of
specifications in it; and then, in the Vessel Geometry section, which contains 3
aspects such as the type of head, diameter, and length of the separator. In the first
it is chosen Flat, because this way a more realistic study can be carried out.
behavior of the liquid level in the separator that is done in this case
application of the heuristics used in the design of phase separators.

The phase separator is designed with respect to 2 criteria, the first is related to
the volumetric flow of the liquid that enters the phase separator and the second is
associated with the maximum speed that steam can possess, or it can also be
to say the minimum sectional area that the equipment must have to avoid drag (the
speed is inversely proportional to the cross-sectional area as stipulated by the
continuity equation.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Regarding the first criterion, it would be necessary to calculate the volumetric flow rate of the liquid.
that enters the phase separator, which is equal to the LIQUID current,
usando los datos de la Figura 2.5, se calcula de la siguiente manera:

̇ = ̇∗ -1
[2.1]

Where ̇it is the volumetric flow rate, ̇ it is the mass flow and ρ is the density.

3 1 hr 3
̇ = 2532,1 ∗ ∗ 0.0771
hr 547.6Kg 60

A volume equivalent to 10 minutes of residence time of this flow in

this equipment would be 0.771 m3this is equivalent to 50% of its total capacity, for
Thus, 100% of the phase separator would be (1/0.5) * (0.771 m31,542 m3. For
to use the second criterion, one would need to calculate the maximum drag velocity, which
is given by the following expression:

= [2.2]
√

Being F a value factor of 0.61 in the SI, ρvthe density of the vapor current
kg/m3y Vmaxin m/s, applying [2.2]:

0.61
= 0.1834 ⁄
√ 11.06

It should be clarified that the F factor indicates that the equipment is filled to halfway with liquid.
If it were completely full, the value would be double.

In addition, the volumetric flow of steam is calculated similarly to the flow.

volumetric of the liquid:

3 1 hr 3
̇ = 2719,16 ∗ ∗ 0.06829
hr 11.06Kg 3600

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Angello Roncancio Ortega

The sectional area of the separator is given by the continuity equation.

̇ = ∗ [2.3]

Being ASthe sectional area of the container.

3
̇ 0.06829 ⁄
= = 0.3723 m2
0.1834 ⁄

This sectional area must be minimal, as it was calculated with speed.

maximum permissible vapor, then the diameter that corresponds to this area comes
given by the following expression:

2
= [2.4]
4

4 *A
= √ 0.6887 m

For the calculated volume of 1.542 m3, and as a heuristic, the height relationship
and a diameter of 2 (H/D =2), then the true diameter of the phase separator is
its corresponding height is calculated as follows:

2
πD 22D
( ) 3
= = = 2.5
4 4 2

3 2V
= √ = 0.9734 m

H = 2D = 1.9467 m

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Angello Roncancio Ortega
As D is greater than Dminthen the heuristic can indeed be considered valid.

According to the calculations made with the help of these criteria, the following will be introduced.
diameter and height values as shown in Figure 2.6.

Figure 2.6. Specifications window in the Vessel panel.

Then, click on the Heat Transfer panel to inquire about the conditions of
heat transfer in the equipment. The different options can be observed.
of heat transfer that can be chosen, however, it is set to default
the constant load alternative (see Figure 2.7) because there is no need for use
from an external heat transfer medium, that is, a process fluid, by
example, for the process or any other aspect that could affect the conditions
energetics of this, due to the fact that a current is supplied to the separator
internal energy; in this way the manipulation of it will be more truthful
current during temperature control once established in mode
dynamic. It can also be seen in the Initial Conditions panel that the
The liquid volume fraction defaults to a value of 0.5, which consists of
in the requirement associated with the heuristic rules presented for
phase separator setup. This can be seen in Figure 2.8.

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Autores: Galo Coronell Higgins
Angello Roncancio Ortega

Figure 2.7. Specification window for the Heat Transfer panel.

Figure 2.8. Specifications window for the Initial Condition panel.

Finally, you click on the panelControllers located at the end.

right. In this, you can see a list of the controllers that can
they will be automatically installed once the simulation is exported
towards the environment provided by Aspen Plus Dynamics. However, for
Didactic purposes, their manual installations are preferable because of
reasons for better study and ease. So the drivers are deactivated
level and pressure as stated in Figure 2.9.

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Angello Roncancio Ortega

Figure 2.9. Specifications window for the Controllers panel.

As a final consideration before the export process, a double click is made.

in the valve VL–102 to display its specification window and in the
flash calculation options, it is specified that the valve operates in phase only
vapor, that is, the Vapor-Only option is chosen. The purpose of doing this
The action is due to the pressure controller that is planned to be installed later.
to regulate this accessory; however, the controller will have greater
meaning when regulating a single-phase current instead of a
biphasic, because if it were the last case, it would guarantee a dynamics too
rigorous for the study of the process.

To export it to the Aspen Plus Dynamics simulation environment, first

place, it is necessary to run the simulation again but this time with the
dynamic option activated. Then in that same option, click on the
Pressure Checker located in the Dynamics menu; this is done with
the purpose of inspecting the changes in the properties of the currents
involved in the process due to the action of units and accessories that
They imply a significant variation through the pressure drop. As the
the process has 3 valves and a displacement device, in this case
the bomb, it is valid to conduct a check to clarify that the simulation
is being globally affected by changes in pressures. Once
when pressed, a dialog box should appear where it is confirmed that the
the simulation is meant to be exported as

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Angello Roncancio Ortega

pressure driven, corroborating the importance of the

cambios atribuidos a presión mencionados con anterioridad. Dicha ventana se
It is represented in Figure 2.10 and it is given OK.

Figure 2.10. Pressure Checker Warning.

Before exporting, it is advisable to save again the

simulation along with the changes made recently. Of course,
also create a folder with the same name in order to save in it
place the simulations to be developed or additional files that may
to occur, both for the dynamic and stationary environment. So, for
to export, click on the File menu, select Export and choose
Aspen Plus Dynamic–Pressure Driven (Note: as a second option, the
Export can be done from the Dynamics menu, selecting the option
Pressure Driven). This export is intended for the created folder.

From this, a box will appear responsible for reporting warnings or

errors that will be evident in the dynamic environment. In this case, it is
explaining that the use of pump efficiency curves will be implemented
during the simulations in Aspen Plus Dynamics. This is illustrated in Figure
2.11. It is closed to continue with the procedure.

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Angello Roncancio Ortega

Figure 2.11. Message information box during export to Aspen Plus

Dynamics.

It is worth noting that the originating folder must contain 3 crucial files during
the development of the study, which are ,dynf [Link] The
The first type of file is the one that should be kept better because it is used.
as copies of stationary simulations and to undertake new ones
exports. As for the last 2, they are produced after being
the simulation exported to the Aspen Plus Dynamics environment; one is the one that
is going to be used in the dynamic simulation environment and the other has the
physical properties of that simulation. It is of vital importance to have
such requirements.

To conclude, the simulation created in Aspen Plus is closed and opened the
exported in Aspen Plus Dynamics. The following steps will be described
necessary for the dynamic analysis of the process and the implementation of control
automatic required throughout this last simulation environment.

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Angello Roncancio Ortega

2.6. Dynamic state simulation: Aspen Plus Dynamics

Once the file containing the simulation created in Aspen Plus is opened, the
the simulation environment for Aspen Plus Dynamics should be similar to the one observed
in Figure 2.12.

Figure 2.12. Simulation of the phase separator in Aspen Plus Dynamics.

Before starting the peculiar analysis, a menu can be observed in the simulation bar.
drop-down menu that lists the test options, such as, for example,
Initialization, Steady State, Dynamic, Estimation, among others. The option is changed.
This is done to review
Dynamics Initialization is triggered by the shortcut Run
that the system is completely specified, in terms of the quantity of
variables that are attempted to be manipulated and controlled around the unit. In the end
an option will appear confirming the complete specification. Press OK and
restore the simulation to the option it initially had (Dynamics).

At this time, it will be possible to establish the steps that lead to the
Installation of the drivers involved in the process and their configurations
respective.

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Angello Roncancio Ortega

A. Molar flow control of the feed stream

In the Library menu (see guide 1), select the PIDIncr block in the Control panel.
and hold it down with the right click to drag it into the environment or
simulation window. Upon releasing it, a circular icon consisting of
in the controller block. It is assigned as nameFC which consists of the
acronyms of flow controller in English (Flow Controller).

The next step involves installing the signal lines of the controller.
To do this, on the far left of the block list, the menu is pressed.
Drop-down that accompanies the MaterialStream box to show the following
options:

As can be shown, they are not only signals directed towards the field of
process control, but also extends to other areas or situations
desired as are the cases of energy currents, polymers, work,
among others. However, since the aim of this work is to establish a study
dynamic of a chemical process, it is important to focus on the first ones. Of
in a similar way to the previous step, drag while holding down the right mouse button
this time in the icon named ControlSignal, towards the environment. At those moments
It is valid to observe the appearance of various blue arrows that stand out.
about the currents and process units. This is clearly seen in Figure
2.13.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Figure 2.13. Signal inputs and outputs in Aspen Plus Dynamics.

As can be seen, the appearance of these arrows serves the function of.
as source and destination ports for the control signals that are going to be
installed. To corroborate such an assertion, the dragged signal is connected to the arrow
what stands out at the bottom of the legend of the current FOOD, due to
that a more extensive list of the variables that present will be shown there
current, and therefore, higher probability of selecting the total molar flow; in it
A dialog box called 'Select the Control' can be observed.
Variable like that in Figure 2.14, where an extensive list is shown
possible control variables that are intrinsic to that current. Among them, there are
Select the total molar flow, abbreviated as Fy, and press OK.

After this, the appearance of the signal is shown, having as a point of

The food current is started, and then it must be taken to a point of
destination that in this case is the entry arrow towards the flow controller. To
When connected, another specifications window opens similar to that in Figure 2.14.
where only 2 variables are shown. The first is the process variable (PV)
and the second is the remote point (SPRemote). For this case, choose the first one.
because the variable that is going to be controlled is being introduced, which consists of the
food flow; and it presses OK. This is simply reflected in the Figure
2.15.

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Figure 2.14. Window to select the control variable for the FEED current.

Figure 2.15. Control variable selection window (PV) at the controller input
of flow.

Now we proceed to create the signal that communicates from the output of the controller.
towards the opening of the valve VL-101. Drag another control signal and link it
with the output of the controller, where the appearance of a new window occurs
that question about the selection of a variable (See Figure 2.16). Select the
output variable of the controller (OP) and press OK. In this way, it is sent as
destination to the arrow that is arranged as a receiver in the valve VL-101 and the loop is
he has created.

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Figure 2.16. Output selection window of the controller (OP) at the output of
flow controller.

It should be noted that for better convenience and organization of the way
in which the signal lines are distributed, the direction of the
entradas y salidas (flechas azules) en el entorno de la simulación sin problema
some. The flow control loop can be clearly seen in Figure 2.17.

Figure 2.17. Representation of the control loop of the FEED current.

The next phase, after installing the driver, consists of the

tuning this. To do that, double click on the driver icon and
In this way, a cover is displayed where the values are represented.
numerical for the 3 main variables of a control loop: variable of

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process (PV), set point (SP) and controller output (OP), as recorded by the
Figure 2.18.

Figure 2.18. Cover of the flow controller of FOOD.

In addition to not being able to observe the true profiles of the variables due to
that are not tuned in, a menu bar can also be seen
own, where a series of boxes is presented that carries a function
specific within the loop:

The first titled Auto has the function of automatic control action within.
of the loop ;

the second is known as Manual, and as its name indicates, it establishes the
manual control mode ;

the third (Cascade) is for cascade control configuration ;

the fourth (Display percentage values) serves to adapt the values of the
cover in terms of percentages ;

the fifth (Configure) opens the settings window to enter the

controller parameters (gain, integral or derivative time, limits,
among others);

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the sixth (Plot) is responsible for illustrating the behavior of the 3 variables with
regarding the time ;

and the last (Tune) is specialized in showing various options of

tuning for the acquisition of parameters, referring to the methods in
open or closed loop .

Among all these previously mentioned boxes, we select Configure and it

observe how a window emerges containing several panels. At the same time, each
the panel performs a defined function known as Tuning, in which it
configuration specifications are entered respectively such as the
tuning parameters of conventional interest such as gain, time
integral and the derivative time; and also to adjust the action of the valve (direct
or the reverse). Similarly, the panelRanges is found; it is responsible for
introduce the values in the ranges that are permissible for the variables of
process and set point as for the output signal value (percentage of opening).
The options for each panel are shown in Figure 2.19.

To introduce the correct reference values (set point) with their respective
range. Click on the Initialize Values button, located at the bottom left of
the configuration window. It is observed how the set point value was adjusted.
to the default value of molar flow of food which is 100 kg-mol/hr. Similarly
In this way, it can be seen in the following panel that the range for the process variable
the setpoint ranges from 0 to 200 kg-mol/hr.

Returning to the tuning panel, adjust the controller action to reverse

because the greater the flow in the feed current, it is necessary to reduce the
opening of valve VL–101 for satisfactory control.

According to Luyben's heuristics for flow control, an action is employed.

proporcional–integral (PI); por lo tanto se deben introducir como parámetros de
tuning a gain of 0.5 and an integral time of 0.3 minutes only.
In Figures 2.20 and 2.21, the successful tuning process can be conceived.
as both the cover and the settings window reflect.

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a) b)

Figure 2.19. ALIMENTO flow controller settings window. a) Control panel

{"tuning":"tuning.","range_specification_panel":"b) Range specification panel."}

Figure 2.20. Tuned cover of the ALIMENTO flow controller.

B. Liquid level control of the phase separator

Similarly, the other drivers for the process will be installed.

For example, in the case of the level controller, an input signal is inserted.
whose origin is the phase separator unit and has as a variable of

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process (PV) the liquid level in said container; this is selected as it

observe in Figure 2.22.

a) b)
Figure 2.21. Full configuration of the flow controller. a) Tuning panel. b)
Range specification panel.

It is pressed OK, and the signal is sent to the controller installed as PV. As for
at its starting signal, the valve opening percentage (OP) is connected
towards VL–103.

In this type of controller, a direct action is used because at a higher level of

liquid, it is necessary to increase the flow of the LIQUID current in the separator to
counteract this effect.

The parameters that should be used according to heuristic rules according to Luyben, is a
profit of 2; due to the fact that the action is only proportional (P), it must be
achieve with a highly significant integral time. Then, arbitrarily,
enter a value of 1 x 106minutes.

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Figure 2.22. Selection of liquid level as a process variable.

The ranges for the process variable consist of 25 and 75% of the total length.
of the separator which is 1.947 m. As for the range for the output signal, it consists
in the valve opening percentages that appear by default
(0 to 100%).

According to this, the cover and the configuration table after being
initialized, they must have or enter the values shown in the
Figures 2.23 and 2.24.

Figure 2.23. Cover of the liquid level controller in the phase separator.

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a) b)
Figure 2.24. Configuration panel of the liquid level controller of the separator
["a) Tuning panel.","b) Range panel."]

C. Control of the separator pressure

For the case of the pressure controller, a controller is installed whose signal of
input (PV) is the separator pressure and the output (OP) is sent to the
valve VL–102.

This controller has a direct action because the higher the pressure inside the
container, it is required to increase the opening of the valve located in the line of
vapor coming from that unit. That is why, upon initializing, you click on action
directly to specify it simultaneously. According to Luyben, the controller of
pressure has a PI action, therefore, the tuning parameters for this
The controller consists of a gain of 2 and an integral time of 10 minutes. How
a value of 5 bar is desired, the conditional range for this variable will oscillate
between 4 and 6 bar. The information of the

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cover of the controller after being initialized and that of the window of
The configurations are depicted in Figures 2.25 and 2.26.

Figure 2.25. Cover of the pressure controller of the separator.

a) b)
Figure 2.26. Configuration window for the pressure controller. a) Panel of
tuning. b) Range panel.

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D. Control of the separator temperature

Finally, in the temperature controller, it is initially inserted as

input signal or variable to control, the temperature of the phase separator and
as an output signal of the controller the heating energy that has
same separator. Therefore, the OP is connected to the separator by selecting the
specified heating duty (Qr), which is the thermal load supplied for
grant the separator the necessary phase equilibrium during the separation of its
products, as stated in Figure 2.27.

Figure 2.27. Selection of the manipulated variable for temperature control in the
phase separator.

Due to the fact that the valves lack physical relevance in terms of handling
of the energy currents during chemical processes, it is necessary to use the
heating energy variable as a regulation alternative for
achieving satisfactory temperature control. This variable is identified as
the amount of energy that is supplied inside the

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container, which is specified with the option constant duty before its
export from Aspen Plus.

So the next step is to set up the controller. This controller

it has an inverse action due to an increase in the temperature of the separator
it implies a decrease in the amount of energy current that is conferred
to the separator to thus reduce that temperature. The tuning parameters
advisable for this situation (despite being extracted by successive
trial and error tests are completely ideal, unlike the process
that includes the presence of delays and downtimes at the time of
controlling this variable) are a gain of 10 and an integral time of 1 minute. The
the temperature range to be controlled must be ± 2 of the steady-state value
which is equivalent to 30°C; that is, between 28 and 32°C. Furthermore, it is considered as a range
for the output variable, the values for the manipulation of the energy flow of
warming, which are analogous to the opening percentages of a
valve, they emphasize the extreme limits within which it is allowed to regulate
the heating energy flow in the separator. For this case, the limits
Ideal values for the manipulated variable should fluctuate around a value of ± 0.02
MMkcal/hr; that is, it is specified between 0.062212 and 0.102212 MMkcal/hr.

So, the controller cover and the configuration box after the
initialization, they should be displayed as in Figures 2.28 and 2.29.

Figure 2.28. Cover of the temperature controller.

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a) b)
Figure 2.29. Temperature controller configuration panel. a) Panel of
tuning. b) Range panel.

Once the installation of all the drivers is completed, the

The general diagram should be visualized as shown in Figure 2.30.

Figure 2.30. General control diagram in a phase separator.

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2.7. Analysis and discussion of results

System control performance

Next, the covers for each controller are opened and organized.
most preferable way possible, as illustrated in Figure 2.31. In them, you can
appreciate the values of the signals from all the controllers.

Figure 2.31. Activated covers.

Once all the described requirements are specified, the simulation is saved,
in this way, when opened, the starting point will be the control system
installed in its entirety, avoiding the arduous task of repeating the steps
previously mentioned.

The next step to execute is to specify the communication time, which

consists of an option to specify the amounts of significant figures that

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they want to study during the runs that take place. For example, for this
if one wants to study from a time of 0.001 hours, this is done because
In Aspen Plus Dynamics, it is effective to use very short time quantities.
small for systems characterized by a fast dynamics and thus be able to
guarantee proper monitoring of the behavior of the variables in
different points in time. To adjust this communication time value, it
move to the toolbar, the button Run Options is sought that is next to
From the buttons to control the simulation run, it is pressed and displayed.
a dialog box like the one shown in Figure 2.32. It can be observed
4 cuadros como modo de corrida, control de tiempo, unidades de tiempo y control
from the simulation. Emphasis is placed on the second and an option will be visualized.
referred to as communication time, in which the respective value is introduced
mentioned.

Figure 2.32. Run Options dialog box.

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Then, in the fourth box, an option called 'Pause at' is shown, which
allows you to adjust a specific time value to indicate the moment in time
where the simulation will be paused; and in addition to that, it grants the option of
activate or deactivate it when required. From this, enter a value of 2
What time is preferable to observe the performance of each controller?
and it activates by simply pressing the box next to the option's name.

After this, click OK and it will safely proceed to run the

simulation. Press the Run button, and you will be able to observe the behavior of
the signals and movements of the covers of each controller. In them, they
you can see how the variables remain stable in their values of
reference. This event can be observed until the pause time, which is 2
hours. In the end, a window will pop up announcing the completion of the run.
Press Accept.

The graphs that describe the dynamics of the different variables involved in
The process is presented in Figures 2.33, 2.34, 2.35, and 2.36.

Figure 2.33. Response signals of the molar food flow control.

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Figure 2.34. Response signals of the liquid level control in the phase separator.

Figure 2.35. Response signals of the pressure control in the phase separator.

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Figure 2.36. Response signals of the temperature control in the phase separator.

As can be seen in each of these figures, each signal adjusts to

a scale and respective color, as is the case of the process variable (PV) is a
light blue line, the set point (SP) in dark blue and the output of the controller (OP) is
green. Note that those that share the same system of units are adjusted
to the same order as is the case with PV and SP, which in each scheme has a
suitable unit either kilograms - mol per hour, meters, bars or centigrades; to
difference of the OP that has its own ordinate that adjusts to the units of
according to the context required such as the opening percentages in the
valves during flow, level, and pressure control or the energy units that are
they observe in the temperature control.

Considering the case of the feed current control represented in the

Figure 2.33 shows how its PV remains stable as its value in the SP.
what is 100 kg-mol/hr and the controller's output signal is maintained at a value
of 50%. There are cases where the signals converge on the same line or the
ordered values present an unconventional order, causing a profile
unusual for the variable. Due to this, for the user's greater convenience or
Student, it is possible to adjust the ordinates according to your own convenience.
by simply right-clicking on the ordinate that you want to adjust, which
unfold the edit option, and a box will appear that shows

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axis specifications such as scale type, start and end values, interval
among the values, among others; this type of chart is the one shown in Figure
2.37.

Figure 2.37. Scale adjustment box.

Referring to the liquid level control system, it is evident how the variable
the process is maintained at the value of the set point which is 0.9734 m, as it
shown in Figure 2.34. The same happens with the output signal of the controller
which remains at a 50% opening value. Because the PV is not visible
Exactly, the signal of this is superimposed on that of the set point due to the
management of scales in which it is located. If the user wishes to admire better
one way or the other, you can double click on the signal line, and it will be displayed
a table with a list of specific properties to differentiate the curves such as
they are the colors, types of lines, among others.

In Figure 2.35, it is observed that, like the previous ones, the PV of the control of
Pressure adheres to the reference value which is 5 bar and the OP remains fixed.

Finally, in Figure 2.36 the permanence of the PV in the value of

permitted temperature in steady state which is 30°C and the thermal load
required is maintained statically at a value of 0.0822 MMKcal/hr.

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Controller performance against disturbances

Regarding the analysis, it is valid to forgo as the control in the separator has
viable result for each of the variables to be controlled. Next, the search is made
study how the general system responds to a disturbance at the level of
separator liquid. To do this, the simulation must be restarted, that is, from the
starting point (0 hours). Press the Re-start button located on the right of the
Pause. At that moment, the responses of the variables are observed.
they disappear in the graphs.

First of all, a new pause time of 0.5 hours needs to be adjusted, and it
perform a run. Once the simulation has stopped, it should be located on the cover
from the LC controller, the SP value was changed from 0.9734 to 1.2 m, it also
introduce a pause time of 2.5 hours and proceed to run the simulation; it
You should remember to carefully observe the variations that the
variables on the covers and graphs of the controllers. As a final condition,
In the cover of the LC controller, the PV value is cleared to insert the value.
original (0.9734 m); a new pause time of 4.5 hours is set, proceeding
to run a simulation and see the changes presented.

It is also recommended to change the color of the PV for each graph, in this way
you will be able to better appreciate the profile of that variable. This is done by double-clicking on
the signal graph and a properties box for the curves is displayed.
Then, the curve that you want to apply the change to is selected first, then
one of the preset colors (red for this situation), then you press
Apply laterAccept. This box is admired in Figure 2.38.

In the food flow controller, it can be seen in Figure 2.39 that the
the values of the variables remain uniform during the time span
Presented. Despite the presence of disturbances, there is no indication of influence.
about the variables in this controller, implying in this way that it is a
effective controller as long as a servo control analysis is not applied in this loop,
that is, the set point of the flow controller should be altered.

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Figure 2.38. Properties window for signal graphs.

Figure 2.39. Responses of the feed current controller to the disturbance.

Checking the liquid level control situation in Figure 2.40, it is possible to

appreciate how the control responds to the effect of the disturbance through the
adaptation of the PV to the new value of SP which is 1.2 m in an approximate time
of 1 hour. This is done through a rapid decrease in the opening
from the valve VL–103 lower than 25% to then stabilize at 50%. After

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when the SP is restored, one can admire how the opening increases dramatically
its opening above 75% to compensate for the decrease in PV. This is
achieved in approximately 3 hours.

Figure 2.40. Responses of the liquid level controller in the phase separator against
to a disturbance.

In contrast to the situation considered above, it presents itself as the

pressure controller of the separator counteracts a fluctuation presented in the
PV through an instantaneous increase in the valve opening percentage VL–
102 almost 50.4%, leading subsequently to stability in an average time.
of 2 hours. Once the liquid level returns to its original value, it is shown
since the valve must reduce its opening by almost 49.8% to compensate for the change
in the PV; and in this way, it is presented in a time of almost 4.25 hours.

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Figure 2.41. Pressure controller responses in the phase separator to the

perturbation.

Finally, in the case of temperature control, an analogous case was presented to

at the level at which the supplied heat flow had to be increased or decreased
drastically to counteract the effects on the process variables in
the shortest possible time. This is corroborated in Figure 2.42, justified during
and after the disturbance.

Discussion of results

As a conclusion, it is valid to infer how the control of the phase separator

it turned out to be effective to a certain extent, according to the characteristics attributed by
heuristic nature and other considerations. Even when the presence is attributed
from a disturbance variable in the process, the situation diverges slightly but
even so, the stability of the variables is maintained.

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Figure 2.42. Responses of the temperature controller of the phase separator.

Despite the fact that most of the disturbance was completely tied to
performance of the liquid level control in the separator was evident that the
controllerLClogra adjust the PV value to the new SP (valid in cases of
servo control), in addition to having only proportional action, which indicates a
absence of the offset. However, it would be advisable to study the performance of
a controller with proportional action when there are disturbances associated with
other process variables to grant a more feasible judgment.

Regarding the other controllers, they also proved effective, especially

the flow, because they mitigated the effects caused by the disturbances.
However, a special case was also carried out in which the pressure control loop
I present a high sensitivity to changes, pronouncing myself
mostly in the extended time ranges to maintain the variable of
process at the checkpoint.

Another aspect to note is about temperature control, due to the fact that the
control parameters were established empirically, as mentioned
still, they promote a significant impact during the process of

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control. Evidencing above all in the speed to counteract the influence of
the disturbances, thus consolidating itself as an efficient alternative
for the optimal functioning of this type of controllers.

With this, it can be confirmed that Aspen Plus Dynamics is subtle in the sense of
document the behavior of the process variables clearly in a
time interval, as long as the parameters or specifications are implemented
that best adapt to the situation that needs to be analyzed.

2.8. Bibliographic references

Smith C. A., Corripio A. B. Automatic process control: theory and practice. 2

Mexico: Noriega Limusa, 1991; 20.

Arantegui J. Process Control 2010–11. June 2, 2013; 10–12

[Internet] (consulted 2014 September 14). Available en:
[Link]
es_10-[Link].

Luyben W. L. Plantwide dynamic simulators in chemical processing and control.

2nd ed. New York: Marcel Dekker, Inc, 2002; 45–46, 51, 67, 75, 82.

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3. TUNING OF CLOSED LOOP CONTROLLERS: ZIEGLER-
NICHOLS

3.1. Introduction
The crucial aspect in the overall scheme for designing a controller is known
as "Controller Tuning" because it is indeed about the adjustment of the
controller parameter values to achieve the objective
specified in the system performance within the closed control loop.
The process of selecting the controller parameter values can
carried out by various procedures with different degrees of accuracy. Without
embargo, there is something in common among all of them: all the tuning methods
drivers are based, explicitly or implicitly, on some form of
prior characterization of the process.

Controller tuning methods can be classified into two

categories depending on whether or not the model of the process is explicitly available. The
The first category is usually referred to as 'Model-based Controller Design.'
and includes, among others, procedures that use the process model or
approaches to said model and rules for the assignment of the values of the
parameters based on the latest values of steady gain and period of
the sustained oscillatory response of the closed-loop control system to obtain a
response with a certain margin of stability ensured. In the second category,
methods such as online tuning and auto-tuning are included
(ATV) in closed loop.

A. Closed-loop auto-tuning (ATV)

Many process control systems have a tuning capability.

automatic (auto-tuning). In them, the operator just presses the button
auto-tuning and obtains the automatic tuning of the controller, that is,
determine the values of the dynamic parameters. This method uses a
two-position switch ('Relay'), which consists of the output signal of the
the controller only has two values, one maximum which is the value of the variable
manipulated in steady state plus the amplitude of the relay (ℎ) and another minimum that

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it is the value of the manipulated variable in steady state minus the amplitude of the
relay(ℎ)The sustained oscillatory behavior of the variable to control (PV)
resulting is analyzed to determine the last period ) What is time
elapsed during an oscillation, and the amplitude of the wave with respect to the set
point(SP) that allows calculating the ultimate gain in the following way:

4h
= [3.1]

For a direct action controller, when PV is greater than SP, the output signal
of the controller takes its maximum value. When PV is less than SP, the output signal
the controller takes its minimum value. If the controller action is inverse,
It works the other way around. It is important to select the action of the controller correctly.
before carrying out this test.
After determining the parameters of the process (ultimate gain and period
last) through the ATV method, a tuning procedure must be used
of controllers for the specification of the parameters of a controller. A
the appropriate method is the use of the Ziegler-Nichols values (Table 3.1).

Controller
P

PI
. .

PID
.

Table 3.1. Ziegler–Nichols Rules.

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Angello Roncancio Ortega

B. Dead Time

Regarding the simulation in Aspen Plus Dynamics, the ATV method in closed loop
It is only effective if a dead time element is inserted into the control loop.
It is known as dead time. 0 as time passes for the variable of
output is affected due to a change or disturbance in the input variable.
This type of delay is generally caused by the transport of fluids through
due to extensive piping, or due to delays in sample measurement or other factors but
never due to the dynamics of the system itself.

3.2. Statement of the problem

The process considered is a mixing tank with a capacity of 1000 gallons,
in which 100 lb/mol of pure ethanol is diluted at 90°F and 150 psia until a
concentration of 14.15% with a flow rate of 600 lb-mol/hr of pure n-Pentane at
90°F and 150 psia. A stream of pure nitrogen with a molar flow of 10 lb-mol/hr
At 90°F and 150 psia, it is fed into the mixer in order to regulate the pressure of the
tank. The tank operates at a pressure of 110 psia and with a liquid level of 50%.
This system has five valves, one in each of the flows.
food, one in the venting line, and another in the tank's discharge line
installed after a pump used to transport the ethanol mixture
diluted. In the simulation of this process unit, a controller is installed for
liquid level of the tank, a tank pressure controller, a controller of
flow for the food streams of Nitrogen and n-Pentane, and a controller of
composition of Ethanol in the discharge line.
This practice uses one of the tools available in Aspen Plus.
Dynamics for the estimation of dynamic parameters, which consists of the
ATV closed loop tuning method. It also illustrates what it is like.
performance of the composition controller against different disturbances.

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Angello Roncancio Ortega

3.3. Fluid package

Equation: RK-ASPEN
Components: Ethanol, n-Pentane, and Nitrogen
Units: System ENG
Reactions: There isn't any

3.4. Steady State Simulation

Open a new case in the Aspen Plus simulator and once it is displayed
In the main window, click on the Setup folder in the navigation panel.
the open window on the right introduces the name of the simulation in the
marcoTitlecomo “Tanque de dilución” y en el botón desplegableGlobal unit set
the ENG system of measurement units is selected.

Press the Next Input button on the toolbar, which will

expand the Components folder in the navigation panel. In the window
deployed to the right, introduce the components Ethanol, n-Pentane, and
Nitrogen.

Press the Next Input button on the toolbar, which will display
the Methods folder in the navigation panel. In the dropdown window to the
right, select in the dropdown button 'Method name' the method for the
calculation of properties titled RK-ASPEN.

Once the above has been done, the necessary data for the
estimation of the properties are fully specified. Proceed to
enter the simulation environment. The flowchart is constructed as
appears in Figure 3.1.

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Angello Roncancio Ortega

Figure 3.1. Flow diagram of the dilution tank.

Click on the Streams folder in the navigation panel and specify the
nitrogen, n-pentane, and ethanol as described in the statement
of the problem.

Select the Block folder in the navigation panel and specify the
dilution tank V-101 as shown in Figure 3.2. In the same folder
Blocks, select pump P-101 and specify with a pressure increase
of 50 psi. Regarding the valves VL-101, VL-102, and VL-103, they have a
pressure drop of 40 psi while valves VL-104 and VL-105 have a
pressure drop of 90 psi. After this point, everything has been specified
the necessary data for the simulation to converge satisfactorily, is
proceed to press the Run button.

3.5. Equipment sizing

Once the simulation converges without warnings or errors, the selection is made.
carpetaSetupen el panel de navegación, y en el marcoGlobal settingsse hace
click on the dropdown button Input mode to change the option that comes by
steady-state defect dynamic what allows to size the equipment of
process.

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Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Figure 3.2. Specifications for the dilution tank V-101.

In the folder Blocks, select the tank V-101 and then in the menu
deployed, the Dynamic option is pressed. In the window that appears to the
right, in the panel specify the height (8.7972 feet) and the diameter
(4,3986 feet) of the tank as shown in Figure 3.3; while in the
the panelControllers deselect the two options as observed in the
Figure 3.4 so that the simulator does not install drivers in this way.
automatically. In the Initial Conditions tab, the fraction can be seen
of liquid volume at its default value which is 0.5.

Figure 3.3. Dilution tank dimensions.

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Figure 3.4. Drivers to install.

Before exporting the simulation to Aspen Plus Dynamics, it is necessary

make a change in the valve that will regulate the tank pressure. It
select the valve VL-104 and in the Flash options frame click the button
Dropdown Valid phases to change the default option of Vapor-
LiquidaVapor-Only, this allows the simulation in dynamic state to be more
quick and robust as the calculations in this valve will only be carried out in phase
vapor. Press the Run button once it converges.
simulation, this is saved under the name Online Tuning [Link].

3.6. Export to Aspen Plus Dynamics

To verify that the simulation is set up correctly for your
rear use in dynamic state, click on the Pressure Checker icon
shown in Figure 3.5, the message shown in Figure 3.6 must appear.
To export the simulation to Aspen Plus Dynamics, click on the File panel.
and in the Export option, Pressure driven simulation is selected, and it is saved
file with the extension .dynfcon with the same name and in the same folder where it
saved Tuning online [Link] as shown in Figure 3.7. After
upon saving the file, the box shown in Figure 3.8 appears where it is shown
information about export to dynamic state simulation.

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Angello Roncancio Ortega

Figure 3.5. Pressure Checker Button.

Figure 3.6. Pressure Checker Message.

Figure 3.7. Export to Aspen Plus Dynamics.

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Angello Roncancio Ortega

Figure 3.8. Information on the export to the dynamic state simulation.

3.7. Dynamic state simulation

Initialization run

Initially, click on the dropdown button Run Mode to change the option.
which comes by default DynamicInitialization as shown in Figure 3.9 and
the Run button is pressed This initialization run is carried out for
make sure that the simulation is correctly specified and also allows
save your current state. Once the message shown in Figure 3.10 appears
it is re-selected Dynamic in the dropdown button Run Mode.

Installation of the n-Pentane feed flow controller

In the model library located at the bottom of the interface, in the panel
Press the Dead_time icon to install a dead time element
in the flowchart and is named DT1. In the same Controls panel, press
the iconPIDIncrto install a driver in the flowchart and it

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nameFC1. Click on the dropdown button for current types and in the menu
what appears is selecting the option ControlSignal as shown in Figure
3.11, when doing this the main locations where the signal appears
control can be connected represented by blue arrows in the currents and
units of the flowchart.

Figure 3.9. Change of running mode.

Figure 3.10. Initialization run message.

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Figure 3.11. Installation of the feed flow controller for n-Pentane.

You click on the arrow that comes out of the current-Pentano, to specify
as a control variable the total molar flow in the window that appears doubles
click on the Total mole flow option as shown in Figure 3.12, then
connect this signal to the dead time element DT1. A signal is installed
control that comes out of the dead time element and enters the controller FC1,
the window that appears, the option Process variable is selected as observed in the
Figure 3.13.
To specify the opening of the valve VL-102 as the controllable variable, we
click on the controller output signal and choose the Controller option
output as shown in Figure 3.14, connecting sequentially to
accessory.

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Angello Roncancio Ortega

Figure 3.12. Control variable in the n-Pentane current.

Figure 3.13. Inlet to the n-Pentane feed flow controller.

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Figure 3.14. Output of the n-Pentane food flow controller.

Para configurar el elemento de tiempo muerto se hace clic derecho sobre su icono,
in the dropdown menu, the Forms option is selected and clicked on
Configure to specify a value of 0.1 minutes for the dead time as
illustrated in Figure 3.15. Once again, right-click on the icon DT1 and in
The option Scripts from the dropdown menu is clicked on Initialize.

Figure 3.15. Dead time element configuration.

Double-click the controller icon to make its faceplate appear.

press the Configure button. Doing the above brings up the window
[Link] where you proceed to specify the type of action of the controller and
the permissible ranges of the control variable.

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Initially, the type of controller action is chosen as reverse.
then click on the Initialize Values button. In the Ranges panel, it is specified
el valor máximo (1000 lb-mol/hr) y mínimo (200 lb-mol/hr) para la variable a controlar
as shown in Figure 3.16.

Figure 3.16. Ranges of the n-Pentane feed flow controller.

Auto-tuning of the n-Pentane feed flow controller

Before starting the test, click on the Run options button. for
specify a communication time of 0.001 hours as shown in the Figure
3.17. By doing the above, the simulation time will advance more slowly and will allow
better observe the changes in the variables on the graph.

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Angello Roncancio Ortega

Figure 3.17. Options for simulation time.

To perform auto-tuning, click on the Tune button. delFaceplate

from the controllerFC1. Once the [Link] appears, in the panelTest
choose the closed loop self-tuning method (Closed loop ATV) and leave it
the default value of 5% for relay. To start the test, click on the button
Then run in the window FC1. Then press the Start test button. Press the button
Plot delFaceplate the controller to visually observe the variation of the
variables. To better appreciate the response of the control variable, double the
click on the graph to open its configuration menu, in the Variables frame
select the process variable (PV), choose the red color and press the button
Accept. Right-click on the graph and in the dropdown menu, press
about the Full Zoom option. The test stops when the PV response is a
constant amplitude oscillation (Figure 3.18); allowing the simulator to
way, calculate the ultimate gain and the last period. To do that, first
the Pause button is pressed and then the Finish test button of the window [Link]
to calculate the ultimate gain and the last period as shown in the Figure
3.19.

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Figure 3.18. Response of the control variable during the auto-tuning.

Figure 3.19. Gain and last period for FC1.

Once the characteristics of the loop are obtained, the Rewind button is pressed.
and double-click on the Dynamic Initialization option as shown in the
Figure 3.20 for the simulation to return to the state it had before performing the
test.

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Figure 3.20. Different states of the simulation.

In the panel Tuning parameters of the window [Link], go to the frame

Tuning parameter options to select the Ziegler-Nichols rules for a
proportional-integral (PI) controller as shown in Figure 3.21, is
press the Calculate button and then the Update controller button so that the
dynamic parameters estimated from this method should be specified in the
controllerFC1.

Figure 3.21. Parameters estimated from the Ziegler-Nichols rules.

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Angello Roncancio Ortega
Installation of the nitrogen feed flow controller

A dead time element is installed in the flowchart and is named DT2.

A controller is installed in the flowchart and named FC2. A click is made.
about the arrow that comes out of the current Nitrogen, to specify as a variable of
control the total mole flow, then this signal is connected to
dead time element DT2. A control signal is installed that comes out of
dead time element and enters the controller FC2 as PV. To specify the
opening of the valve VL-101 as the controllable variable, click on the signal
controller output, the option is selected and connected to the
valve VL-101.
To set up the timeout element, right-click on it.
icon, in the menu that appears select the option Forms, and click on
Set to specify a value of 0.1 minutes for the dead time. Once
Right click on the icon DT2 and in the Scripts option from the menu
Click on Initialize. After opening the Faceplate.
controller and its configuration window, select the type of action of the
controller as inverse and click the button Initialize Values. In the panel
The range specifies the minimum value (5 lb-mol/hr) and maximum (15 lb-mol/hr) for the
control variable.

Auto-tuning of the nitrogen feed flow controller

To perform auto-tuning, click on the Tune button. delFaceplate

from the controllerFC2. Once the [Link] appears, in the panelTest
choose the closed loop autotuning method (Closed loop ATV) and leave it there
the default value of 5% for the relay. To start the test, you must click
about the Run button, and then the Start test button in the [Link] window.
The Plot button is pressed deleteFaceplate delete the controller to observe graphically
the variation of the variables.
To better appreciate the response of the control variable, double-click on
the graph to open its configuration menu, in the frameVariables, is selected
the process variable (PV) is chosen in red and the button is pressed

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acceptButton. Right-click on the graph and in the menu that appears
Click on the Zoom Full option. The test stops when the PV response
it is an oscillation of constant amplitude (Figure 3.22) which allows the simulator
calculate the last gain and the last period. First, press the button
Pause and then the button Finish test of the window [Link] to calculate the
last profit and the last period as shown in Figure 3.23.

Figure 3.22. Response of the control variable during the self-tuning.

Once the characteristics of the loop are obtained, the Rewind button is pressed.
and double-click on the Rewind Initialization option as shown in the
Figure 3.24 for the simulation to return to the state they had before performing the
test.
In the panel Tuning parameters of the window [Link], go to the frame
Tuning parameter options to select the Ziegler-Nichols rules for a
proportional-integral (PI) controller as shown in Figure 3.25. It
press the Calculate button and then the Update controller button so that the
dynamic parameters estimated from this method are specified in the
FC2 controller.

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Figure 3.23. Gain and last period for FC2.

Figure 3.24. Different states of the simulation.

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Figure 3.25. Estimated parameters based on Ziegler-Nichols rules.

Installation of the liquid level controller in tank V-101

A dead time element named DT3 is installed in the flowchart.

and a controller in the flowchart titled LC. One of the is clicked on
arrows that come out of the V-101 tank, to specify the level as a control variable
of liquid in the tank (Liquid level), then this signal is connected to the element of
dead time DT3. Then, a control signal is inserted that comes from the element
of dead time and enters the controllerLC as PV. To specify the opening
from the valve VL-105 as the controllable variable is clicked on the signal of
controller output, select the option and connect it to the valve
VL-105.
To configure the timeout element, right-click on its icon;
in the dropdown menu, choose the option and click on
Configure to specify a value of 1.5 minutes for the dead time. Once
Right-click on the DT3 icon and select Scripts from the menu.
Click on Initialize. After opening the Faceplate.

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controller and its configuration window, the type of action is selected from the
controller as direct and click on the Initialize Values button.
el panelRangesse especifica el valor máximo (6,5979 pies) y mínimo (2,1993 pies)
for the control variable.

Autotuning of the liquid level controller in tank V-101

To perform the auto-tuning, click on the Tune button. delFaceplate

from the controllerLC. Once the window [Link] appears, in the panel Test
choose the closed loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for relay. To start the test, click on the button
Then run in the window LC. You press the Start test button. Click is made
about the Plot button delFaceplatedel controller to graphically observe the
variation of the variables. To better appreciate the response of the control variable
double click on the chart to open its configuration menu, in the frame
Select variable PV, choose the color red, and press the Accept button. Do it.
right-click on the graph and in the dropdown menu, click on the Zoom option
Full. The test stops when the PV response is an amplitude oscillation.
constant (Figure 3.26), allowing the simulator in this way to calculate the
profit and the last period. For that, first press the button Pause
and then the Finish test button of the [Link] window to obtain the values that
they are shown in Figure 3.27.
Once the characteristics of the loop are obtained, the Rewind button is pressed. y
double click on the Rewind Initialization option as shown in the Figure
3.28 so that the simulation returns to the state it was in before performing the test.
In the Tuning parameters panel of the [Link] window, go to the Tuning frame.
parameter options to select Ziegler-Nichols rules for a controller
proportional (P) as shown in Figure 3.29, the Calculate button is pressed
and then the Update controller button for the estimated dynamic parameters to
from this method should be specified in the controllerLC.

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Figure 3.26. Response of the control variable during the auto-tuning.

Figure 3.27. Gain and last period for LC.

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Figure 3.28. Different states of the simulation.

Figure 3.29. Parameters estimated from the Ziegler-Nichols rules.

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Installation of the pressure controller in tank V-101

A dead time element named DT4 is installed in the flow diagram.

a controller titled PC. Click on one of the arrows coming out of the tank
V-101 to specify the pressure in the tank as PV (Pressure). After that...
signal is connected to the dead time element DT4. A signal of
control that comes out of the dead time element and enters the PC controller as PV.
To specify the opening of the valve VL-104 as the manipulable variable, one
click on the controller exit signal, select the option Controller
output, and it connects to that valve.
To configure the timeout element, right-click on its icon,
In the dropdown menu, select the option Forms and choose Configure to
specify a value of 1 minute for the downtime. Once again, click
right over the icon DT4y in the Scripts option of the dropdown menu is done
clic [Link]és de abrir elFaceplatedel controlador y su ventana de
configuration, the type of controller action is selected as direct (Direct)
and the Initialize Values button is pressed. In the Ranges panel, the value is specified
maximum (160 psi) and minimum (60 psi) for the control variable.

Autotuning of the pressure controller in tank V-101

To perform auto-tuning, click on the Tune button. deleteFaceplate

of the PC controller. Once the [Link] window appears, in the Test panel
choose the closed loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for relay. To start the test, click on the button
Run, and then in Start test located in the [Link] window. Click on the
buttonPlot RemoveFaceplate the controller to graphically observe the variation
of the variables. To better appreciate the response of the control variable, it is done
double click on the graph to open its settings menu, in the frame
Variablesse selecciona PV, se escoge el color rojo y se presiona el botónAceptar.
Right-click on the chart and click on the menu that appears.
in the option Zoom Full. The test stops when the PV response is a
constant amplitude oscillation (Figure 3.30), allowing the simulator to calculate the
profit and the last period. First, it

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press the buttonPause and then the Finish test button of the [Link] window for
obtain the values shown in Figure 3.31.

Figure 3.30. Response of the control variable during the auto-tuning.

Figure 3.31. Gain and last period for PC.

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Once the characteristics of the loop have been determined, the button is pressed.
Double click on the Rewind Initialization option
shown in Figure 3.32 for the simulation to return to its initial state.

Figure 3.32. Different states of the simulation.

In the panel Tuning parameters of the window [Link], go to the frame Tuning parameter
options to choose the Ziegler-Nichols rules for a proportional controller
(P) as shown in Figure 3.33. Press the Calculate button and then the
Update controller so that the dynamic parameters estimated from this
methods are specified in the PC controller.

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Figure 3.33. Parameters estimated from the Ziegler-Nichols rules.

Installation of the ethanol composition controller

A dead time element is installed in the flow diagram and is named DT5.
A controller is installed in the flowchart and named CC. Click on
the arrow that comes out of the liquid current is specified as a control variable
mole fraction of ethanol as shown in Figure 3.34, then it is connected
this signal to the dead time element DT5. A control signal is installed that
leaves the dead time element and enters the controllerCC as the variable of
control. To specify the opening of the valve VL-103 as the variable
clicking on the controller's output signal, the
optionController output, and connects to the valve VL-103.
To configure the timeout element, right-click on its icon,
In the dropdown menu, select the Forms option and click on it.
Configure to specify a value of 3 minutes for the timeout. Once
right-click on the icon DT5y, in the Scripts option of the menu
dropdown, press on Initialize. After opening the Faceplate of
the controller and its configuration window select the type of action of

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controller as direct (Direct) and the Initialize Values button is clicked.
the panelRanges specifies the maximum (0.2415 lb-mol/lb-mol) and minimum value
(0.0415 lb-mol/lb-mol) for the control variable.

Figure 3.34. Entry to the dead time element.

Self-tuning of the ethanol composition controller

To perform auto-tuning, click on the Tune button. delFaceplate

from the controllerCC. Once the [Link] appears, in the panelTestse
Choose the closed-loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for relay. To start the test, click on the
Runy button then in the [Link] window press Start test. The button is pressed.
Plot deleteFaceplate the controller to graphically observe the variation of the
variables. To better appreciate the response of the control variable, it is done double
click on the graph to open its configuration menu, in the frameVariables
select PV, choose the red color and press Accept. A right-click is made
on the graph and in the dropdown menu, click on the Full Zoom option. It
stop the trial when the PV response is

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a constant amplitude oscillation (Figure 3.35) which allows the simulator
calcular la ganancia y el periodo últimos. Primero se presiona el botón el botón
Pause and then Finish test of the window CC. Tune to calculate the values
shown in Figure 3.36.

Figure 3.35. Response of the control variable during the self-tuning.

Figure 3.36. Gain and last period for CC.

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Angello Roncancio Ortega
Once the characteristics of the loop are obtained, the Rewind button is pressed.
and double click on the Rewind Initialization option as shown in the
Figure 3.37 for the simulation to restore its initial values.

Figure 3.37. Different states of the simulation.

In the panel Tuning parameters of the [Link] window, there is the option to estimate the
dynamic parameters using the Ziegler-Nichols (ZN) rules for
proportional action controllers (P), proportional-integral (PI), and proportional-
integral-derivative (PID). The performance of the three types is compared.
controllers to different disturbances.
In that window, go to the Tuning parameter options frame to select the
Ziegler-Nichols rules for a proportional (P) controller as shown in
Figure 3.38. Press the Calculate button and then the Update controller button.
for the dynamic parameters estimated from this method to be
specified in the controllerCC. It is necessary to keep the [Link] open
to compare the performance of different types of controllers.

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Figure 3.38. Estimated parameters based on Ziegler-Nichols rules.

3.8. Analysis and Discussion of Results

Performance of the ethanol action composition controller

proportional (P)

The Run options button is pressed, the Pause at checkbox is selected, and it is specified
a value of 0.5 hours for the simulation to stop at this time. It runs the
simulation and it stops automatically at 0.5 hours as observed in the
Figure 3.39.
On the FC1 controller's Faceplate, the set point is changed from 600 lb-mol/hr to 400.
lb-mol/hr of n-Pentane fed, a value of 4 hours is specified in the box.
Pause, and the simulation runs which automatically stops in 4 hours.
Then, on the controller's CC Faceplate, the set point is changed to 0.1415 lb-
mol/lb-mol to 0.16 lb-mol/lb-mol, a value of 8 hours is specified in the Pause box
And the simulation runs, which automatically stops after 8 hours.

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Figure 3.39. Options for simulation time.

Finally, the set points of both controllers are restored to their values.
initials, that is, in the controller FC1600 lb-mol/hr and in the controller CC0.1415
lb-mol/lb-mol. A value of 12.5 hours is specified in the Pause at box, and it runs.
the simulation. In Figure 3.40, the profiles of the signals can be observed.
studied variables.
According to Figure 3.40, it can be observed that as it is introduced
a disturbance to the control system, it does not find a way to counteract
the effects produced, making themselves noticeable with the presence of divergences between
the PV and SP signals (offset) and brief periods of oscillations.

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Figure 3.40. Performance of the P-action ethanol composition controller.

Performance of the ethanol composition controller action

proportional-integral (PI)

If the Rewind button is pressed, double click on the last Rewind Initialization
como se muestra en la Figura 3.41, para que la simulación vuelva al estado que
they had before evaluating the performance of the proportional action controller.

Figure 3.41. Different states of the simulation.

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In the panel Tuning parameters of the [Link] window, go to the Tuning frame.
parameter options to select the Ziegler-Nichols rules for a controller
proportional-integral (PI) as shown in Figure 3.42. The button is pressed
Then calculate the Update controller button for dynamic parameters.
dear from this method should be specified in the controllerCC. It is
it is necessary to leave the window open to compare performance
different types of controllers.

Figure 3.42. Parameters estimated from the Ziegler-Nichols rules.

The same analysis procedure is repeated using perturbations such as the

proportional control case seen before. In Figure 3.43, it is evident that a
PI controller proves feasible in terms of stability and efficiency,
however, it should be noted that there is a presence of longer oscillations
accompanied by a underdamped behavior but there is
An important advantage is that the comprehensive action contributes to the elimination of the offset.
permanent form, as opposed to proportional action. In more terms
qualified, this case shows better performance than the first.

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Figure 3.43. Performance of the ethanol composition controller with PI action.

Performance of the action ethanol composition controller

proportional-integral-derivative (PID)

The Rewind button is pressed, a double click is made on the last Rewind Initialization.
as shown in Figure 3.44, for the simulation to return to the state that
had before evaluating the performance of the proportional action controller
integral.

Figure 3.44. Different states of the simulation.

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In the Tuning parameters panel of the [Link] window, go to the Tuning parameter frame.
options to choose the Ziegler-Nichols rules for a proportional controller
integral-derivative (PID) as shown in Figure 3.45, the button is pressed
Then calculate the Update button controller for the dynamic parameters.
estimated from this method should be specified in the controllerCC.

Figure 3.45. Parameters estimated from the Ziegler-Nichols rules.

Like the analysis cases described above, we will work with the same
procedure for introducing disturbances to observe their performance in
PID action. The general scheme of the control system implemented in the unit,
it can be seen in Figure 3.46.
In Figure 3.47, a more reliable scheme than the PI action is obtained because
It is observed that the oscillatory responses of the signals tend to be less
prolonged than in the other cases, with the help of the derivative action, at the moment
to introduce disturbances, and more stable thanks to the elimination
permanent offset.

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Angello Roncancio Ortega

Figure 3.46. Flow diagram of the mixing tank in Aspen Plus Dynamics.

Figure 3.47. Performance of the ethanol composition PID action controller.

Discussion of results

Once the three cases of control action have been studied

previously, using the Ziegler–Nichols parameters, one can
to assert that this tuning method is very subtle in that

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provide the qualified parameters to fit the required situation.
Although the dynamic behavior of the system analyzed in each case presents
the expected indications according to the theoretical foundations mentioned in the sources
of traditional information.
Nevertheless, from a qualitative and practical point of view, it must be admitted that the
Ziegler–Nichols tuning method, presenting parameters for action
PID is the most preferable for optimal performance issues for systems.
of control. Clarifying in this way that it is the most subtle and coherent for
a multitude of applications in the field of Process Control.

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Angello Roncancio Ortega
4. CLOSED LOOP CONTROLLER TUNING: TYREUS-
LUYBEN

4.1. Introduction
The crucial aspect in the overall scheme for the design of a controller is known as
like "Controller Tuning" because it is indeed about the adjustment of the
parameter values of the controller to achieve the goal
specified in the system performance within the closed control loop.
The process of selecting the values of the controller parameters can
carried out by various procedures with different degrees of precision. Without
embargo, hay algo en común entre todos ellos: todos los métodos de sintonización
controllers are based, explicitly or implicitly, on some form of
a priori characterization of the process.

Tuning methods for controllers can be considered in two

categories according to whether or not the model of the process is explicitly available. The
The first category is usually referred to as 'Model-Based Controller Design'
and includes, among others, procedures that use the process model or
approaches to the process model, and rules for the assignment of values
of the parameters as a function of the last values of stationary gain and
period of sustained oscillatory response of the closed-loop control for
obtain a response with a certain margin of stability assured. In the
The second category includes methods such as online tuning, and that of
auto-tuning (ATV) in closed loop.

A. Closed-loop autotuning (ATV)

Many process control systems have a tuning capability.

automatic (auto-tuning). In them, the operator just presses the button
auto-tuning and obtains the automatic tuning of the controller, that is,
determine the values of the dynamic parameters. This method uses a
two-position switch (Relay), which consists of the output signal from the
The controller only has two values: one maximum, which is the value of the variable.
manipulated in steady state plus the amplitude of the Relayℎand another minimum that
it is the value of the manipulated variable in steady state minus the

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amplitude ofℎThe sustained oscillatory behavior of the variable to be controlled
The resulting (PV) is analyzed to determine the last period. ) What is time?
elapsed during an oscillation, and the amplitude of the wave with respect to the set
point(SP) that allows calculating the ultimate profit as follows:

4h
= [4.1]

For a direct action controller, when PV is greater than SP, the output signal
of the controller reaches its maximum value. When PV is less than SP, the output signal
of the controller takes its minimum value. If the action of the controller is inversed this
It works in reverse. It is important to select the controller action correctly.
before running this test.
After determining the process parameters (ultimate gain and period
last) using the ATV method, a tuning procedure must be used
for controllers for the specification of a controller's parameters. A
the appropriate method is the use of Ziegler-Nichols values; however these
tuning parameters are not robust and may result in responses
unstable in closed-loop systems when changes in conditions occur
of the process. The Tyreus-Luyben tuning rules (Table 4.1) provide
more conservative values with an increase in the robustness of the controllers.

Controller
PI .
.

PID .
. .

Table 4.1. Tyreus–Luyben Rules.

B. Dead Time

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Regarding the simulation in Aspen Plus Dynamics, the ATV method in closed loop
it is only effective if a dead time element is inserted into the control loop.
It is known as downtime 0 , as time passes for the variable of
output is affected due to a change or disturbance in the input variable.
This type of delay is generally caused by the transportation of fluids through
due to extensive piping, or delays in sample measurement or other factors but
never due to the inherent dynamics of the system.

4.2. Problem Statement

The considered process is a mixing tank with a capacity of 1000
gallons, in which 100 lb/mol of pure ethanol is dissolved at 90 °F and 150 psia until
a concentration of 14.15% with a flow rate of 600 lb-mol/hr of pure n-Pentane
at 90 °F and 150 psia. A stream of pure nitrogen with a molar flow of 10 lb-
mol/hr at 90 °F and 150 psia is fed to the mixer in order to regulate the pressure.
of the tank. The tank operates at a pressure of 110 psia and with a liquid level of
50%. This system has five valves, one in each of the streams of
food, one in the venting line, and another in the tank's discharge line
installed after a pump used to transport the ethanol mixture
diluted. In the simulation of this process unit, a controller is installed.
liquid level of the tank, a tank pressure controller, a controller of
flow for the nitrogen and n-pentane food streams, and a controller of
composition of Ethanol in the discharge line.
In this practice, one of the tools that Aspen Plus has is used.
Dynamics for the estimation of the parameters of the process (ultimate gain and
last period), this consists of the closed-loop ATV tuning method.
Once the ultimate profit and the ultimate period are calculated, the rules are used.
from Tyreus-Luyben to calculate the dynamic parameters of the controllers.

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Angello Roncancio Ortega
4.3. Dynamic state simulation
Since the process considered is the same as the previous guide, it can be initiated.
from the file extension .dynf exported from Aspen Plus to Aspen Plus
DynamicsCLOSED LOOP [Link].

Installation of the n-Pentane feed flow controller

In the model library located at the bottom of the interface, in the panel
Press the Dead_time icon to install a dead time element.
in the flowchart and it is named DT1. In the same panel Controls, it is pressed
the iconPIDIncrto install a driver in the flowchart with name
FC1. Click on the current types dropdown button and in the menu that
the option ControlSignal is selected as shown in Figure 4.1, to
perform this where the control signal may appear
connected, represented by blue arrows in the currents and units of
flowchart.

Figure 4.1. Installation of the n-Pentane feed flow controller.

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Click on the arrow that comes out of the current-Pentano to specify.
As a control variable, the total molar flow in the window that appears is doubled.
click on the option Total mole flow as shown in Figure 4.2, then you
connect this signal to the dead time element DT1. A signal is installed
control that comes out of the dead time element and enters the controller FC1. In the
The window that appears, select the option Process variable as seen in the
Figure 4.3.
To specify the opening of the valve VL-102 as the controllable variable, it
click on the controller exit signal and select the Controller option
output as shown in Figure 4.4, and is connected to that valve.
To configure the timeout element, right-click on its icon,
y se sigue la siguiente rutaForms→Configurepara especificar un valor de 0,1
minutes for the timeout as shown in Figure 4.5. Once again, it
right-click on the iconDT1 and on the optionScripts of the dropdown menu
click on Initialize.

Figure 4.2. Control variable in the n-Pentane current.

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Figure 4.3. Entrance to the n-Pentane food flow controller.

Figure 4.4. Output of the n-Pentane feed flow controller.

Then, double-click the controller icon for it to appear.

Faceplate where the Configure button is pressed. Upon doing the above, it appears
the window [Link] where the type of action is specified
controller and the permissible ranges for the control variable.

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Figure 4.5. Dead time element configuration.

Initially, the type of action for the controller is selected as reverse.

and then click on the Initialize Values button. In the Ranges panel,
especifica el valor máximo (1000 lb-mol/hr) y mínimo (200 lb-mol/hr) para la variable
to control as shown in Figure 4.6.

Figure 4.6. Ranges of the n-Pentane feed flow controller.

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Auto-tuning of the n-Pentane feed flow controller
Before starting the test, you must click on the Run options button
to specify a communication time of 0.001 hours. When doing the above
the simulation time will advance more slowly and will allow for better observation of changes
of the variables in the graph.

To perform auto-tuning, click on the Tune button. delFaceplate

from the controllerFC1. Once the [Link] appears, in the panelTestse
choose the closed loop auto-tuning method (Closed loop ATV) and leave it
the default value of 5% for Relay. To start the test, the Run button is pressed
and then Start test in the window [Link].

Then, click on the Plot button. deleteFaceplatedelete the controller for

Graphically observe the variation of the variables. To better appreciate the response.
double click on the graph from the control variable to open its menu
configuración, en el marcoVariablesse selecciona la variable de proceso (PV), se
choose the red color and press the Accept button. Right-click on the
graphic and in the menu that unfolds, click on the option Zoom Full.
stop the test when the PV response is an oscillation of amplitude
constant (Figure 4.7) which allows the simulator to calculate the gain and the period
last. First press the Pause button and then the Finish test button of the
[Link] to calculate the parameters as shown in Figure 4.8.

Figure 4.7. Response of the control variable during the self-tuning.

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Once the loop characteristics are obtained, the Rewind button is pressed. ,y
double click on the option Dynamic Initialization as shown in the
Figure 4.9 for the simulation to return to the state it had before performing the
test.
In the panel Tuning parameters of the window [Link], go to the Tuning frame.
parameter options to choose the Tyreus-Luyben rules for a controller
proportional-integral (PI) as shown in Figure 4.10. The button is pressed
Then calculate the Update controller button for the dynamic parameters.
Estimates based on this method are to be specified in the controller FC1.

Figure 4.8. Gain and last period for FC1.

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Figure 4.9. Different states of the simulation.

Figure 4.10. Parameters estimated from the Tyreus-Luyben rules.

Installation of the nitrogen feed flow controller

A dead time element named DT2 is installed in the flowchart.

and a controller named FC2. One clicks on the arrow that comes out of the
Nitrogen current is specified as the total molar flow control variable.

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(Total mole flow), then this signal is connected to the dead time element DT2.
A control signal is installed that comes from the dead time element and enters the
controllerFC2 as PV. To specify the opening of the valve VL-101 as
the controllable variable, click is pressed on the output signal of the controller, it
choose the option Controller output, and connect to it.
To configure the timeout element, right-click on its icon,
And the following route is followed: Forms → Configure to specify a value of 0.1
minutes for the timeout. Once again, right-click on the icon
In the DT2y optionScripts of the dropdown menu, click on Initialize.
After opening the controller's Faceplate and its configuration window,
Select the controller action type as inverse and click on the
button Initialize Values. In the panel Ranges the minimum value is specified (5 lb-
minimum (5 lb-mol/hr) and maximum (15 lb-mol/hr) for the control variable.

Autotuning of the nitrogen feed flow controller

To perform auto-tuning, click on the Tune button. delFaceplate

del controladorFC2. Una vez aparecida la [Link], en el panelTestse
choose the closed loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for Relay. To start the test, click on the button
Then run in the windowFC2. You press the Start test button. Click is done
about the buttonPlot ofFaceplatedel controller to visually observe the
variation of the variables. To better appreciate the response of the control variable,
double click on the graph to open its configuration menu, in the
MarcoVariables selects PV, chooses the red color and presses the button
Accept. Right-click on the chart and in the menu that appears...
click on the Full Zoom option. The test stops when the PV response
it is an oscillation of constant amplitude that allows the simulator to calculate the
last profit and the last period. First, press the Pause button. and then
the button Finish test of the window [Link] to calculate the parameters as
shown in Figure 4.11.

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Figure 4.11. Gain and last period for FC2.

Once the characteristics of the loop have been obtained, the Rewind button is pressed. y
double click on the Rewind Initialization option for the simulation to return
to the state it had initially.
In the Tuning parameters panel of the [Link] window, go to the Tuning frame.
parameter options choose the Tyreus-Luyben rules for a controller
proportional-integral (PI) as shown in Figure 4.12, the button is pressed
Calculate and then update the controller so that the estimated dynamic parameters
from this method be specified in the controller FC2.

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Figure 4.12. Parameters estimated from the Tyreus-Luyben rules.

Installation of the liquid level controller in tank V-101

A dead time element named DT3 is installed in the flowchart.

And controller titled LC. One of the arrows coming out of the tank is clicked.
V-101 specifies the liquid level in the tank as a control variable.
level), then this signal is connected to the dead time element DT3. It is installed
a control signal that comes out of the dead time element and enters the controller
LClike PV. To specify the valve opening VL-105 as the variable
clickable when you click on the controller's exit signal, the
optionController output, and connects to it.

To configure the timeout element, right-click on its icon,

and the following route is followed Forms → Configure to specify a value of 1.5
minutes for the timeout. Once again, right-click on the icon
In the option Scripts of the dropdown menu, click on Initialize.
After opening the controller's Faceplate and its configuration window, you

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select the action type of the controller as direct (Direct) and click on
the button Initialize Values. In the panel Ranges, the maximum value is specified (6,5979
maximum (2,1993 feet) and minimum (2,1993 feet) for the control variable.

Self-tuning of the liquid level controller in tank V-101

To perform auto-tuning, click on the Tune button. removeFaceplate

from the controllerLC. Once the [Link] appears, in the panelTest
choose the closed loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for relay. To start the test, click on the icon
Run then in the window LC. Press the Start test button. Click
about the buttonPlot deleteFaceplate delete the controller to graphically observe the
variation of the variables. To better appreciate the response of the control variable
double click on the graph to open its settings menu, in the frame
Select PV from variables, choose the color red and press Accept. It is done.
right-click on the graph and in the menu that appears click on the option
Zoom Full. The test stops when the PV response is an oscillation of
constant amplitude, allowing the simulator to calculate the final gain and the
last period. First, the Pause button is pressed. and then the testFinish of the
[Link] to calculate the parameters as shown in Figure 4.13.
Once the last profit and the last period are obtained, the button is pressed.
Rewind and double-click on the Rewind Initialization option so that the
simulation return to its initial state.
In the Tuning parameters panel of the [Link] window, go to the Tuning parameter frame.
options to choose the Tyreus-Luyben rules for a proportional controller
integral (PI) as shown in Figure 4.14. The Calculate button is pressed
then the Update button controller for the estimated dynamic parameters to
from this method should be specified in the controllerLC.

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Figure 4.13. Profit and last period for LC.

Figure 4.14. Estimated parameters based on the Tyreus-Luyben rules.

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Installation of the pressure controller in tank V-101

A dead time element named DT4 is installed in the flow diagram.

a controller with titlePC. You click on one of the arrows coming out of the
tankV-101, the pressure in the tank is specified as a control variable
(Pressure), which is connected after this signal to the time element
Dead time DT4. A control signal is installed that comes from the dead time element.
and enter the PC controller as PV. To specify the opening of the valve VL-
104 as the manipulable variable, the output signal is clicked on.
Controller, the Controller output option is selected, and it is connected to that valve.

To set up the timeout element, right-click on its icon

and the following route is executed: Forms → Configure to specify a value of 1
minute for the timeout. Once again, right click on the icon DT4
and in the Scripts option of the drop-down menu, click on Initialize. Then
to open the controller's Faceplate and its configuration window, select the
type of action of the controller as direct (Direct) and clicking on the button
Initialize Values. In the panelRanges the maximum value (160 psi) is specified and
minimum (60 psi) for the control variable.

Auto-tuning of the pressure controller in tank V-101

To perform auto-tuning, click on the Tune button. remove faceplate

from the PC controller. Once the [Link] window appears, in the Test panel
choose the closed loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for relay. To start the test, click on the
botónRuny luego en la [Link] presionaStart test. Se hace clic sobre
the buttonPlot removeFaceplate the controller to observe graphically the
variation of the variables. To better appreciate the response of the control variable,
double click on the chart to open its configuration menu, in the frame
Variables select PV, the color red is chosen, and Accept is pressed. A click is made
right on the graph and in the dropdown menu, click on the option
Zoom Full. The test stops when the PV is an amplitude oscillation.
constant, which allows the simulator to calculate the gain and the last period.
First, the Pause button is pressed. y

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then the Finish test button of the [Link] window to calculate the parameters such as
is shown in Figure 4.15.

Figure 4.15. Gain and last period for PC.

Once the characteristics of the loop are obtained, press Rewind and it is done
double click on the Rewind Initialization option to rewind the simulation
state that it initially had before executing the test.
In the Tuning parameters panel of the [Link] window, go to the Tuning parameter frame.
options to select the Tyreus-Luyben rules for a controller
proportional-integral (PI) as shown in Figure 4.16. The button is pressed
Calculate and then update the controller for the estimated dynamic parameters.
from this method should be specified in the PC controller.

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Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega

Figure 4.16. Parameters estimated from the Tyreus-Luyben rules.

Installation of the ethanol composition driver

A dead time element named DT5 is installed. Then, it is inserted a

controller in the flowchart and is named CC. Click on the arrow
that comes out of the currentLiquid, the fraction is specified as a control variable
molar of ethanol as shown in Figure 4.17, then this signal is connected
to the dead time element DT5. A control signal is installed that comes out of
dead time element and enters the controller as PV. To specify the
opening of the valve VL-103 as the manipulable variable, click on the
controller output signal, the Controller output option is chosen, and it is connected
to that valve.

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Figure 4.17. Entry to the dead time element.

To configure the timeout element, right-click on its icon,

and the following route is executed: Forms→Configure to specify a value of 3
minutes for the timeout. Once again, right-click on the icon
In the DT5y option from the Scripts dropdown menu, Initialize is pressed. After
open the controller's Faceplate and its configuration window the type is selected
the action of the controller as direct (Direct) and the Initialize button is clicked
Values. In the panelRanges the maximum value is specified (0.2415 lb-mol/lb-mol) and
minimum (0.0415 lb-mol/lb-mol) for the control variable.

Self-tuning of the ethanol composition controller

To perform the auto-tuning, click on the Tune button. delFaceplate

from the controllerCC. Once the [Link] appears, in the panelTest
choose the closed loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for relay. To start the test, press Run and then
Start testing the window [Link]. Click on the Plot button.

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from Faceplate delete the controller to graphically observe the variation of the
variables. To better appreciate the response of the control variable, it is done double
click on the graph to open its configuration menu, in the frameVariables
Select PV, choose the color red and press Accept. Right-click.
about the graph and in the dropdown menu, click on the Full Zoom option.
stop the test when the PV response is an amplitude oscillation
constant, allowing the simulator to calculate the profit and the last period.
First, the Pause button is pressed. and then finish the window test
[Link] to calculate the parameters as shown in Figure 4.18.
Once the characteristics of the loop are obtained, press Rewind. and it is done
double click on the Rewind Initialization option so that the simulation goes back to the
state that it initially had before taking the test.
In the panel Tuning parameters of the [Link] window, go to the Tuning parameter frame.
options to select the Tyreus-Luyben rules for a controller
proportional-integral (PI) as shown in Figure 4.19. The button is pressed
Calculate then update controller for the estimated dynamic parameters.
from this method to be specified in the controllerCC.

Figure 4.18. Gain and last period for CC.

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Figure 4.19. Estimated parameters based on the Tyreus-Luyben rules.

4.4. Analysis and Discussion of Results

Performance of the ethanol action composition controller

proportional-integral (PI) through servo control

Press the Run options button, check the Pause at box, and specify
a value of 0.5 hours (Figure 4.20) for the simulation to stop at this
time. The simulation runs and it automatically stops at the value
specified.

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Figure 4.20. Options for simulation time.

On the controller FC1 Faceplate, the set point is changed from 600 lb-mol/hr to 400.
lb-mol/hr of n-Pentane fed. A value of 4 hours is specified in the box.
Pause at, and the simulation runs which stops automatically at that
time. In the Faceplate of the CC controller, the set point is changed to 0.1415 lb-
mol/lb-mol to 0.16 lb-mol/lb-mol, a value of 8 hours is specified in the Pause box
and the simulation runs, which stops automatically at the value
established. The values are restored to the ten points they initially had, it is
say, in the controller FC1a 600 lb-mol/hr and in the CCa 0.1415 lb-mol/lb-mol, and it
Run the simulation. The response signals to these changes may
can be observed in Figure 4.21; and in the same way, Figure 4.22 presents the
general scheme of the implemented control system, along with the covers
activated all controllers, simultaneously showing the disturbances
added.

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Figure 4.21. Performance of the ethanol composition controller with PI action.

Figure 4.22. Flow diagram of the mixing tank in Aspen Plus Dynamics.

According to Figure 4.21, one can admire how after the time of 0.5
At times, both the PV and the OP experience instantaneous overshoots.
and brief oscillation periods until the variable stabilizes at a value of
0.165 lb-mol/lb-mol, maintaining a 40% opening.

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Angello Roncancio Ortega
Then, after a time of 4 hours, when the set point of the control is disturbed.
of composition, it is observed that the PV deviates more and more from its value of
reference, showing above it, with a quantity of 0.175 lb-mol/lb-
mole, which is after a slight startle caused by the action of the valve
VL–105 until instantly balancing at an opening percentage of 42.5.
%.
Finally, it is shown that when returning to the initial SP values in the
flow and composition controllers, are present as response signals
the PV and SP are stabilized in the shortest time possible and with minimal generation of
jumps.

Discussion of the results

De acuerdo a lo visto en la sección anterior, es válido afirmar que, a diferencia de

Ziegler–Nichols, the Tyreus–Lyben method is limited to some extent; and
esta medida quizás está asociada al tipo de variable que se desee controlar. Como
was shown in the analysis conducted, when studying the behavior of the variable of
composition by action PI, being subjected to perturbations both to it
As the input mixing flow, broad margins of divergence were observed.
in relation to the PV and OP signals, in which the former was placed before the
second, implying that the control was not feasible in a broad sense
of security.
Given this, it can be argued that the Tyreus–Luyben tuning method
does not provide the manageable parameters to ensure effective and competent control
in the case of rigorous dynamic nature and a little sensitive as presented by the
performance of the composition variable during the tests conducted. That
this, it can be expected that a composition control is governed by a
most optimal tuning method, in the sense of providing a better set of
dynamic parameters that result plausible for the profitability of the strategy
control used. (Note: see the same case with Ziegler–Nichols).

5. OPEN LOOP CONTROLLER TUNING - ZN

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5.1. Introduction

When the controller's decision is not based on a measurement of information

collected in some section of the process but in a generated strategy
internally, there is an open-loop control structure. This is because the
controller makes decisions without the advantage of information that closes the loop between
the input and output variables, as is the case with the configuration of a
feedback controller. This can be appreciated more
detail in Figure 5.1.

Figure 5.1. The configuration of an open loop control.

While forcing a plant through an uncontrolled oscillatory behavior

the amplitude is unacceptable, introduce a small change in size
considered, which is the basis of the prediction reaction curve method
optimal adjustments tend to be another independent issue.

In process reaction curve methods, a reaction curve is

generated in response to a disturbance. This process curve is then
used to calculate the controller gain, integral time and time

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derivative. Such methods are developed in open loop so that none
control action occurs and the response of the process is isolated.

To generate a reaction curve, the process is driven to reach the state

stationary or as close as possible. Then a small
disturbance is introduced and the reaction of the process variable is obtained. The
Figure 5.2 shows a typical reaction curve generated using the method for
a generic self-regulation process. The term self-regulation refers to
a process where the controlled variable eventually returns to a stable value
it levels itself without external intervention.

Figure 5.2. Process reaction curve.

Where andmit refers to the measured value of the controlled variable within a range
determined time.

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Angello Roncancio Ortega
From Figure 5.2, the gain (K) and the constant can be determined.
time (τ) and the value of dead time (t0):

==
( )

==

0= ℎ

The process analysis methods with forcing functions such as change

steps are possible and include pulses, ramps, among others. However, the analysis
The step function is the most common due to its easy implementation.

In addition to their formulas for online tuning, Ziegler and Nichols propose a
set of formulas based on the adjustment parameters for a model of
first order, to the reaction curve of the process. Despite not using parameters
like gain, time constant, and dead time, their formulas can
to be modified to express itself in terms of those parameters:

Proportional control (P)

-1
1 t0
( ) = [5.1] ( )

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Angello Roncancio Ortega
Proportional–Integral (PI) control

-1
0.9 t0
= ( ) [5.2]

( ) = 3.33t0 5.3

Proportional–integral–derivative (PID) control

-1
1.2 t0
= ( ) 5.4

= 2t0 [5.5]

( ) = 0.5t0 [5.6]

5.2. Problem Statement

It is required to cool 899984 lb/hr of a stream with a mass composition of

50% benzene and 50% toluene, at 84.7 psia from 132.6 to 93°F for
heat exchange with a cooling water flow that is at 87.9°F,
140.4 psia and there is a flow rate of 824984 lb/hr; in addition, it is necessary that the
output temperature does not exceed 104°F, so that it can be conducted again
toward a cooling tower. This process takes place in a heat exchanger
of tube and shell operated countercurrent, which has a pressure drop of
5.63 psi in the tubes and 6.64 psi in the shell. This system also has 2
valves located at the inlets of the currents to the exchanger. In the
Simulation of this process unit installs a controller whose purpose is
temperature control at the outlet of the heat exchanger.

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Angello Roncancio Ortega
In this practice, one of the tools that Aspen Plus has is used.
Dynamics for the estimation of dynamic parameters, through the use of
open loop tuning method, which will be performed by applying the rules
of Ziegler–Nichols (Z–N).

5.3. Fluid package

Equation: Peng–Robinson.

Componentes:Benceno, Tolueno y Agua.

System of units: ENG.

Reactions: None.

5.4. Steady State Simulation

A new case is opened in the Aspen Plus simulator, and once deployed the
main window, click on the Setup folder in the navigation panel.
In the open window to the right on the dropdown button Global Unit Set, there
select the ENG system of measurement units.

The Next Input button is pressed. from the toolbar with which you
expand the Components folder in the navigation panel. In the window
deployed to the right, introduce the components Benzene, Toluene and
Water.

Press Next Input to expand the Methods folder in the navigation panel.
In the dropdown window on the right, select the button.

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drop-down method named the method for the calculation of properties titled
PENG–ROB.

Once the previously described steps have been completed, one proceeds to open the
simulation environment to build the flowchart presented in the figure
5.3.

Figure 5.3. Flow diagram of the heat exchange unit.

Click on the Streams folder in the navigation panel and specify

the currentsMixingWateraccording to what was stated in the approach of the
problem.

In the Blocks folder, the exchanger E-101 is selected on the panel.

Specifications, the information is entered as shown in Figure 5.4.
Sequentially, in the panelPressure Drop, in the dropdown buttonSide,
the Hot option is chosen to specify an outlet pressure
of 48.06 psia. Similarly, in the same dropdown button, it
Select the Cold option to add a pressure of 104.77 psia.

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Figure 5.4. Specifications for the exchanger E-101.

For the case of the valves VL–101 and VL–102, a is introduced in both.
pressure drop of 30 psi. Once all the specifications are completed
necessary, the Run button is pressed for the simulation to converge
satisfactorily. This is reflected in the results table that is
contemplated in Figure 5.5. In it, compliance can be verified.
objective of the heat transfer team, in which the mixture to be cooled exits
from this (as H2 gas) with a temperature lower than 93.02 °F, as
was proposed in the posed problem.

5.5. Equipment sizing

Once the simulation converges without warning or errors, the selection is made
Setup folder in the global settings, press the dropdown button Input
To change the default option from Steady-State to Dynamic,
to thus size the necessary equipment.

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Figure 5.5. Results of the heat transfer simulation of unit E–101 in

steady state.

In the Blocks folder, the exchanger E–101 is selected, and then in the
dropdown menu, the Dynamic option is pressed. To size a
exchanger, it is necessary to estimate the volume of the tubes with the following
equation:

=( ) [5.7]
4

Where D represents the diameter of the tubes that will be used in this case.
of 1 inch; and Atotalit consists of the heat transfer area for the unit
In itself. To know its numerical value, in the same folder E–101 it unfolds.
the Thermal Results box, and in the Exchanger Details panel you will be able to see a
table of own characteristics of the exchanger. In that table, one can
note that the current area for the exchanger is 6798.54 square feet
squares.

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Angello Roncancio Ortega
These values are replaced in the [5.7], along with the conversion factors.
necessary and in this way, the required volume will be obtained:

1⁄
=( 12 (
) 6798.54 2)
pieces = 141,636 pieces 3
4

Según el cálculo efectuado, se estima que el volumen de los tubos es

equivalent to 141,636 feet3As for the determination of the volume of the
coraza, Luyben proposes to make a simplified approximation in which
assume that the volume of the shell is equal to that of the tubes [12]. This indicates
that the volume of the shell also has the same calculated value
previously for the side of the tubes. Therefore, this value is introduced into the
panelHeat Exchanger Type as justified in Figure 5.6.

Figure 5.6. Sizing of the exchanger E–101.

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If the Run button is pressed after converging, the case is saved under the
OPEN LOOP [Link].

5.6. Export to Aspen Plus Dynamics

In the Dynamics menu, the Pressure Checker icon is pressed. with the aim
to verify if the simulation is set up correctly for its later use
use in the Aspen Plus Dynamics simulation environment. Then, to export the
simulation, the File menu is displayed and in the Export option, the Pressure alternative
driven simulations selected. It is recommended to export it under the name
OPEN LOOP TUNING–ZN, because the primary objective of
the practice is the analysis of the results of the simulation in dynamic state
using the Ziegler–Nichols rules. It can be seen
consecutively that the .dynfse extension file was saved successfully, and
It must be located in the same folder where the .apwz file is saved.
previously.

Note: This case study will also be analyzed for the other methods of
open loop tuning that will be taken into account for future guidelines in the
present manual. This implies that it is advantageous to use as a base model the
simulation with all the detailed steps before the export process. For the
Therefore, the starting point for future simulations will be based on this last one.
process.

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5.7. Dynamic state simulation (Aspen Plus Dynamics)

Installation of the temperature controller

In the model library located in the lower section of the interface, in the panel
Press the icon Lag_1 and drag it into the environment.
simulation to install an element that represents dynamic delay and is
designated as name LAG-1. This control loop is characterized by having delays
second order dynamics which requires adding one more delay,
naming it as LAG-2. A controller named TC is also installed, and
after a control signal that comes out of the H2 matter current. In it, there
choose temperature as the control variable as recorded in Figure 5.7; this
signal is then connected to the LAG-1 element and another signal is introduced again
that has as its origin the previous delay and as destination LAG-2.

A control signal is installed that exits the LAG-2 element and enters the controller.
TC as the process variable to control. In order to specify the
opening of valve VL-102, a final signal is introduced to choose as
the output of the controller in the optionController output is manipulable variable, and it is
connected to the mentioned valve.

To set up the first dynamic lag, right-click on the LAG icon.

1 and in the dropdown menu, select the Scripts option and click on Initialize.
Again, right-click on the same icon and in the option Forms
dropdown menu, click on the option Configure to assign a value of
0.5 minutes for the time constant as shown in Figure 5.8. From
In an analogous way, the same configuration process is repeated for the LAG-2 icon.

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Figure 5.7. Process variable of the temperature controller.

Figure 5.8. LAG-1 dynamic delay configuration.

On the other hand, to configure the driver, double-click on its icon.

to make the faceplate stand out and thus select the Configure option.
When doing this, the window [Link] appears, where you proceed to specify
the respective action of the controller as direct; the Initialize button is pressed
Values; y son especificados los rangos permisibles para la variable a controlar como
it is illustrated in Figure 5.9.

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Figure 5.9. Permissible ranges for the temperature controller.

Once the respective controller is configured, the unit diagram along with
Your control system should be observed as proposed in Figure 5.10.

Figure 5.10. Flow diagram for the heat exchanger in Aspen Plus Dynamics.

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Open loop tuning of the temperature controller

Before running the simulation, change the mode from Dynamics to Initialization for
run a test and check the proper specification of the variables; and
It is also necessary to create a snapshot, which consists of a reference point.
to serve as a baseline state for different trials that are carried out. To create it,
click the Take Snapshot button and in the window that appears, you
you must name theSnapshot as State-1.

Before starting the test, press the Run Options button. to add a time
of communication of 0.001 hours as shown in Figure 5.11. By performing such action,
the simulation time will advance more slowly and will allow for better observation of the changes
of the variables in the graph.

Figure 5.11. Options for specifying the simulation time.

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To perform open loop tuning, press the Tune button. del
Faceplate of the temperature controller TC. Once the window appears
[Link], in the Test panel select the open loop autotuning method
(Open loop), and in the Test settings framework, the default value is left unchanged.
It consists of a step-up change of 5% in the output variable of the
controller. To start the test, click on the Run icon and then press the
Start test button. Then, click on the Plot button of the Faceplate.
controller to thus have the ease of graphically contemplating the
behavior of the variables. Double-clicking on the graph to open its
Settings menu, the color of the PV variable is changed to red for better visibility.
better their performance.

The test stops when the response of the process variable is maintained
constant, after 0.2 hours on average, obtaining a graph like the one
It is observed in Figure 5.12.

Figure 5.12. Behavior of the temperature variable of the H2 current during the
open loop tuning test.

In Figure 5.12, it is valid to appreciate how the steady-state value of the

temperature variable drops until it reaches an approximate value of

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92.7719°F; this is achieved in a time close to 0.22 hours, applying a change
it went from 5% to the opening of the valve VL–102.

Once that stability is reached, the simulator proceeds to calculate the

steady-state gain of the open-loop system, the time constant and the time
dead. First, press the Pause button. , and then, the button
Complete the test of the window TC. Tuney in this way, the obtaining of the 3 is achieved.
characteristics mentioned as can be seen in Figure 5.13.

Figure 5.13. Obtaining the characteristics of the loop: gain, time constant and
timeout

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Determination of tuning parameters using the rules of
Ziegler–Nichols (Z-N)

Once the characteristics of the loop have been calculated thanks to the simulator,
It turns out subtle to determine next, the tuning parameters that
obviously allow the controller's performance. For that, provisions will be made
for 2 types of actions: Proportional-Integral (PI) and Proportional-Integral-
Derivative (PID).

a) PID action tuning

According to the equations proposed by Ziegler–Nichols for tuning

in open loop, only the determination of 3 parameters is considered, the
what are the proportional gain (Kc), the integral time (τI) and the derivative time
(τD).

To calculate Kc, it is necessary to take into account [5.4]; considering that K, the gain
of the open-loop controller that has a value of 0.248 (taking as
absolute value) as provided by Figure 5.13; τ, the time constant which is
of 2,202 minutes; and t0the dead time value of 0.46 minutes.

The respective values in the expression are replaced and the results are obtained.
proportional profit:

1.2 0.46 -1
= ( ) = 23,163
0.248 2.202

For the integral time, [5.5] is used:

= ( 20.46
)( ) minutes
minutes 0.92

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For the derivative time, [5.6] is used:

= ( 0.50.46
)( minutes 0.23) minutes

Now, in the [Link], the panelTuning Parameters is selected in which

a table titled Tuning parameter options, which in turn contains 2
Specification options: Controller type and Tuning rule. The first provides a menu
drop-down to choose the type of preferred action; in this case, one chooses
PID. On the other hand, the second shows the different rules that contribute to the
determination of tuning parameters; choose Ziegler–Nichols. For
Finalize by pressing the Calculate button to consider the determination of the
values of the parameters in the tuning parameter results table. It should be noted that
the values obtained in the simulator are approximately similar to the
calculated with the previously shown equations, indicating in this way the
the reliability of the calculation that the software has depending on the rule that is desired
apply. These values are emphasized in Figure 5.14. (Note: it is reminded to the
user do not close the window [Link] until configuring the driver with the
newly obtained parameters.

Next, by pressing the Rewind button located in the bar of

simulation tools, a window will open showing the different
reference states of the simulation. The Snapshot State-1 is chosen.
previously created as shown in Figure 5.15 and press the button that leads
the name of the window. At that moment, the regression of the
values of the variables to their initial state. From this moment on, the key is pressed
Update button of the [Link] window to add the parameters.
controller.

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Figure 5.14. Results of obtaining the tuning parameters with the rules
Z-N for a controller with PID action.

Figure 5.15. Selection of the reference state in the simulation.

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b) Tuning by PI action

In a manner analogous to the previous case, the parameters are obtained using
the Z–N rules for PI action with [5.2] and [5.3], with the only difference that
only the proportional gain values of 17,379 were obtained and a
total time of 1.53 minutes (the student is assigned the task of verification)
Of such parameters). And then, the action, the tuning rule, and
The parameters are calculated as explained in the PID case.

5.8. Analysis and discussion of results

Análisis del desempeño del controlador de temperatura con acción PID

through servocontrol

In the window displayed by the Run options button, set a pause time of
half an hour and start a simulation run until it stops in time
fixed. Then, change the PV value from 93.02 to 100°F, and enter a
new break time of 1 hour. Again, run a session until
stop. Finally, restore the value of PV that it initially had, that is,
93.02 °F, and carry out a final run until the variables stabilize with a
2-hour break time. Once everything described is completed, the process continues to
observe the profiles of the variables in the graph as shown in Figure 5.16.

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Figure 5.16. Performance of the temperature controller with PID action.

In the previous scheme, it is valid to appreciate how the temperature variable ...
It manages to adapt to the new reference value once the system is disturbed.
through the increase in the value of the SP. Similarly, it is also seen as the
the opening of valve VL–102 adjusts to a value below 50%, it could
It is estimated that almost 17.72% after almost 6 minutes or more approximately,
presenting a remarkable period of fluctuation with different jolts or
overshoots. Sequentially, in the third phase it is verified how both the PV and
the OP return to their initial values once the SP is restored to its state
initial, presenting after approximately 6 minutes as well.

Analysis of the performance of the temperature controller with PI action

by servocontrol

First, a rewind of State-1 must be done and the test should be repeated.
open loop until obtaining the values of the characteristics that are
they illustrated in Figure 5.13. As explained in section 4.7.4., item b)
a similar procedure is carried out but with PI action, in such a way that it

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note that the parameters calculated by the simulator correspond to those
obtained also with the application of the equations of the Ziegler's rule
Nichols. So once they are calculated, the State Snapshot is selected.
-1 to restore the initial state of the simulation, and after this, insert the
obtained parameters.

Then, the simulation begins to run, with a development of pause times.

and disturbances similar to the case of the PID action, obtaining the signal profiles
as provided in Figure 5.17.

Figure 5.17. Performance of the temperature controller with PI action.

According to the results shown in Figure 5.17, it is essential

it is important to note that when applying a change of 100 °F in the SP, the system experiences
a continuous development of oscillations, so there is no guarantee that the
controller efficiently regulates the valve opening to maintain the PV at
its desired value as shown in the second phase of the simulation. On the other
side, when the initial SP is restored, it is observed that despite the value of the SP
it was adjusted to its initial condition, both the PV and SP remain oscillating in
a longer time than in the PID case, achieving control of the variables
in a time close to 20 minutes from the point of disturbance (one hour).

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Discussion of results

Emphasizing the previously analyzed cases, it is notable to clarify that

there is a wide margin of difference between the applications of the 2 actions whose
the controller is tuned according to the Ziegler–Nichols rules. It is clear that
demonstrates at first glance how PID action has the most optimal performance
due to 2 main circumstances: the first being the fact of maintaining the
stability of the value of the PV against a disturbance applied to the SP in the form of
as efficiently as possible; and the second consists of presenting less development of
oscillations during the control function. This clearly reflects the idea that
a PID action is crucial in cases where systems are presented
second-order dynamics as predicted.

On the other hand, in the observed case of PI control, instability was evident.
excessive when attributed to any disturbance; therefore, when the
system restores its initial SP, the controller responds correctly to fulfill the
control objective of the response but not in an almost optimal way as it does the
another case studied. This clearly resembles the need to have a
derivative time parameter to synchronize the process variables to be adopted
The SP values juxtaposed during a control model.

Perhaps it is somewhat subtle the need to consider the ideas that others hold.
tuning rules to verify that they contribute to improving performance
of the PI control; and to observe its development precisely throughout the analysis
as will be analyzed later with the other cases.

5.9. Bibliographic References

Smith C. A., Corripio A. B. Automatic process control: theory and practice. 2

Mexico City: Noriega Limusa, 1991; 283.

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Arantegui J. Process Control 2010–11. June 2, 2013; 138–139
[Internet]. (consulted September 14, 2014). Available at:
[Link]
es_10-[Link].

Luyben W. L. Plantwide dynamic simulators in chemical processing and control.

2 ed. New York: Marcel Dekker, Inc, 2002; 16.

Ogunnaike B. A., Ray W. H. Process dynamics, modeling and control. 2nd ed. New
York: Oxford University Press, 1994; 18–19.

Love J. Process automation handbook: a systematic approach. 2 ed. Springer–

London Limited Publishing, 2007; 169.

Svrcek W. Y., et al. A real-time approach to process control. 3rd ed. John Wiley
& Sons Ltd, 2014; 125.

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6. OPEN LOOP CONTROLLER TUNING – DC

6.1. Introduction

In 1953, Cohen and Coon developed a set of adjustment recommendations.

for tuning controllers that correct a deficiency in the rules of
open loop for Ziegler–Nichols. This deficiency is the slow response in the loop.
closed given in the Ziegler–Nichols rules on the rare occasion when the time
The dead time of the process is greater than the dominant time constant in open loop.
At another instance, the recommendations by Cohen–Coon are considered
relatively aggressive for process control.

The Cohen and Coon method is also known as the curve method.
reaction of the process. To put it into practice, it is necessary to open the feedback loop.
disconnecting the final control element as shown in Figure 6.1.

Figure 6.1. Open loop to introduce a step change to the final control element.

Once opened, a step change of height A occurs in the variable c(t) which
It acts on the final control element. The measured value of the variable is recorded.
controlled andm(t) with respect to time. In this way, the curve is obtained

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response of the process (CRP). The transfer function that relates the variation
input, c(s), and the response, ym(s), it:

( )
= ≈
( )

This transfer function not only depends on the dynamics of the process, it also
they include those elements that may be between the input and the output.

Cohen and Coon also observed that most processes presented a

process reaction curve, with an aspect similar to that of an asymptote, that could be
approach a first-order process with a delay:

( )
= ≈ −0
( ) ts + 1

It is worth noting that the main design criterion consists of the rejection of the
disturbances. Try to locate dominant poles that provide a ratio of one fourth
of amplitude decay. For P and PD controllers, the poles are adjusted
to provide maximum controller gain, subject to the decay constraint.
For PI and PID control, the gain over time constant is maximized;
this corresponds to the minimization of the error integral due to the step change
of disturbance. For PID controllers, the 3 closed-loop poles are assigned:
two are complex and one real is positioned at the same distance from the origin as
the other poles. The pole pattern is adjusted to give a quarter of amplitude ratio
of decay, and the distance from the poles to the origin is adjusted to minimize the
error integral.

To tune the controller, the following equations are used:

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Proportional controller (P):

1 tau 0
= (1 + ) 6.1
0 3 tau

Proportional-Integral (PI) Controller:

1 tau 0
= (0.9 + ) [6.2]
0 12 tau

3t0
30 +
= 0( ) 6.3
20t0
9+

Proportional–Integral–Derivative (PID) Controller:

1 tau4 t0
= (+) [6.4]
03 4tau

6t
32 + 0
= 0( ) 6.5
8t0
13 +

4
= 0( ) [6.6]
2t0
11 +

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6.2. Problem statement

It is required to cool 899984 lb/hr of a stream with a mass composition of

50% benzene and 50% toluene, at 84.7 psia from 132.6 to 93°F
heat exchange with a cooling water flow at 87.9°F,
140.4 psia and there is a flow of 824.984 lb/hr; in addition, it is needed that the
output temperature does not exceed 104°F, so that it can be conducted again
towards a cooling tower. This process takes place in a heat exchanger.
of tube and shell operated in countercurrent, which has a pressure drop of
5.63 psi in the tubes and 6.64 psi in the shell. This system also has 2
valves located at the inlets of the currents to the exchanger. In the
simulation of this process unit installs a controller whose purpose is the
temperature control at the outlet of the exchanger.

In this practice, one of the tools available in Aspen Plus is used.

Dynamics for the estimation of dynamic parameters, through the use of
open loop tuning method, which will be carried out by applying the rules
Cohen–Coon (CC).

6.3. Fluid package

Equation: Peng–Robinson.

Components: Benzene, Toluene, and Water.

Unit system: ENG.

Reactions: None.

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6.4. Steady-State Simulation

For this section, the same procedure described in Section should be repeated.
5.4 of Guide 5.

6.5. Equipment sizing

The procedure described in Section 5.5 of Guide 5 is repeated.

6.6. Export to Aspen Plus Dynamics

In the Dynamics menu, press the Pressure Checker icon with the aim of
check if the simulation is configured correctly for its later use
use in the Aspen Plus Dynamics simulation environment. Then, to export the
simulation, the menu File is displayed and in the Export option, the alternative Pressure
selected driven simulations. It is recommended to export it under the name
OPEN LOOP TUNING - CC, due to the fact that the primary objective of
The practice is the analysis of the results of the simulation in a dynamic state.
using the Ziegler–Nichols rules. It can be seen
consecutively that the .dynfse extension file was successfully saved, and
it must be located in the same folder where the [Link] is saved
previously.

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6.7. Dynamic state simulation (Aspen Plus Dynamics)

Installation of the temperature controller

Proceed to open the file SYNCHRONIZATION IN OPEN LOOP–[Link] for

start the simulation in the Aspen Plus Dynamics environment. In the model library
located in the lower section of the interface, in the panelControls the
iconoLag_1y must be dragged into the simulation environment to install a
element that represents the dynamic delay and is designated as LAG-1.
This control loop is characterized by having second-order dynamic delays.
therefore it requires adding an additional delay, naming it as LAG-2. It also
install a controller named TC, and then a control signal that comes out of
the H2 matter stream. In it, temperature is chosen as the control variable.
As recorded in Figure 6.2; this signal is then connected to the LAG element.
1y again another signal is introduced that has as its origin the previous delay and
as a destination LAG-2.

Figure 6.2. Process variable of the temperature controller.

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A control signal is installed that exits the LAG-2 element and enters the controller.
TC as the process variable to be controlled. In order to specify the
opening of valve VL-102, a final signal is introduced to choose how
manipulable variable the output of the controller in the optionController output, and is
conectada a la válvula mencionada.

Para configurar el primer atraso dinámico, se hace clic derecho sobre el icono LAG-
1 and in the dropdown menu, select the option Scripts and press Initialize.
Again, right-click on the same icon and in the option Forms.
dropdown menu, press on the option Configure to assign a value of
0.5 minutes for the time constant as taught in Figure 6.3. From
In a similar way, the same configuration process is repeated for the LAG-2 icon.

Figure 6.3. Configuration of the dynamic delay LAG-1.

On the other hand, to configure the controller, double-click the icon for it.
to make the faceplate stand out so that it can be selected
option Configure. When doing this, the [Link] window appears, where
proceed to specify the respective action of the controller as direct; it is pressed
the button Initialize Values; and the permissible ranges for the variable are specified
to control as illustrated in Figure 6.4.

Once the respective controller is configured, the unit diagram along with
Its control system should be observed in accordance with what is outlined in Figure 6.5.

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Figure 6.4. Permissible ranges for the temperature controller.

Figure 6.5. Flowchart for the heat exchanger in Aspen Plus Dynamics.

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Open loop tuning of the temperature controller

Before running the simulation, it is necessary to create a snapshot, which consists of

a benchmark that serves as a baseline for different trials that
execute. To create it, click on the Take Snapshot button. , and in the
window that appears, it should be named theSnapshotasState-1.

Before starting the test, the Run Options button is pressed. to add a time
of communication of 0.001 hours as indicated in Figure 6.6. When performing such action,
the simulation time will advance more slowly and will allow for better observation of changes
of the variables in the graph.

Figure 6.6. Options for specifying the simulation time.

To perform open-loop tuning, the Tune button is pressed. del

Faceplate of the temperature controller TC. Once the window appears

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[Link], in the Test panel, you have to choose the auto-tuning method in
open loop, and in the frame Test settings the value it brings is left as is
a defect which consists of a 5% upward change in the variable of
controller output. To start the test, click on the Run icon and then
press the button Start test. Then, click on the button Plot of the Faceplate
of the controller to thus have the ease of graphically contemplating the
behavior of the variables. Double clicking on the graph to open it
settings menu, change the color of the PV variable to red for better visibility
better their performance.

The test stops when the response of the process variable is maintained
constant, starting from approximately 0.2 hours, resulting in a graph like the
as observed in Figure 6.7.

Figure 6.7. Behavior of the temperature variable of the H2 current during the
open loop tuning test.

In the previous figure, it is valid to appreciate how the steady-state value of the
temperature variable descends until it reaches a fixed value of 92.7719 °F; this
It is achieved in a time close to 0.22 hours, applying a step change of 5 %
for the opening of the valve VL–102.

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Once that stability is reached, the simulator proceeds to calculate the
steady-state gain of the open-loop system, the time constant and the time
dead. First, press the Pause button. , and then, the button
Finish the test of the [Link] in this way, the acquisition of the 3 is achieved.
characteristics mentioned as seen in Figure 6.8.

Figure 6.8. Obtaining the characteristics of the loop: gain, time constant and
timeout.

Determination of tuning parameters using the rules of

Cohen-Coon (CC)

Once the characteristics of the loop have been calculated thanks to the simulator,
it is subtle to determine the tuning parameters that
they obviously allow the performance of the controller to be regular. For that, they

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will provide for 2 types of actions: Proportional–Integral (PI) and Proportional–
Integral-Derivative (PID).

a) PID action tuning

According to the equations proposed by Cohen-Coon for tuning

in open loop, only the determination of 3 parameters is taken into account, the
what are the proportional gain (Kc), the integral time (τI) and the derivative time
(τD).

To calculate Kc, one must take into account [6.4]:

1 2,202 4 0.46
=( )( )( + ) 26,744
0.248 0.46 34 * 2,202

Being K, the gain of the open-loop controller that has a value of

0.248 (taking it as an absolute value) as provided by Figure 6.8; τ, the
time constant which is 2.202 minutes; and t0, the dead time value of
0.46 minutes.

To obtain the integral time (τI) is used [6.5]:

6 ∗ 0,46
32 + 2,202
( 0.46
equals ) ( ) 1,043 minutes
8 ∗ 0,46
13 + 2,202

Finally, for the derivative time (τD), it is used [6.6]:

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4
(
0.46 ) ( ) 0.161 minutes
2 * 0.46
11 + 2,202

Now, in the [Link], the panelTuning Parameters is selected in which

it shows a box titled Tuning parameter options, which in turn contains 2
Specification options: Controller type and Tuning rule. The former provides a menu.
dropdown to select the type of preferred action; in this case, it is chosen
PID. On the other hand, the second shows the different rules that contribute to the
determination of tuning parameters; select Cohen–Coon. For
Finalize, press the Calculate button to consider the determination of the values
from the parameters in the Tuning parameter results table. It should be noted that the
Values obtained in the simulator are approximately similar to those calculated
with the previously shown equations, indicating reliability in this way
of calculation that the software has depending on the rule that is desired to apply.
(Note: the user is reminded not to close the window TC. Tune until configured
controller with the newly obtained parameters).

Next, the Rewind button is pressed. located in the bar of

simulation tools. A window will open, showing the different
reference states of the simulation. Choose the Snapshot State-1 that was created
previously as seen in Figure 6.9 and press the button that bears the name
from the window. At that moment, the regression of the values can be appreciated.
variables to their initial state. Then, press the Update controller button.
[Link] to add the parameters to the controller.

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Figure 6.9. Selection of the reference state in the simulation.

b) Tuning by PI action

In a manner similar to the previous case, the parameters are obtained using
the rules of Cohen and Coon for PI action, as are [6.2] and [6.3], with the only
difference that only the values of proportional profit were obtained
of 17,714 and a total time of 1,068 minutes (left as an assignment for the
user the verification of such parameters). And then, the action is selected,
Tuning rule and parameters are calculated as explained in the PID case.

6.8. Analysis and discussion of results

Analysis of the temperature controller performance with PID action

through servocontrol

In the window displayed by the Run options button, adjust a pause time of
half an hour and start a simulation run until it stops at the

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specified time. Then, make a change in the PV value from 93.02 to 100°F,
and introduce a new break time of 1 hour. Again, run a test.
until it stops. Finally, restore the value of PV that it initially has, it is
say, 93.02°F and perform a final run until the variables stabilize.
Once everything described has been carried out, we proceed to observe the profiles of the variables.
in the graph as it is shown in Figure 6.10.

Figure 6.10. Performance of the temperature controller with PID action.

In this diagram, it is worth highlighting that when the system experiences a

temperature increase disturbance, the response remains stable
after six minutes from the point of disturbance. As for the third segment
what is observed in the graph, stability is achieved within a period of 12
approximately minutes (at t = 1.2 hours).

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Analysis of the temperature controller performance with PI action
through servocontrol

Similarly to the case of PID, the parameters are calculated with Aspen.
Plus Dynamics, establishing the condition that they are exclusively for PI.
returns to the initial state (State-1) and the simulation begins to run, granting
the same changes steps as the previous example. In such a way that it is guaranteed
a scheme like the predominant one in Figure 6.11.

Figure 6.11. Performance of the temperature controller with PI action.

In such a figure, it can be appreciated that when subjected to a change, it passes at the point
from control of 93.02 to 100°F, the PV begins to oscillate indeterminately causing
the ineffectiveness of control. On the other hand, when the SP is returned to its initial value,
both the PV and the OP, just like in the case of Ziegler–Nichols for
PI controller, experiences different overshoots until achieving the control of the PV but
with a longer time lapse unlike the other rule applied; this
time exceeding half an hour (t = 1.6 hours).

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Discussion of results

Regarding the planned analysis, it can be inferred that the tuning in the loop
open with the Cohen and Coon method is not as effective as it seems. If
the PID control case is carefully verified, taking into account the idea that
obtain the final answer for each phase shown, it took a little more time
that in the case of Ziegler and Nichols, to cancel the overshoot and the oscillations
caused. This tends to infer that in the study proposed regarding control
of temperature for the heat exchanger, a dynamic is present
highly rigorous, so the present adjustment method does not provide the
qualified standards to ensure proper control, thanks to their
aggressive characteristics.

On the other hand, the case of the PI control was also witnessed, in which it can be
to catalog as the least optimal control action for the problem studied. It is worth noting
analyze that there is no news because if we compare the profit
proportional and the integral time calculated with the two adjustment rules presented
(Z–N and C–C), almost identical values are identified. Therefore, it is worth declaring
that the proportional integral controller should not be suitable for this type of
situations.

6.9. Bibliographic References

Stephanopoulos G. Chemical process control: an introduction to theory and

practice. 2 ed. New Jersey: Prentice Hall, 1984; 310–311.

Svrcek W. Y., et al. A real-time approach to process control. 3 ed. John

Wiley & Sons Ltd, 2014; 126.

Astrom K. J., Hagglund T. Advanced PID control. 2 ed. ISA–Instrumentation,

Systems, and Automation Society, 2004; 167–168.

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7. OPEN LOOP CONTROLLER TUNING WITH
ERROR INTEGRAL CRITERIA (IAE, ISE AND ITAE)

7.1. Introduction

The form of the closed-loop response, which goes from time t = 0 hr until the
system reaches steady state, could be used for the formulation of a
dynamic development criterion. Unlike the simple criterion that only uses
isolated characteristics of the dynamic response, such as the reason for
decay, settling time, among others, the criterion for this category
It is based on the entire response of the process.

This response consists of a minimal error or deviation of the controlled variable,

regarding the control point. Because the error is dependent on the time that
the answer is hard, the sum of the error at each moment must be minimized; that sum
it is defined as the integral of the error over time.

The controller tuning will be carried out using 3 main criteria.

of the error integrals:

Integral of the square error

∞
=∫ 2( ) [7.1]
0

It should be noted that (t) = ySP(t)–y(t) is the deviation or error from the response of
desired checkpoint.

Through this criterion, the aim is to minimize the integral when one wishes to eliminate.
large errors, since these are the ones that contribute the most to the value of the integral.

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B. Integral of the absolute value of the error
error

∞
= ∫ | ( )| 7.2
0

In this case, it is about eliminating small errors.

C. Integral of the absolute value of the error weighted with time

the time–weighted absolute error

∞
= ∫ | ( )| [7.3]
0

It is used when there is a desire to eliminate very persistent errors over time, since
the integral amplifies the errors that remain over long periods, even
when it comes to small mistakes.

The previous equations can be minimized by adjusting the

controller parameters; however, the optimal set of values
Parametric does not depend on which of the three definitions of integral is chosen.
but it also depends on the type of input, that is, disturbance or point of
control and its shape, for example, step change, ramp, among others. According to
In the end, the step change is chosen because it is the most common in practice.
industrial, as for the type of input; for the adjustment, the point of selection is made
control or disturbance, based on which it affects the circuit more frequently.

According to what was proposed, López and co. presents a series of correlations.
empirical for the tuning of controllers, assuming that the model of
the process is represented by the following transfer function:

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−0
( )=
τₛ + 1

Proportional controller (P)

0
=( ) [7.4]

Methods
Coefficients ISE IAE ITAE
A 1,411 0.902 0.49
B -0.917 -0.985 -1,084
Table 7.1. Adjustment coefficients for proportional action (P).

Proportional-Integral (PI) Controller

1
1 0
=( ) 7.5

2
0
=( ) 7.6
2

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Methods
Coefficients ISE IAE ITAE
a1 1,305 0.984 0.859
b1 -0.959 -0.986 -0.977
a2 0.492 0.608 0.674
b2 0.739 0.707 0.68
Table 7.2. Adjustment coefficients for proportional-integral (PI) action.

Proportional–integral–derivative (PID) controller

-Ganancia proporcional: [7.5]

Full-time: [7.6]

Derivative time
3
0
= 3 ( ) 7.7

Methods
Coefficients ISE IAE ITAE
a1 1,495 1,435 1,357
b1 -0.945 -0.921 -0.947
a2 1,101 0.878 0.842
b2 0.771 0.749 0.738
a3 0.56 0.482 0,381
b3 1,006 1,137 0,995
Table 7.3. Adjustment coefficients for proportional–integral–derivative (PID) action.

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Angello Roncancio Ortega
7.2. Statement of the problem

It is required to cool 899984 lb/hr of a stream with a mass composition of

50% benzene and 50% toluene, at 84.7 psia from 132.6 to 93°F by
heat exchange with a cooling water flow that is at 87.9°F,
140.4 psia and there is a flow of 824984 lb/hr; additionally, it is necessary that the
the output temperature does not exceed 104°F, so that it can be conducted again
towards a cooling tower. This process takes place in a heat exchanger.
of pipe and casing operated countercurrently, which has a pressure drop of
5.63 psi in the tubes and 6.64 psi in the shell. This system also has 2
valves located at the inlets of the currents to the exchanger. In the
Simulation of this process unit installs a controller whose purpose is the
control of the temperature at the outlet of the exchanger.

In this practice, one of the tools provided by Aspen Plus is used.

Dynamics for the estimation of dynamic parameters, using the methods
of open-loop tuning known as error integral. This is
characterized by being of 3 types: integral of the square of the error (ISE), integral of the value
absolute error (IAE) and integral of the weighted absolute error over time
(ITAE). It also aims to compare the performance of the 3 applied in actions.
PI and PID.

7.3. Fluid package

Equation: Peng–Robinson.

Components: Benzene, Toluene and Water.

Unit system: ENG.

Reactions: None.

7.4. Steady State Simulation

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For this section, the same procedure described in the Section should be repeated.
5.4 of Guide 5.

7.5. Equipment Sizing

The procedure described in Section 5.5 of Guide 5 is repeated.

7.6. Export to Aspen Plus Dynamics

In the Dynamics menu, press the Pressure Checker icon with the objective of
check if the simulation is configured correctly for its subsequent use
use in the Aspen Plus Dynamics simulation environment. Then, to export the
Simulation, the File menu is displayed and in the Export option, the Pressure alternative
selected driven simulations. It is recommended to export it under the name
OPEN LOOP TUNING - IAE, due to the fact that the primary objective of
the practice is the analysis of the results of the simulation in a dynamic state
using the Ziegler–Nichols rules. It can be appreciated
consecutively that the file with the extension .dynfse was saved successfully, and
it must be located in the same folder where the [Link] is saved
previously.

7.7. Dynamic state simulation (Aspen Plus Dynamics)

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Installation of the temperature controller

Next, the file OPEN LOOP TUNING opens–

[Link] proceeds to carry out the presented procedure. In the library of
models located in the lower section of the interface, in the Controls panel
press the icon Lag_1 and it is dragged into the simulation environment to
install an element that represents dynamic lag and is designated as
name LAG-1. This control loop is characterized by having dynamic lags of
second order as it requires adding another delay, naming it as LAG-
2. A controller named TC is also installed, and then a control signal.
that comes out of the H2 matter current. In it, the control variable is chosen
the temperature as recorded in Figure 7.1; this signal is then connected to the
element LAG-1 and again another signal is introduced that has as its source the
previous delay and destination LAG-2.

A control signal is installed that exits from the LAG-2 element and enters the controller.
TC as the process variable to control. In order to specify the
opening of the valve VL-102, a final signal is introduced to choose as
the output of the controller in the optionController output is variable manipulable, and it is
connected to the mentioned valve.

To set up the first dynamic lag, right-click on the LAG icon.

1 and in the dropdown menu, select the option Scripts and press Initialize.
Again, right-click on the same icon and select the Forms option.
dropdown menu, click on the option Configure to provide a value
from 0.5 minutes to the time constant as taught in Figure 7.2. From
In a similar way, the same configuration process is repeated for the LAG-2 icon.

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Figure 7.1. Process variable of the temperature controller.

Figure 7.2. Configuration of dynamic delay LAG-1.

Por otra parte, para configurar el controlador, se hace doble clic al icono del mismo
so that the faceplate stands out and thus allows selection
Configure option. When doing this, the [Link] window appears, where
proceed to specify the respective action of the controller as direct; it is pressed
the button Initialize Values; and the permissible ranges for the variable are specified
to control as illustrated in Figure 7.3.

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Figure 7.3. Permissible ranges for the temperature controller.

Once the respective controller is configured, the unit diagram along with
Your control system should be observed as proposed in Figure 7.4. Note:
it is advised to save the last changes made in the current simulation, and to
partir de esta, generar 2 copias adicionales presentando los nombres para los 2
missing integral methods. The names to generate are: TUNING
OPEN LOOP CONTROL - ISE AND OPEN LOOP TUNING - ITAE. These
Simulations are present under the .dynfy format and are located in the same place.
folder of files that contains others.

Open-loop tuning of the temperature controller

This step will be carried out for the 3 cases created. Before running the
simulation, it is necessary to create a snapshot, which consists of a point of
reference that serves as a baseline for different tests that are carried out.

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To create it, click on the Take Snapshot button. , and in the window that
it appears, it should be named theSnapshotasState-1.

Figure 7.4. Flow diagram for the heat exchanger in Aspen Plus Dynamics.

Before starting the test, press the Run Options button. to add a time
of communication of 0.001 hours as indicated in Figure 7.5. By taking such action,
the simulation time will advance more slowly and will allow better observation of the changes
of the variables in the graph.

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Figure 7.5. Options for specifying the simulation time.

To perform open loop tuning, press the Tune button. of

Faceplate of the temperature controller TC. Once the window appears
[Link], in the Test panel, select the closed-loop auto-tuning method
open (Open loop), and in the test settings frame the value that comes by default is left
which consists of a 5% step-up change in the output variable of the
controller. To start the test, click on the Run option and then press the
Start test button. Then, press the Plot button on the faceplate of the controller.
to thus have the ease of graphically contemplating the behavior of
the variables. Double-clicking on the graph to open its menu
configuration, the color of the variable PV is changed to red to better appreciate its
performance.

The test stops when the process variable response is maintained.

constant, after 0.2 hours on average, resulting in a graph like the one that
It can be seen in Figure 7.6.

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Figure 7.6. Behavior of the temperature variable of the H2 current during the
open loop tuning test.

In Figure 7.6, it is valid to see how the steady-state value of the

temperature variable descends until it reaches a fixed value of 92.7719 °F; this
It is achieved in an average time of 0.22 hours, applying a step change of 5%
for the opening of the valve VL–102.

Once that stability is achieved, the simulator proceeds to calculate the

steady-state gain of the open-loop system, the time constant and the time
dead. First, press the Pause button. , and then, the button
Finish the test of the window [Link] in this way, the obtaining of the 3 is achieved.
characteristics mentioned as seen in Figure 7.7.

Remember to apply this last step to the other simulation copies.

generated.

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Figure 7.7. Obtaining the characteristics of the loop: gain, time constant and
timeout.

Determination of tuning parameters using the methods

ICE–IAE–ITAE

Once the characteristics of the loop have been calculated thanks to the simulator,
It is subtle to determine the tuning parameters that follow,
They obviously allow the controller's performance to be regular. For that, provisions will be made.
for 2 types of actions: Proportional–Integral (PI) and Proportional–Integral–
Derivative (PID).

a) PID action tuning

To carry out the tuning, it is necessary to consider the use of 3 methods for the
calculation of the parameters; for this reason, the following will be presented

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determination for each one. It is advised, discreetly, to carry out the
comparison of manual results with those from the simulator. Below is
will present the case solely with the ISE method.

To calculate Kc, [7.5] and the coefficients listed in Table 7.3 are used.
Replacing the values obtained in the simulator (Figure 7.7) and the coefficients,
is obtained

1,495 0,46 −0,945

= ( ) = 26,476
0,248 2,202

The total time is determined with [7.6]:

0,771
2,202 minutes0.46
= ( ) 0.598 minutes
1,101 2,202

For the derivative time, [7.7] is used:

0.46 1,006
( )( minutes (
0.562,202 ) ) 0.255 minutes
2,202

Table 7.4 also presents the results for the other methods,
using the same equations and different coefficients depending on the case.

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Methods
Parameters IAE ITAE
Kc 36.04 24.11
τI(min) 0.589 0.82
τd(min) 0.115 0.18
Table 7.4. Results obtained manually from the PID tuning parameters with
the criteria for error integration.

Now, in the file OPEN LOOP TUNING–[Link], go to

the [Link] select the panelTuning Parametersin which it is displayed
a painting titled Tuning parameter options, which also contains 2 options of
Specification: Controller type and tuning rule. The first provides a dropdown menu.
to choose the type of preferred stock; in this case, PID is chosen. For another
side, the second shows the different rules that contribute to the determination of
the tuning parameters; choose ISE. To finish, press the Calculate button.
to contemplate the determination of the parameter values in the table
Tuning parameter results. This method applies to each method to be studied and there is
to realize that the values obtained in the simulator are approximately
similar to those calculated with the previously shown equations, indicating of
This form the reliability of calculation that the software has depending on the rule
that is desired to be applied. (Note: the user is reminded not to close the window [Link]
until configuring the controller with the newly obtained parameters).

Next, press the Rewind button located in the toolbar

from the simulation. A window will open, showing the different states of
reference of the simulation. Select the Snapshot State-1 that was created
previously as seen in Figure 7.8 and press the button that is named
from the window. At that moment, the regression of the values will be noticeable.
reset the variables to their initial state. Then, press the Update controller button.
[Link] to add the parameters to the controller.

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It is also advisable to carry out the same procedure to obtain the
missing parameters in the files with the other tuning rules.

Figure 7.8. Selection of the reference state in the simulation.

b) Tuning by PI action

Similarly to the case of the PID action, the values of

the tuning parameters for PI action using the ISE method, by
example.

To calculate the proportional gain (Kc), [7.5] is used with the coefficients
raised in Table 7.2:

1,305 0,46 -0,959

= ( ) 23,623
0,248 2,202

For the integral time, it is obtained with [7.6]:

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0,739
2,202 minutes0.46
= ( ) 1,407 minutes
0.492 2,202

In Table 7.5, the results obtained through other methods are also presented.
methods:

Methods
Parameters IAE ITAE
Kc 28,119 16
τI(min) 0.924 1.13
Table 7.5. Results obtained manually of the PI tuning parameters with
the criteria for error integration.

7.8. Development and discussion of results

A. Performance of the temperature controller with the ISE method with

servo control

PID action

Using the file TUNING IN OPEN LOOP–[Link], it

they execute the same disturbances at the control point (SP) with the intervals
respective time periods described in Section 5.7.1 of Guide 5 with
PID action. The development of the simulation of such is observed meticulously.
way to obtain a set of profiles somewhat similar to the one shown in
Figure 7.9.

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Figure 7.9. Performance of the temperature controller with PID action applying the method
ISE.

Action PI

The same simulation procedure is carried out as in the PID case to obtain
a graphic profile like that of Figure 7.10.

Figure 7.10. Performance of the temperature controller with PI action applying the method
ISE.

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In Figure 7.9, it can be seen how the temperature tends to stabilize in the
new control value which is 100°F (stage 2) in an approximate time of 6
minutes; and when it returns to its original value (stage 3) without facing difficulties
also almost with a time of 6 minutes. On the other hand, in the case of Figure 7.10
an unconventional behavior is evident, due to the fact that in the second
disturbance phase is shown as a controller with PI action fails to
adjust the stability of the PV and OP signals to a fixed value; and regarding the
third, it is expected that just like in the rules shown for Z–N and C–C, both
the temperature variable as the valve opening experiences a
oscillatory behavior with variation in the overshoot without achieving a
fixed control, even if the 2 complete hours of the simulation are achieved.

Then, the same process is repeated for the remaining cases, obtaining a
performance approximately analogous to that of Figures 7.11, 7.12, 7.13, and 7.14.

B. Performance of the temperature controller with the IAE method

servo control

Next, open OPEN LOOP TUNING - [Link] apply

the same analysis procedure as the previous case.

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PID Action

Figure 7.11. Performance of the temperature controller with PID action applying the
IAE method.

PI Action

Figure 7.12. Performance of the temperature controller with PI action applying the method
IAE.

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Considering the 2 control actions used for the IAE method, we have
that in the PID action there tends to be evidence of stability of the new value of
temperature at 6 minutes from the point at which it is subjected to disturbance; without
embargo, note that at the moment of adjusting the checkpoint to its original value
(phase 3), a small sequence of jolts is generated that guides to the
stability of the response in a time slightly exceeding 6 minutes, in case
contrary to the ISE method. Regarding the PI action, a behavior is observed.
for both variables very analogous to what was expected in the case of the previous method with the
same type of action implemented; with the exception that when restoring the value
from the SP it originally had, the process variable remains stable at a
half an hour time from the disturbance point. This implies that the IAE method is
more qualified for a PI action, because the current control system only
puede contrarrestar errores diminutos, caso contrario al ISE, que es validado para
highly significant errors. But with PID action, despite the effective
The stability provided by the method requires more time to stabilize. Given
this, it is necessary to verify the possibility of considering an additional method that
ensure the most optimal efficiency for both actions.

C. Performance of the temperature controller with the ITAE method with

servo control

Next, open OPEN LOOP TUNING - [Link] apply

the same analysis procedure as in the cases recently described.

For the case of the ITAE method, it can be seen that with the PID action, the variable
the process takes a little more time than ISE (just like in the case
studied at IAE) to cover its synchronization with the value of SP in Figure 7.13,
it takes more than six minutes from its point of disturbance. On the other hand,
Figure 7.14 shows for the PI action, a case that is somewhat more feasible than the

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shown earlier, because when the original SP value is restored
(phase 3), the response maintains stability in a much shorter time than the
other examples considered, in a quantity of 24 minutes. It is valid to admit that
the PI action with the ITAE method is almost analogous by margins of discrepancy to
IAE, but it turns out to be more suitable than the latter due to its short time availability.
of time.

PID Action

Figure 7.13. Performance of the temperature controller with PID action applying the
ITAE method.

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PI Action

Figure 7.14. Temperature controller performance with PI action applying the method
ITAE.

The above suggests that the ITAE method corresponds to a good alternative for
the control of the heat exchanger, especially when it comes to PI action.
This refers to the fact that the control system is sensitive to major errors.
durability, making this a subtle option for control strategy.

D. Discussion of results

In relation to the analysis carried out previously, it can be deduced that each method
It offers its advantages depending on the action used for its operation.
of the controller. For example, the case of tuning with the action
PID, in which it was demonstrated with each method, the inclination towards achieving the
desired objective which is the conservation of the process variable signal in the
required preferred value. However, it must be considered that among the
three cases presented, it shows that the

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ITAE method reflects greater efficiency in terms of its operation, firstly
place, with its ability to counteract the effects of disturbances in
the lowest possible time values, because it reduces the shock, and third, it is
suitable for errors with great permanence over time.

Regarding case PI, it is emphasized that despite the generation of periods

long-lasting oscillations when the system is subjected to a disturbance, it is more
the ITAE method is viable when it comes to preserving the original temperature value
throughout the process. First of all, it is more advisable to have an action
derivative to strengthen the system's reaction to external agents of
perturbation for an adequate control structure.

7.9. Bibliographic references

Smith C. A., Corripio, A. B. Automatic process control: theory and practice. 2

ed. Mexico: Noriega Limusa, 1991; 285–289.

Stephanopoulos G. Chemical process control: an introduction to theory and

practice. 2 ed. New Jersey: Prentice Hall, 1984; 302–303.

Arantegui J. Process control 2010–11. June 2, 2013; 138 [Internet].

(consulted 2014 September 14). Available en:
[Link]
es_10-[Link].

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8. TUNING OF OPEN LOOP CONTROLLERS - IMC

8.1. Introduction

The design method for controllers titled Internal Model Control was
developed and popularized by García and Morari in 1982. This method is based on
en un modelo de proceso asumido y conlleva a expresiones analíticas para los
controller adjustments. It is also characterized by having the advantage of allowing
to the uncertainty of the model between development and robustness to be considered of
systematic manner; also being recommended in particular when the reason
time constant over dead time τ/t0 according to Cohen's rules and
Coon (1953) is less than 5.

The BMI method is based on the block diagram shown in Figure

7.1. A process model ( ) and ̃ the output of the controller Ua(s) is used for
calculate the model's response, ̃ ( .)The model's response is subtracted from the
current response Y (s), and the difference,( ) − ̃ ( ) is used as the signal of
input to the IMC controller, Gc(s). In general, Y(s)≠ ̃ (due
) to errors in the
modeling ̃
≠ (( ) )) and unknown disturbances (D(s) ≠ 0) that are not
considered in the model.

Figure 8.1. Block diagram for internal model control.

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The IMC controller is designed in 2 stages:

Step 1. The process model is factored as

̃ ( )= ̃ +( )(̃ −) 8.1

Where ̃ + ( it) contains some time delays and positive zeros. On the other hand,
̃ − ( )It is required to have a steady-state gain equivalent to 1.
to ensure that the two factors in [8.1] are unique.

Step 2. The controller is specified as

1
( ) = [8.2]
̃ −( )

Where f is a low-pass filter with steady-state gain.

1. It generally has the form:

1
= [8.3]
( s + 1)

According to [8.3], τc it is the desired time constant in closed loop; and for
specify your value, it is recommended as a rule of thumb to choose a value that is
twice as fast as the open-loop response, that is, τ c = 2t0The
parameter r consists of a positive integrator, which is usually assigned a
value of 1.

The formulas commonly used for calculating parameters of

Tuning for each type of controller is presented as follows:

PI controller

Proportional profit

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1
= [8.4]
+ 0

Full time
= [8.5]

b) PID Controller

Proportional gain

1 ( + )2 0
= 8.6
( + )0

Full-time

0
= + [8.7]
2

Derivative time

0
= [8.8]
2π + t0

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8.2. Problem Statement

It is required to cool 899984 lb/hr of a stream with a composition

A mixture of 50% benzene and 50% toluene, at 84.7 psia from 132.6 to 93°F
by heat exchange with a cooling water stream that is at
87.9°F, 140.4 psia and there is a flow of 824984 lb/hr; additionally, it is needed
that the outlet temperature does not exceed 104 °F, so that it can be conducted
again towards a cooling tower. This process takes place in a
shell and tube heat exchanger operated in counterflow, which has a drop
a pressure of 5.63 psi in the tubes and 6.64 psi in the shell. This system also
it has 2 valves located at the inlets of the currents to the exchanger.
In the simulation of this process unit, a controller is installed whose purpose
It is the control of the temperature at the outlet of the heat exchanger.

In this practice, one of the tools available in Aspen Plus is used.

Dynamics for the estimation of dynamic parameters, through the use of
open loop tuning method, with the help of the internal control model
(IMC).

8.3. Fluid package

Equation: Peng–Robinson.

Components: Benzene, Toluene, and Water.

Unit system: ENG.

Reactions: None.

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8.4. Steady State Simulation

For this section, the same procedure described in the Section must be repeated.
5.4 of Guide 5.

8.5. Equipment Sizing

The procedure described in Section 5.5 of Guide 5 is repeated.

8.6. Export to Aspen Plus Dynamics

In the Dynamics menu, press the Pressure Checker icon. with the aim of
check if the simulation is set up correctly for its later
use in the simulation environment of Aspen Plus Dynamics. Then, to export the
simulation, the File menu is displayed and in the Export option, the Pressure alternative
selected driven simulations. It is recommended to export it under the name
OPEN LOOP TUNING - IMC, because the primary objective
the practice is the analysis of the results of the simulation in a dynamic state
using the conditions imposed by the BMI model. It is possible
appreciate consecutively that the file with extension .dynfse was saved
successfully, and must be located in the same folder where the file is established
.saved previously.

8.7. Dynamic state simulation (Aspen Plus Dynamics)

Next, the case OPEN LOOP TUNING–[Link] is opened.

and an initialization run is performed to obtain the security of

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that the simulation is correctly specified, and additionally,

allow to resolve each of the variables involved in its initial state.

Temperature controller installation

In the model library located in the lower section of the interface, in the panel
Press the icon Lag_1 and drag it into the simulation environment.
to install an element that represents dynamic delay and is designated as
name LAG-1. This control loop is characterized by having dynamic delays of
second order for which it requires adding one more delay, naming it as LAG-
2. A controller named TC is also installed, and then a control signal.
that comes out of the H2 matter stream. In it, a control variable is chosen
the temperature as recorded in Figure 8.2; this signal is then connected to the
element LAG-1 and another signal is introduced that has its origin from
previous delay and as destination LAG-2.

A control signal is installed that comes from the LAG-2 element and enters the
TC controller as the process variable to be controlled. In order to
specify the opening of the valve VL-102, a final signal is introduced to
choose the output of the controller in the optionController as a manipulable variable
output, and it is connected to the mentioned valve.

To set up the first dynamic lag, right-click on the LAG icon.

1 and in the drop-down menu, select the option Scripts and press Initialize.
Again, right-click on the same icon and select the Forms option.
dropdown menu, you click on the alternative Configure to grant a value of
0.5 minutes for the time constant as taught in Figure 8.3. From
In an analogous way, the same configuration process is repeated for the LAG-2 icon.

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Figure 8.2. Process variable of the temperature controller.

Figure 8.3. Configuration of dynamic lag LAG-1.

On the other hand, to configure the controller, double-click the icon of it.
so that the faceplate stands out and thus allows selection
optionConfigure. Doing this brings up the window [Link], where
proceed to specify the respective action of the controller as direct; it is pressed
the button Initialize Values; and the permissible ranges for the variable are specified
to control as illustrated in Figure 8.4.

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Figure 8.4. Permissible ranges for the temperature controller.

Once the respective controller is configured, the unit diagram along with
your control system should be observed according to what is proposed in Figure 8.5. It
remember to save the recent changes.

Figure 8.5. Flow diagram for the heat exchanger in Aspen Plus Dynamics.

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Open loop tuning of the temperature controller

Before running the simulation, it is necessary to create a snapshot, which consists of

a reference point that serves as a base state for different trials that
execute. To create it, click on the Take Snapshot button. , and in the
the window that appears must be named theSnapshot as State-1.

Before starting the test, press the Run Options button. to add a time
of communication of 0.001 hours as indicated in Figure 8.6. By taking such action,
the simulation time will advance more slowly and will allow better observation of changes
of the variables in the graph.

To perform open-loop tuning, the Tune button is pressed. del

Faceplate of the temperature controller TC. Once the window appears
[Link], in the Test panel, select the open-loop autotuning method
(Open loop), and in the test settings framework, the default value is left as it is.
It consists of a step-up change of 5% in the output variable of
controller. To start the test, click the Start test button and then press
the Run button. Then, press the Plot button on the controller's Faceplate
to thus have the convenience of graphically observing the behavior of
the variables. Double-clicking on the graph to open its menu of
configuration, the color of the PV variable is changed to red for better visibility of its
performance. The test stops when the response of the process variable is
stay constant.

The test stops when the response of the process variable is stable.
constant, starting from approximately 0.2 hours, resulting in a graph like the
as observed in Figure 8.7. It is valid to appreciate how the value in state
the stationary variable of temperature decreases until it reaches a fixed value of
92.7719°F; this is achieved in a time close to 0.22 hours, applying a change
5% step for the opening of the valve VL–102.

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Figure 8.6. Options for specifying the simulation time.

Figure 8.7. Behavior of the temperature variable of the H2 current during the
open loop tuning test.

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Once this stability is achieved, the simulator proceeds to calculate the
steady gain of the open loop system, the time constant and time
dead. First, press the Pause button. , and then, the button
Finish the [Link] window test and in this way, the obtaining of the 3 is achieved.
characteristics mentioned as seen in Figure 8.8.

Figure 8.8. Obtaining the characteristics of the loop: gain, time constant and
dead time.

Determination of the tuning parameters using the method

of internal control model (IMC)

After determining the values of the representative features in the

open loop tuning test, we will proceed to obtain the

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required parameters for the adjustment of the temperature controller in both action
PID like PI.

a) PID action tuning

Parameters such as proportional gain (K) are calculated.c) the

integral time (τI), and the derivative time (τD) with the help of the conditions
proposals by the Internal Control Model (IMC) method.

For Kcis used [8.6]:

0.46
(2,202 +
= 2 ) 8,724
0.202 (0.92+ 0.46 )

For τIit should be employed [8.7]:

0.46 minutes
= + 2,202 minutes = 2,432 minutes
2

Finally, the value of τ is [Link] [8.8]:

( 2,202 )(0.46 )
= = 0,208
0.46
2( 2 + 2,202)

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Now, in the window [Link], the Tuning Parameters panel is selected in which
A table titled Tuning parameter options is displayed, which also contains 2
Specification options: Controller type and Tuning rule. The first provides a menu
dropdown to choose the type of preferred action; in this case the choice is made
PID. On the other hand, the second shows the different rules that contribute to the
determination of tuning parameters; select BMI. It is necessary to have
note that in the same box the option IMC lambda value is activated, which
allows specifying the value of the adjustment parameter that defines the parameters for
tune in. Since it will be used as a parameter the double of the dead time, it
introduce as a value 0.92 minutes.

To finish, press the Calculate button to consider the determination of the

values of the parameters in the Tuning parameter results table. It is observed that
the values obtained in the simulator are approximately similar to the
calculated with the previously shown equations, indicating in this way the
calculation reliability that the software has depending on the rule that is desired
apply. These values are emphasized in Figure 8.9. (Note: the user is reminded
do not close the [Link] until configuring the driver with the parameters
recently obtained).

b) Tuning by PI action

In a manner analogous to what was shown in the case of the PID action, we proceed to calculate
the tuning parameters in the PI, using [8.4] and [8.5].

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Figure 8.9. Results of the calculation of tuning parameters by IMC.

8.8. Analysis and discussion of results

Analysis of the temperature controller performance with PID action with

servocontrol

In the dialog displayed by the Run options button, set a pause time of
half an hour, (0.5 hours) and start a simulation run until it stops
in the adjusted time. Then, make a change in the value of PV from 93.02 to 100°F,
and introduce a new break time of 1 hour. Again, make a run
until it stops. Finally, restore the value of PV that it initially had, it is
say, 93.02°F and perform a final run until the variables stabilize
studied. Once everything described has been carried out, we proceed to observe the profiles
of the variables in the graph as shown in Figure 8.10.

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Figure 8.10. Performance of the temperature controller with PID action applying the
BMI method.

In Figure 8.10, it is valid to observe that when applying a change from 90 to 100°F in the
SP, the control variable tries to adjust to that new value approximately
after 18 minutes (0.8 hours) developing a behavior
overdamped; this occurs by keeping a value stable between 15 and 20%
opening of the valve VL–102. Then, when returning the set point to its value
favorite, it is observed how the process variable adjusts to that value without
to present an oscillatory character nor experimentation of overshoots.

Analysis of the temperature controller performance with PI action with

servo control

The same step-type variations are made in the control value as are
was carried out during the previous analysis, and a set of profiles is obtained like the one that
is shown in Figure 8.11.

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Figure 8.11. Performance of the temperature controller with PI action applying the method
IMC.

In the diagram, it is evident that when making a step change in the value of SP, it
You can observe a noticeable oscillatory behavior that moves away completely.
of the stability during the established time interval. However, when adjusting
again the control point to its reference value, it can be discerned how the
PV adapts again, this time presenting a longer settling time.
extensive that in the PID case, significantly predominating an oscillatory profile
descend until reaching the steady state; this is shown approximately
in 18 minutes from the point of disturbance (1.3 hours), when the OP (opening of the
valve) adapts to its initial percentage after having experienced a
underdamped trajectory with significant presence of overshoot.

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Discussion of results

According to what was studied in the previously conducted tests, it can be

highlight again how the PID control, this time using the
internal control model method presents the most optimal adjustment of control
the temperature of the mixture at the outlet of the exchanger, corroborating without
claims the validity of the current method as a subtle tool for
tuning. This is corroborated thanks to the instantaneous times of
settlement of the process variable and the absence of overshoot subject to
through disturbances to the control point; it is particularly due to the presence
of the derivative time parameter, which counteracts the effect of the
short-term disturbances.

On the other hand, it is also noteworthy that the performance with PI action
it also turns out to be trivial when compared to the ITAE method. This once again prioritizes
the idea of having the derivative time parameter to make the best
controller performance; therefore it is more than obvious that the best option for
a controller in this type of problems is one that has PID action to provide
greater confidence in the results.

Finally, the benefit of both the current tuning method and Z is emphasized.
–N para contribuir de manera significativa al logro de los objetivos del sistema de
studied control that in this case is of the heat exchange equipment; involving
thus very viable alternatives for open-loop control.

8.9. Bibliographic references

Corriou J. Process control: theory and applications. 2 ed. Springer–Verlag

London Limited, 2004; 160–164.

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Seborg D. E., et al. Process dynamics and control. 2nd ed. John Wiley & Sons, Inc.
2004; 304–306.

Tham M. T. Internal model control, 2002; 4–5 [Internet]. (Consulted 2014

November 24). Available at[Link]

King M. Process control: a practical approach. 2nd ed. John Wiley & Sons, Inc.
United Kingdom, 2011; 63.

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9. CASCADE CONTROL

9.1. Introduction

Cascade control is a control technique that uses two controllers with

a feedback loop nested within another. It is characterized by the output
the primary controller acts as a set point for the secondary; and the latter,
control the final control element (FCE), thereby providing a response
improvised to the disturbances that may arise. A control loop in
The conventional waterfall is illustrated in Figure 9.1.

Figure 9.1. Traditional diagram of a cascade control strategy.

It is also important to highlight that cascade control is used when there are
various measurement signals and a control variable. This is particularly useful
when there is significant dynamics, that is, long dead times or constants of
time, between the control variable and the process.
Cascade control exists for two important reasons: to eliminate the effect of
some disturbances and to improvise the dynamic performance of the loop
control.

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The selection of the control action and the tuning of the primary controllers
and secondary should be carefully considered. The control action for the
internal loop is often proportional to the adjusted gain at a high value. In
as for the gain of the secondary controller, it should be set to high
value to grant a robust internal bond that responds instantly to the
load of a disturbance; however, it is advisable that the gain not be so
higher than that of the primary controller, otherwise it would become unstable.

9.2. Problem Statement

The considered process is a phase separator that is fed with 100 Kg–
mol/hr of a liquid-vapor mixture consisting of 10% molar of
ethane, 20% molar of propane, 30% molar i-butane and 40% molar of n-butane. The
separator operates at a pressure of 20 bar and at a temperature of 70°C. This
the system has three valves, one in the feed line, one in the flow line
for sale, and another on the discharge line of the tank installed after a
pump used to transport liquid current. In the simulation of this unit
Two cascade control loops are installed in the process, one with the controller of
liquid level of the separator as primary control and the flow for the current of
food as secondary; and another with the temperature controller of the separator
as primary control and the pressure of the separator as secondary.
In this practice, one of the tools that Aspen Plus has is used.
Dynamics for the estimation of the process parameters (gain and period
last), through the ATV tuning method in closed loop. Once that
Once the mentioned parameters have been obtained, the Tyreus rules are used.
Luyben to calculate the dynamic parameters of the controllers.

9.3. Fluid Package

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Componentes:Etano, Propano, i–butano y n–propano.

Equation: Peng–Robinson.

Reaction: None.

Unit system: METBAR.

9.4. Steady State Simulation

The same procedure carried out in section 2.4 of Guide 2 will be carried out.

9.5. Equipment sizing and export to Aspen Plus Dynamics

In this way, the sizing and export procedure will be applied.

dealt with in section 2.5 of Guide 2, with the slight difference that the file to
when exported, it will be assigned the name CONTROL IN [Link].

9.6. Dynamic state simulation

Initialization run

Through the Aspen Plus Dynamics simulator, the CONTROL file opens in
[Link], click on the dropdown button Run Mode to
change the default option DynamicInitialization and press the
buttonRun, this initialization run is done to be sure that the

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the simulation is correctly specified and also allows saving its state
once the message shown in Figure 9.2 appears, it is chosen again
Dynamically enable the dropdown button Run Mode.

Figure 9.2. Initialization run message.

Installation of the liquid level controllers in the separator and of

food flow

In the model library located at the bottom of the interface, in the panel
Press the icon Dead_time to install two time elements
dead in the flowchart, they are named DT1 and DT2. In the same panelControls
Press the iconPIDIncr to install two controllers in the flowchart,
named LC and FC. The drop-down button for current types is clicked on
the menu that appears selects the option ControlSignal. By doing this, you
they observe the different locations where the control signal can be
connected, which are represented by blue arrows in the currents and
flowchart units.
Click on one of the arrows coming out of the separator V-101, it specifies
as a control variable the liquid level in the separator (Liquid level) how is it
As shown in Figure 9.3, this signal is then connected to the time element.
Dead DT2. A control signal is installed that comes from the dead time element.
and enter the LC controller, in the window that appears, select the Process option.
variable as seen in Figure 9.4.

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Figure 9.3. Control variable in separator V-101.

Figure 9.4. Inlet to the liquid level controller in the separator.

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Click on the output signal of the LC controller, select the option
Controller output as shown in Figure 9.5, connects to the FC controller and
the Remote setpoint option is selected as shown in Figure 9.6.

Figure 9.5. Output of the liquid level controller in the separator.

Figure 9.6. Remote set point of the feed flow controller.

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Click on the arrow that comes out of the Flow Food, it is specified as
control variable the total mole flow, then this is connected
signal to the dead time element DT1. A control signal is installed that exits
of the dead time element and enters the FC controller as the control variable
(PV). To specify the opening of valve VL-101 as the manipulable variable.
click on the exit signal of the controller, select the option Controller
output, and it connects to the valve VL-101.
To configure the dead time element DT1, right-click on it.
icon, and follow the path Forms » Configure to specify a value of 0.1
minutes for the timeout. Once again, right-click on the icon
DT1 and in the option Scripts of the dropdown menu, click on Initialize.
perform the same procedure for the DT2 element, which is specified with a
value of 0.2 minutes for the dead time.
Double click on the FC controller icon to display its faceplate.
which the Cascade button is pressed and then the button Configure. When performing
the previous, the window [Link] appears where you proceed to specify the type
of controller action and the permissible ranges of the control variable.
Initially, the type of controller action is selected as reverse.
and then click on the button Initialize Values. In the panel Ranges
especifica el valor máximo (130 kg-mol/hr) y mínimo (70 kg-mol/hr) para la variable
to control.
Then, double click on the LC controller icon for it to appear.
Faceplate in which the Configure button is pressed. When doing so, the following appears
the [Link] where the type of action is specified
controller and the permissible ranges of the control variable.
In this, the type of action of the controller is selected as reverse.
Then click on the Initialize Values button. In the Ranges panel, it is specified
the maximum value (1.49025 m) and minimum value (0.49675 m) for the variable to be controlled.

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Self-tuning of the feed flow controller

For the tuning process of this type of driver configuration, it is

recommended to start with the fastest controller (Secondary control) until the
slower (Primary control). Before starting the test, press on the
Run options button to specify a communication time of 0.001 hours.
By doing the above, the simulation time will progress more slowly and will allow
better observe the changes in the variables on the graph.

To perform the auto-tuning, click on the Tune button. delete faceplate

from the FC controller. Once the window [Link] appears, in the Test panel
choose the closed loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for the relay. To start the test, press the Run button.
Then in the FC window, press Start test. Click on the Plot button.
removeFaceplatedel controller to graphically observe the variation of the
variables. To better appreciate the response of the control variable, it is carried out
double click on the graph to open its configuration menu, in the frame
Variables select the process variable (PV), the color red is chosen and
right click on the graph and in the menu that appears,
presionar la opciónZoom Full. Se detiene la prueba cuando la respuesta de PV sea
a constant amplitude oscillation (Figure 9.7), which allows the simulator
calculate the profit and the last period. First, press the Pause and then
Finish test of the [Link] to calculate the ultimate gain and the last period.
as shown in Figure 9.8.
Once the parameters are obtained, the Rewind button is pressed. and it is done
Double click on the option Dynamic Initialization as shown in Figure 9.9
to revert the simulation to the state it was in before carrying out the test.
In the panel Tuning parameters of the window [Link], go to the frame Tuning parameter
options to choose the Tyreus-Luyben rules for a proportional controller
integral (PI) as shown in Figure 9.10, press the Calculate button
then the Update button controller for the estimated dynamic parameters to
from this method shall be specified in the FC controller.

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Figure 9.7. Response of the control variable during the autotuning.

Figure 9.8. Gain and last period for the feed flow control.

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Figure 9.9. Different states of the simulation.

Figure 9.10. Estimated parameters from the Tyreus-Luyben rules for control
of food flow.

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Autotuning of the liquid level controller in the separator

To perform auto-tuning, click on the Tune button. delFaceplate

from the LC controller. Once the [Link] window appears, in the Test panel
choose the closed loop autotuning method (Closed loop ATV) and let it be
The default value of 5% for the relay. To start the test, press the Run button.
then in the window [Link] click Start test. The Plot button is clicked.
delFaceplatedel controller to graphically observe the variation of the
variables. To better appreciate the response of the control variable, an evaluation is carried out
double click on the graph to open its configuration menu, in the frame
Select the process variable (PV), choose the color red and
Press Accept. Right-click on the chart and in the menu that appears,
press the Zoom Full option. The test stops when the PV response is
a constant amplitude oscillation, which allows the simulator to calculate the
profit and the last period. First, press the Pause and then finish the test
the window [Link] to calculate the final gain and the last period as
shown in Figure 9.11.

Figure 9.11. Gain and last period for the liquid level control of the separator.

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Once the parameters are obtained, the Rewind button is pressed. and it is done
double click on the Rewind Initialization option for the simulation to return to
state that I had before taking the test.
In the panel Tuning parameters of the window [Link], go to the frame Tuning parameter
options to choose the Tyreus-Luyben rules for a proportional controller
integral (PI) as shown in Figure 9.12, the Calculate button is pressed
then the Update button controller for the estimated dynamic parameters to
from this method should be specified in the LC controller.

Figure 9.12. Estimated parameters from the Tyreus-Luyben rules for control
liquid level in the separator.

Installation of temperature and pressure controllers in the separator

In the model library located at the bottom of the interface, in the panel
Press the icon Lag_1 to install two delays in the diagram of
flow with the names LAG1 and LAG2. A time element is also installed.

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dead and is named DT3. In the same panelControls, the PIDIncr icon is pressed
to install two controllers in the flowchart, they are named TC and PC. They
click on the drop-down button for types of current and in the menu that appears
the ControlSignal option is selected. When doing this, the locations appear.
where the control signal can be connected, which are represented by
blue arrows in the flows and units of the flow diagram.
You click on one of the arrows coming out of the separator V-101, it is specified
as a control variable the temperature in the separator (Temperature) how is it
as shown in Figure 9.13, this signal is connected to the LAG1 delay and then
install a control signal that goes from LAG1 to LAG2. It is then inserted.
a control signal that comes out of LAG2 and enters the TC controller, in the window
what appears is the option Process variable as shown in Figure
9.14.

Figure 9.13. Control variable in the separator V-101.

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Figure 9.14. Inlet to the liquid level controller in the separator.

Click on the TC controller's output signal, select the option

Controller output as shown in Figure 9.15, connects to the PC controller.
and the option Remote set point is chosen as shown in Figure 9.16.

Figure 9.15. Output of the liquid level controller in the separator.

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Figure 9.16. Remote set point of the feed flow controller.

Next, the pressure controller will be installed. For that, first a ...
click on one of the arrows coming from the separator V-101, it is specified as
control variable the pressure in the separator (Pressure), then this is connected
signal to the dead time element DT3. A control signal is installed that goes out
from the dead time element and enters the PC controller as PV. To specify
the opening of the valve VL-102 as the manipulable variable is clicked on the
controller output signal, the Controller output option is chosen, and it is connected
to the valve VL-102.
To configure the LAG1 delay, right-click on its icon and proceed with the
next routeForms»Configure to specify a value of 0.5 minutes for the
time constant. Once again, right-click on the
icon LAG1 and in the option Scripts of the dropdown menu, press Initialize.
perform the same procedure for the delay LAG2, which is specified with a
value of 0.5 minutes for the time constant.
To configure the dead time element DT3, right-click on it.
icon, and follow the path Forms»Configure to specify a value of 1
minute for the timeout. Once again, right-click on the DT3 icon.
and in the Scripts option of the dropdown menu, Initialize is pressed.

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Double-click on the PC controller icon to display its faceplate.

which the Cascade button is pressed, then the Configure button. When doing so
Before, the window [Link] appears where you proceed to specify the type of
controller action and the permissible ranges of the control variable.
Initially, the type of action of the controller is selected as direct (Direct), and
Then click on the Initialize Values button. In the Ranges panel, it is specified
the maximum value (6 bar) and minimum value (4 bar) for the variable to be controlled.

Then, for the temperature controller, double click on the icon of the
TC controller so that its faceplate appears where the button is pressed
Configure. When doing the above, the window [Link] appears where
Proceed to specify the type of action of the controller and the permissible ranges of
the control variable.
In this, the type of action of the controller is selected as reverse.
Then click on the Initialize Values button. In the Ranges panel, specify
the maximum (32°C) and minimum (28°C) value for the variable to be controlled.

Autotuning of the pressure controller in the separator

For the tuning process of this type of driver configuration, it is

recommended to start with the fastest controller (Secondary control) until the
slower (Primary Control).

To perform auto-tuning, click on the Tune button. remove faceplate

from the PC controller. Once the [Link] window appears, in the Test panel
choose the closed loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for relay. To start the test, press the Run button
Then in the PC window, press Start test. Click on the Plot button.
delFaced the controller to graphically observe the variation of the
variables. To better appreciate the response of the control variable, an analysis is performed
double click on the chart to open its configuration menu, in the frame
Variables selects the process variable (PV), the color red is chosen and
click Accept. Right-click on the chart and in the menu

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that unfolds, press the Full Zoom option. The test stops when the
The response of PV is an oscillation of constant amplitude, which allows it to
simulator to calculate the profit and the last period. First, press the Pause button.
and then finish the test of the PC window. Tune to calculate the ultimate gain and the
last period as shown in Figure 9.17.

Figure 9.17. Gain and last period for the separator pressure control.

Once the parameters are obtained, the Rewind button is pressed. and it is done
double click on the Rewind Initialization option for the simulation to go back to the
state that I had before taking the test.
In the panel Tuning parameters of the window [Link], go to the frame Tuning parameter
options to choose the Tyreus-Luyben rules for a proportional controller
integral (PI) as shown in Figure 9.18, the Calculate button is pressed
then the Update button controller for the estimated dynamic parameters to
from this method be specified in the PC controller.

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Figure 9.18. Estimated parameters from the Tyreus-Luyben rules for control
of pressure in the separator.

Auto-tuning of the temperature controller in the separator

To perform auto-tuning, click on the Tune button. delFaceplate

from the TC controller. Once the [Link] window appears, in the Test panel
choose the closed loop autotuning method (Closed loop ATV) and let it be
the default value of 5% for relay. To start the test, press the Run button
then in the window [Link] press Start test. Click on the Plot button
removeFaceplate remove the controller to graphically observe the variation of the
variables. To better appreciate the response of the control variable, it is carried out.
double click on the graph to open its configuration menu, in the frame
Select the process variable (PV), choose the color red and
Press accept. Right-click on the chart and in the menu that appears,
press the Full Zoom option. The test stops when the PV response is
a constant amplitude oscillation, which allows it to

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simulator calculate the gain and the last period. First, press the Pause button
and then finish the test of the window [Link] to calculate the ultimate gain and the
last period as shown in Figure 9.19.

Figure 9.19. Gain and last period of the temperature control in the separator.

Once the parameters are obtained, the Rewind button is pressed. and it is done
double click on the Rewind Initialization option to make the simulation go back to the
state I was in before taking the test.
In the Tuning parameters panel of the [Link] window, go to the Tuning parameter frame.
options to choose the Tyreus-Luyben rules for a proportional controller
integral (PI) as shown in Figure 9.20, press the Calculate button
then the Update button controller for the estimated dynamic parameters to
from this method shall be specified in the PC controller.

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Figure 9.20. Parameters estimated from the Tyreus-Luyben rules for control
of temperature in the separator.

9.7. Performance of the temperature controller in the action separator

proportional-integral (PI)

The general control system implemented in the unit is reflected in the Figure.
9.21. Similarly to the process carried out in Guide 2 of this manual, it
apply a sequence of changes to the set point of the liquid level controller
of the phase separator typical of a servocontrol mechanism, as a plan of
study of the performance of each controller, considering the influence of the
strategy for cascade control as an additional requirement.

Initially, a break time of 0.5 hours is set, and a

race. Once the simulation is stopped, the cover of the LC controller is changed
the value of SP from 0.9734 to 1.2 m, a pause time of 2.5 hours is introduced and
the simulation is run. As the last step, on the cover of the controller
LC, the value of SP is erased to insert the original value (0.9734 m); an adjustment is made.
new pause time of 4.5 hours, we proceed to carry out a

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run and the changes presented are visualized. At the end, the profiles of each
variables must be displayed as suggested in Figures 9.22, 9.23, 9.24, and 9.25.

Figure 9.21. Control system diagram applied to a phase separator in Aspen

Plus Dynamics.

In the food flow controller, which is consolidated as primary control

of the cascade control loops present in the diagram, a
effective and successful performance in terms of stability and control. Like the SP of
this controller consists of the OP of the level controller, it is rational that such
variable experience the sudden changes evidenced in Figure 9.22, with the
the purpose of mitigating the effects of established disturbances; even so it is
shown that both PV and OP manage to adjust to their values in the minors
possible amounts of time (almost in 0.4 hours), presenting a slight number of
overshoot each one.

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Figure 9.22. Performance of the feed flow control.

Meanwhile, the level control shows in more detail the effects of the
perturbations assigned as illustrated in Figure 9.23. As this is a
primary controller is dependent on the actions carried out by the controller
of flow. For example, when the level SP is altered to 1.2 m, the OP signal
implement the possible actions to counteract the effects of change; and this
internally associated with the variations of the valve opening VL–101,
which primarily receives the signals from the secondary controller, and contributes to
development of the expected function, as shown in the controller analysis
anterior

Once the behavior of the first cascade control loop has been studied, it
will conduct an analysis of the second, consisting of pressure controllers and
temperature. As can be seen in Figure 9.24, besides consisting of a
loop not affected by disturbances directly like the other, the control of
pressure, considered secondary in this case, reflects a series of alterations that
they encompass a longer time transition to be stopped. When it is presented
the servocontrol disturbance, the valve VL-102 is required to regulate its opening,
presenting a small sequence of overshoots until stabilizing at a value
specific percentage during an approximate interval of 1.4 hours. On the other
side, when the level control value returns to its initial value, the variables are
they stabilize in an average time of 1.1 hours as shown.

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Figure 9.23. Performance of the liquid level control in the separator.

Figure 9.24. Pressure control performance in the separator.

Finally, the temperature controller, known as the primary control for this
loop, presents a performance analogous to that of the previous controller, thanks to its
codependence with the secondary. This is mainly observed in Figure
9.25, where the same amounts of time used in the one are appreciated.
pressure to adjust the predefined values for the variables. Perhaps it tends to be
subtle in terms of effectiveness but not of efficiency as expected.

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Figure 9.25. Temperature control performance in the separator.

Discussion of the results

This study conducted will be used for comparative purposes with the results.
shown in Guide 2, because the same procedure was carried out in both
of study.

One of the main points to consider is that in this guide, besides

To employ a type of advanced control strategy like the cascade one, also
the initiative was implemented for all controllers to have parameters
obtained from self-tuning methods (closed-loop tuning
from T-L for this case), unlike the other one that presents controllers with
heuristic parameters. One admissible thing is that both show success and the
feasibility regarding the adjustment of the variables in their respective quantities, without
embargo, it should be noted that the calculated parameters tend to be optimal,
especially for pressure and temperature controllers, because
they try to maintain the uniformity of the variables in less time unlike
of those who use heuristic rules. In addition to that, it is worth noting that the
signals belonging to the pressure and temperature control loops in this
they present a greater number of shocks than those shown in the other;

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despite this, a better performance is shown in terms of efficiency and

optimization.

On the other hand, it is also valid to consider that the exercise shown in the present
guide shows adequately and logically the application of the control strategy
in cascade, cautiously fulfilling the functions and objectives that must be
take into account during a control system. However, it was only
restricted for PI action and despite that, covered a considerable amount of
overshoots long time intervals to achieve such goals. So
Due to this, it would be conclusive to apply a derivative action for each controller.
in order to reduce surprises and the time contemplated.

In conclusion, it can be stated that the advanced control strategy of

cascade, like many others existing in the field of Process Control
Chemicals present themselves as a viable and less tedious option to achieve
optimal performances in adjusting the variables over a range of time
determined, as long as the role played by the
parameters and actions that are desired to be applied.

9.8. Bibliographic References

Svrcek W. Y., et al. A real–time approach to process control. 3rd ed. John
Wiley & Sons Ltd, 2014; 133–137.

Astrom K. J., Hagglund T. Advanced PID control. 2nd ed. ISA–Instrumentation,

Systems, and Automation Society, 2006; 373–378.

Luyben W. L., Luyben M. L. Essentials of process control. 2nd ed. McGraw–

Hill Companies, Inc, 1997; 118-120.

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Bolton W. Instrumentation and control systems. 2nd ed. ElSevier, 2004; 299.

Coughanowr D. R., Leblanc S. E. Process systems analysis and control. 3

ed. McGraw Hill chemical engineering series, 2009; 353–360.

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[Link] BY REASON

10.1. Introduction

Control by reason involves maintaining the relationship between two adjusted variables.
Generally, these two variables consist of flow currents, in which one
is referred to as wild or uncontrolled (andw), and the other as manipulated or
controlled (y). The wild flow rate is measured and the controlled one is then
adjusted to maintain a fixed ratio R between both:

= [10.1]

Common examples include maintaining a constant reflux ratio in a

distillation column, involve stoichiometric amounts of 2 reactants at
point of being fed to a reactor or maintaining within a permissible ratio the
amount of oxygen and fuel required in a combustion process.

Control by reason is achieved through two alternative configurations. For example, one can
It has the case for Figure 10.1, where the two flow quantities are measured.
and its relationship is computed by the divisor. It is mathematically expressed as
This computed error signal is sent to a conventional PI controller.
such as the signal of the process variable (PV). The set point of the controller for reason
it is the desired relationship. The output of the controller is directed towards the valve of the
current with a manipulable variable, which adjusts its flow value correctly
Direction to conserve the reason for the 2 flow constants.

The main disadvantage of this method is that a dividing element has to be

included in the control loop, and this implies that the process gain varies from

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a nonlinear form. Applying derivation to the ratio between the two variables in [10.1]
regarding the uncontrolled variable, it is known that the gain of the process,

= =− 2
10.2

so that when changing the flow of the current andwthis also changes,
causing a non-linearity.

Figure 10.1. Control strategy by ratio by quotient.

On the other hand, in the configuration shown in Figure 10.2, the wild current
it is measured and this flow signal is multiplied by a constant R, being the ratio
desired. The output of the multiplier is the set point remote for a controller of
flow for the controlled variable.

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Mathematically, this configuration is expressed as follows:

= [10.3]

Regardless of the type of application, the latest configuration is the most preferred by
a simple reason, it is easier to design and intuitively attractive. Also because
the profit of the process remains constant. This is demonstrated by deriving the
variable to control in [10.3], in relation to the uncontrolled variable:

= = 10.4

Figure 10.2. Product-based ratio control strategy.

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10.2. Problem Statement

The objective of this practice is to simulate, both in dynamic state as well as

stationary, a depropanization process of a mixture composed of
propano 30%, isobutano 40% y n-butano 30% molar, con un flujo de 100 lb-mol/hr
and a temperature and pressure of 90°F and 220 psia, using a distillation column
simple with 30 dishes. This system has 3 valves (one in the flow of
food and the other 2 located in the line of each product) and 2 pumps for
promote the two product streams (distillate and bottom).

This simulation is carried out in a steady state, using Aspen software.

Plus, and then it is exported to the dynamic environment provided by Aspen Plus
Dynamics. In this last one, the aim is to illustrate the application of components.
characteristics of a control system such as dead time and lag
dynamic, in order to analyze the influence that they exert during performance
of the control system, especially in the case of the temperature control loop
from one of the stages of the unit, due to its high rigor.

In addition, it is also aimed at illustrating the application of the control strategy.

for reason, in which it is desired to keep the molar flow value stabilized
distilled in relation to that of reflux by an adjusted value of desired ratio of
3.58 through the regulation of the mass flow of the latter. In this way, it
will maintain a correspondence between the two variables that will be used for
subsequent analysis of dynamic behavior as it develops
present guide.

Finally, the closed-loop tuning rules of Tyreus will be used.

Luyben for obtaining the tuning parameters of the controller.

10.3. Fluid package

Componentes:Propano, Iso–Butano y n–Butano.

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Equation: Peng–Robinson.
Reactions: There are none. It is a process without reaction.

Unit system: ENG

10.4. Steady-state simulation

a) Procedure

First, open a new case in the Aspen Plus simulation environment.

Once the action is completed, the Setup folder is chosen to enter the title.
from the simulation that for this case is called Depropanizer Column; and
choose the English system ENG as the global unit set.

In the Components folder, specify the components that will be used throughout.
from the simulation. For this case, introduce propane, i-butane and
n-butane.

Navigate to the Methods folder where it is selected as a model

thermodynamic Peng–Robinson. Subsequently, the ...
binary interaction parameters for each component.

Next, the process of locating oneself in the simulation environment to build

a flowchart like the one shown in Figure 10.3. Join the currents of
assign materials to the units and designate their names accordingly.

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Figure 10.3. Flow diagram of a depropanizer column with its accessories.

Once the flowchart presented in Figure 10.3 is built, it is entered

the following specifications in the FOOD current: a pressure of 220 psia,
a temperature of 90°F, a molar flow of 100 lb-mol/hr composed of
30% molar of propane, 40% molar of iso-butane and 30% molar of n-butane. This
is connected as input to the valve VL–101, which in turn has as
output current SVL–101. To specify the valve, it is introduced
a discharge pressure of 204 psia.

Next, the SVL–101 stream enters a distillation column

nameT–101. It has DESTI and FONDO as output currents. The column
The T–101 is characterized by having 32 stages (although in reality there are 30 stages)
real, but in Aspen Plus the condenser and the reboiler are also counted as
additional stages), a total condenser, a reboiler, and must include as
operating specifications for a distillate flow of 29.9 lb-mol/hr and a ratio of
reflux of 3.58. These data are entered into the configuration panel of said
unit. Then, in the panelStreams of the same unit, it is specified as stage
of the current input SVL–101, number 16. In the Pressure panel,
specify as total pressure of the condenser a value of 201.7 psia and the drop of
stage pressure drop of 0.096 psia. Finally, on the panel
The condenser enters a subcooling temperature value of 105°F.

Once the tower T–101 has been specified, proceed to install a pump named P.
-101, which has DESTI as its suction current and SP-101 as its discharge.

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To fully specify the pump, a pressure increase is added of
30 psia. Then, install a valve called VL–102, which has as flow of
input SP–101 and as output SVL–102. This accessory has a drop of
pressure 20 psia, this way it will be specified.

Similarly, insert a pump named P–102, which has as

suction current BOTTOM and discharge SP–102. This accessory is
provides a pressure increase of 30 psia. Following this, introduce a
valve named VL–103, where input SP–102 is entered and as
output SVL–103. Specify it with a pressure drop of 22.9 psia.

b) Activation of the hydraulic profiles module of column T-101

Before running the simulation, it is noteworthy to highlight certain broad aspects.

relevance during the sizing of the distillation column. Such
aspects consist of the requirement for hydraulic information throughout the
stages of the unit, for example; or even, the attribute of certain specifications
initials for the design of the plates.

First of all, in the elementReport, located in the setAnalysis in the folder of

specifications T-101, select the panel Property options and activate the use of the
hydraulic parameters as shown in Figure 10.4.

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Figure 10.4. Property administration window for column T-101.

c) Design of the plates of column T-101

Next, the Tray Sizing option is selected from the set of

Sizing and Rating specifications, located in the T-101 folder and will be deployed.
an interface like the one shown in Figure 10.5. Pressing the New button will appear
a window like the one reflected in Figure 10.6, in which a title is requested
specific to the desired requirement. Leave the number 1 by default and press
OK.

In these moments, a window will appear where you can observe the
respective boxes to enter the required information for the design of the
plates. For this case, for example, the number 2 is introduced as the initial stage and the
final as 31. It is worth noting that in Aspen Plus, the assignment of the stage order
it is not realistic at all, as it implicitly includes the units of exchange
caloric such as the condenser and reboiler. The first is identified as the stage
1 and the last like the 32; it is thanks to this that it will be considered as the true
order the dishes in the column from 2 to 31.

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Figure 10.5. Interface for the design of the plates of column T-101.

Figure 10.6. Window to enter a title for the interface.

As for the type of dish, it will be classified as type Sieve; and in the number of
Steps establish the default value, that is, 1. Regarding its
geometry, a spacing value of 2 feet is shown; it is also left
default specified. These data are distributed according to Figure 10.7.

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Figure 10.7. Window for specifying the plates of column T–101.

d) Results of the steady-state simulation

Save the simulation under the name DEPRONIZING COLUMN in

compound file format (*.apwz). Then, press the Run button, and
it will be observed that the simulation converges successfully. Select Custom Stream
Summarize in the Homey menu to add the values of the compositions so that
can be seen in the results table as shown in Figure 10.8.

In the results table, it can be verified that the distilled product (DESTI)
contains a high percentage of propane, which is what was expected. In other words, this
current contains a purity of 97.65% propane in it, thus corroborating the
effectiveness of the simulation and the achievement of the desired objective in the process of
separation.

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Figure 10.8. Steady state results table.

e) Determination of the plate for installing the temperature controller

Before considering the equipment sizing requirements and for the

Introduction to the dynamic simulation environment, it must be defined on which plate it will go.
to install the temperature controller. For that, the setProfile is chosen in the
folder T–101 and locate it in the Compositions panel where it will be visible
graph that describes the change in composition of each component over time
their routes through the stages of the column, both in vapor phase and in liquid phase,
as evidenced in Figure 10.9. Change the phase of the compositions of
vapor to liquid and it is observed how propane is susceptible to different
Notable changes between stages 6 and 7 (0.711355–0.630663 = 0.080692) and 7 and
8 (0.630663–0.5567 = 0.073941). Since the common plate between these 2 ranges is
the seventh, in this the temperature controller will be implemented whose value is
129,344°F (See panelTPFQ).

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Figure 10.9. Liquid phase composition profiles in column T–101.

f) Results of hydraulic profiles and design of the column plates

In a similar way, hydraulic profiles can also be appreciated in each

stage by simply moving to the panelHydraulics, noted with a table
detailed properties of the physical properties experienced by matter currents
during their journey inside the tower. This table can be seen in the
Figure 10.10.

Also in the interface created for the design of the dishes, it can be observed in
the panel results the respective data for the sizing of the plates, for
For example, a diameter of 1.494 ft was obtained for the column and the plate where it
the maximum diameter is number 29. These results are reflected in the
Figure 10.11.

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Figure 10.10. Hydraulic profiles of column T–101.

Figure 10.11. Results window for defining additional parameters in the

design of column T–101.

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10.5. Equipment Sizing

a) Specification of the energy requirements of the condenser and

reheating

The file must be saved again and then, activate the option for
dynamic mode located in the Dynamics menu of the simulation window.
Then in the expanded folder of block T-101, the activation of the
itemDynamics, to introduce its various specifications into it. In the panels
The condensers and reboilers will default to the alternative of Constant duty.
indicated in the Heat Transfer Option dropdown button.

b) Sizing of the reflux drum and accumulator at the base of the

column

Next, in the Reflux Drum panel, the length and values will be entered.
diameter of the container as shown configured in Figure 10.12. Making
use of the data provided by the hydraulic profiles as shown in the
Figure 10.10, through design calculations for the drum, a diameter of
2,805 feet and a length of 5.61 feet. In the same way, the design of the
accumulator in an analogous way. This information is represented on the panel Sump
in Figure 10.13.

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Figure 10.12. Design specifications window for the reflux drum of the column
T–101.

Figure 10.13. Design specification window of the accumulator at the base of the
column T-101.

c) Determination of hydraulic conditions

As the final specification criteria, the calculated information will be provided.

for the design of the plates in the Hydraulics panel of the Dynamics extension
same column. In that panel, there is a table requesting certain data in
concrete. In the column titled Stage 1, enter the number of the true

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initial stage of the column, that is, 2; and in the next column (Stage 2), introduce
the numerical value of the last dish, that is, 31. At that moment, it would have been possible to
observe how the other data was supplied automatically. Without
embargo, it is valid to emphasize that there are some data that are not useful for the
planned objective (referring to the diameter of the column and space between
dishes); for this reason, the calculated data from the design section is introduced
the plates as shown in Figure 10.14. Also as an additional note, we
remember the deactivation of all the drivers that will be installed
automatically at the moment of exporting the simulation to the dynamic environment. This
It is carried out in the panelDynamics, according to what is outlined in Figure 10.15.

Figure 10.14. Hydraulic specifications window of column T–101.

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Figure 10.15. Driver management window.

d) Final considerations and export to Aspen Plus Dynamics

Before the simulation is exported to the dynamic environment, it is run with

so that in the end, a message appears guaranteeing the success of the simulation and it
watch. Consequently, press the Pressure Checker button and will be deployed
a warning (Figure 10.16) in which it is stated that the current pressure
The entry to the column is not equivalent to the one that exists in stage 16. For
to correct this discrepancy, the pressure profile at each stage must be verified
column. This is done by going to the Profiles section and locating the
characteristics of that stage. In it, it can be observed that it has a pressure
approximately 203.14 psia. Then, the specifications window must be opened.
from the valve VL-101 and change the output pressure to the value indicated by the
plato. The simulation is run again, then it is saved and
Press the Pressure Checker. From this moment on, a will appear.

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message (Figure 10.17) stating that the simulation is set up
adequately for it to be exported as Pressure Driven.

Figure 10.16. Warning message in the pressure check.

Figure 10.17. Feasibility message in pressure checking.

To finish, save the case again and go to the File menu to export it.
as Pressure Driven under the same name (or also click on the icon of the
same name in the Dynamics menu Warnings will appear about the use
efficiency curves for pumps in Aspen Dynamics, which are ignored
frequently. In those moments, it should appear saved along with its
stationary simulation the exported case. This must appear saved under

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the nameCOLUMNA [Link]. Close the simulation
stationary and open the newly created.

10.6. Dynamic State Simulation: Aspen Plus Dynamics

a) Molar flow control of the feed stream

This controller has an inverse action since an increase in the flow of

feeding above its SP would imply a decrease in the percentage of
opening of valve VL–101 to decrease that flow.

Select the blockPIDIncr located in the Control panel of the visible menu
at the bottom of the simulation environment and install it. Also insert a
Connect ControlSignal as an input signal or process variable (PV) the flow.
total current of the FOOD; and as output signal or OP, the opening of
the valve VL–101, meaning that this signal has as its destination point the
accessory. This controller is assigned the title FFC, which has as
Feed Flow Controller.

Open the controller cover and select the Configure box. In the window
deployed, initialize the values, adjust the controller action as inverse,
add tuning parameters a gain of 0.5 and an integral time
of 0.3 minutes, according to heuristic principles suggested by Luyben. In the
panelRanges, introduce as limits of the variable to control (PV), values of 70
and 130 lb-mol/hr, because the steady-state value is 100 lb-mol/hr, it
take a not so flexible range of ± 30 lb-mol/hr.

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b) Control of the reflux drum level

This controller has a direct action, because an increase in the level of

liquid from the reflux drum would imply an increase in the opening of the valve
to reduce that level.

Install a PID controller named LDC (Level Drum Controller) and link it.
with an output point coming from the condenser that contains the variable level
liquidStage(1).Level. This variable is identified with the level of liquid in the
drum; this is considered as stage 1 according to the operation of Aspen
Plus. The opening of the valve VL–102 is selected and entered as OP.

The controller cover is opened, the Configure option is chosen, initialize the
valores, ajustarlo con acción directa y suministrar una ganancia de 2 y tiempo
relatively high integral (1 x 106minutes, for example) according to principles
heuristics; this is done in order to grant a proportional action only.
In the panelRanges, because the total height or length of the drum is 5.61 ft,
the limits for PV control range from 25 to 75% of that height; in
other words, they are extreme values like 1.4025 and 4.2075 ft.

c) Accumulator level control at the base of the column

This controller has a direct action due to an increase in the level of

liquid at the base of the column (located in the reboiler), would imply a
increase in the opening of valve VL–103 to decrease the liquid level.
Generally, this control has a dead time due to the distance of the segment.
of the piping that exists between the base and the control valve; which is why it is installed
a transfer function that has such information.

Install a blockDead_time , which is located in the Control panel of the menu

of blocks at the bottom. Assign it the title Dead time; this icon has the

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función de ingresar un parámetro de tiempo muerto que como su nombre lo indica,
it has time units. The liquid level is introduced as an input signal
in the accumulator titled [Link]. This is selected from a point
from the reheater outlet. Select and press OK.

Next, install a PIDIncr controller named LSC (Level Sump)

Controller), and sequentially, a signal is introduced that comes out of the icon
Dead time finally as the controller's PV. Then, a last is inserted.
signal in which it is the output or OP, and this goes directed towards the valve VL-103.
This emphasizes that the OP is the opening of that valve.

Right-click on the iconDead time and choose the pathForms → Configure.

this way, a window like that of Figure 10.18 is displayed in which
You need to specify a dead time value in minutes. Assign it a value of 30.
seconds.

Figure 10.18. Window for configuring the dead time value.

Once such specification is inserted, right-click again on the

same icon and select the route Script → Initialize. A message will appear indicating
that the action was completed as in Figure 10.19, then press Accept.
The purpose of carrying out this action is that the variable measured and transported in the
the incoming signal remains in complete synchronization with its original value; that is,
both the input and output signals have the same value of the

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liquid level variable in steady state which for this case consists of
3,683 ft. Double click on the block and a results window will appear.
corroborating the previous explanation (Figure 10.20).

Figure 10.19. Complete initialization message.

Figure 10.20. Results table of the Dead time block.

Then, proceed to configure the controller. Open the controller cover.

and press the Configure box to open the parameters configuration window.
Inicializar los valores, ajustar el controlador con acción directa, y añadir como
gain a value of 2 (proposed by Luyben) and an integral time of one
relatively large as 1 x 106minutes.

In the panelRanges, assign control limits at 25% and 75% of the total length
from the accumulator which is 7,366 ft. For this case, the qualified values are
1.8415 and 5.5245 ft.

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e) Condenser pressure control

It is characterized by having an inverse action due to an increase in pressure.

of dew or of the condenser work, and as a consequence of this, it also
presents a notable increase in temperature, which would imply a reduction in flow
of energy that regulates the capacitor to decrease the 2 variables.

Install a PID controller titled as PC (Pressure Controller). Then,

insert a signal that has as a control variable the pressure of the medium
heat exchange denoted by the name Condenser(1).P. This signal
it starts from an arbitrary location around the capacitor.
Press OK and direct the signal to the controller. This signal has as its point
to start with, some of the arrows that protrude in the section of column T–
101 and as the controller's entrance arrived.

Then, insert a signal that has the function of transporting the OP from
device. Direct it again towards the condenser, selecting as
variable a manipulate the caloric load of the condenserCondenser(1).QR. It is
select and press OK.

Activate the controller cover and click on the Configure option.

deploy the parameter settings window. Once activated, it
remind the user to initialize the variable values to their initial positions
for the steady state. Specify the controller action as inverse and
set parameters for a gain of 1 and an integral time of 20 minutes
as proposed by Luyben.

Then, move to the panelRanges to specify the ideal limits for the
process variable. Since the exact value is 201.7 psi, a tolerance of
+/- 10 psi to establish values of 191.7 and 211.7 psi.

f) Control of the molar flow rate of the reflux stream

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This controller is characterized by having reverse action since an increase in

The molar reflux flow would imply a decrease in the mass flow rate that is being
manipulating.

The use of the strategy of control by reason is also considered in this case.
in which the dependence of the set point of said controller will be taken into account
due to the fact that the variation in the amount of flow is considered as wild fluid
molar flow rate of the DESTI current that experiences a change in molar flow
a determined time lapse, multiplied by a constant value which consists of
in the desired reflux ratio, which is equivalent to 3.58. The value obtained by this
The product will serve as a reference variable during the control to be studied.

To begin with, the blocksMultiply are installed and PIDIncr. The first one is given to
assign the name Ratioy to the second RFC (Reflux Flow Controller). Then
install three signals: the first carries the molar flow variable of the stream
DESTI towards the entrance of the block Ratio as the first entry (Input 1); the second
it consists of the output of the previous block and is sent as input to the RFC block
how to set point remote (SPremote); the third one carries the molar flow variable of
the reflux stream (fluid to be manipulated) towards the controller as a variable of
process (PV); and the last one refers to the output signal of the controller (OP)
directed towards the manipulation of the mass flow of the reflux stream.

Once the control loop is installed properly, the following steps are taken
configuration of the entire loop. First, double click on the block.
Ratio to deploy the results table of this and it is added as the second
input (Input 2) the value of the reflux ratio which is 3.58 as shown in the
Figure 10.21. It should be noted that the values of the other input and the output of the
block has a default value of a random value like 2.20462 lb-mol/hr. For the
They will be left as they are for now and then configured through a
initialization.

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Figure 10.21. Results table of the Ratio block.

On the other hand, the cover of the controllerRFC is displayed and the mode is activated.
Cascade. This is how the influence of the remote set point signal will work.
during the molar flow control mechanism.

Next, the configuration window of this is opened.

controller and their respective values are initialized. They are then adjusted with action
inverse and they are provided with a gain of 0.5 and an integral time of 0.3
minutes according to empirical conceptions as in the case of the controller
the STREAM FOOD. In the panelRange, as the molar flow of the stream of
steady-state reflux is 107,042 lb-mol/hr, these are inserted as PV limits,
values that fluctuate within a not so flexible range of ± 30 lb-mol/hr, which in this
If it is 77,042 and 137,042 lb-mol/hr. Then it can be observed on the cover of
controller each of the variables to take into account.

g) Temperature control on plate 7

It is characterized by having an inverse action since an increase in the

a plate temperature of 7 would imply a decrease in the amount of energy flow
that enters the heat exchanger to thus decrease the temperature. This control loop
It has first-order dynamic delays, so only a single one will be needed.
transfer function that transports the information.

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Initially, a block named Lag_1 is inserted ( ) which has the

function to indicate a dynamic delay in a control system. It is introduced as
TitleLag. One is required because it is a first-order system, so
when it comes to higher order, several Lag_1 blocks are installed in series
depending on the order number. In the blockLag, a signal is inserted to start
from the middle section of the column containing as a process variable the
plate temperature 7, denoted as Stage(7).T. It is added by pressing OK and
then the signal is sent to the block.

A PIDIncremental controller is installed with the name TC, and then a signal is inserted.
that the output of the blockLag, which has the function of directing the PV towards the
controller. Finally, it is introduced as the OP signal of the controller that is
sent to the lower section of the column. The variable to manipulate consists of
the energy flow of the reboiler, which is represented as QRebR. Press
Okay, in this way the control loop was constructed.

As additional details, right-click on the block and follow the path Forms →
Configure. You can witness the appearance of a window like the one in the Figure
10.22 that requires as essential specifications the gain in state
stationary (K) and the time constant or delay (τ). Enter a K of 1 and a
τ of 1 min as determined in Figure 10.22.

Figure 10.22. Window for adjusting first-order delay parameters.

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Then in the same block of dynamic delay, right-click to follow the path.
Script → Initialize. A window will appear stating that the action has been completed.
successful way. This is done so that there is a consistency in value.
transported both in the input and output signal. To confirm it,
unfold the block results by double-clicking on it, thus displaying a box
like that of Figure 10.23, where the value of the plate temperature is observed
7 what is from 129,344°F.

Figure 10.23. Results table of the Lag block.

As a final step, open the controller cover and activate the Configure option to
specify the tuning parameters. Initialize their respective variables and
adjust the controller with inverse action. Since there are no heuristic rules for
tuning parameter assignment for temperature controllers,
Subsequently, the procedure for obtaining with loop tuning will be explained.
closed.

Move to the panelRanges to assign the characteristic limits for the variable
Of process. Since the value of the temperature variable is 129.344 °F, it cannot be
choose a wide range because it may contain the presence of temperatures
of adjacent plates but neither minimum because the control to be implemented is
PID (the process generates noise), so a range of ±13° F will be chosen. So
The limits to assign are 116.344 and 142.344° F.

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h) Self-tuning of the temperature controller

Before performing the tuning, a new initialization of the

components of the diagram, and then, double click on the block
Ratio to display the results table, observing in this way, the values
predilections for the variables introduced in that block as observed in the
Figure 10.24.

Figure 10.24. Synchronized variables for the ratio control strategy.

Next, the temperature controller cover is displayed and activated.

the Tune option to choose the tuning mode for the controller. It is reminded
adjust before running the simulation, a communication time of 0.001
located in the menu Run Options; subsequently, choose the method Closed
Loop (ATV) for closed-loop tuning. Then, enable the Run option.
Afterwards, press the Start test button for the test to be conducted.

On the same cover of the controller, select the Plot option to observe the
behavior of signals and when there is a constant oscillatory period,
this test is paused and the Finish test button located in the Tune window is pressed.
Note: To better appreciate the development of the signal profiles
it is recommended to change the color of the process variable (PV), in
in this case preferably, red is used; and also, in case that the

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signals should not be widely admired, a scale adjustment must be made that is
for the user's comfort.

Figure 10.25. Self-tuning of the temperature controller TC.

Once the oscillatory period is completely constant throughout the

time as shown in Figure 10.25, the Pause tool is pressed
subsequently, the Finish test button located at the bottom of the window
[Link]. The emergence of the values of gain and period can be evidenced.
last, consisting of 7.78 and 1.86 minutes, as shown in Figure 10.26.

Next, we proceed to move to the Tuning parameters tab to

define the required parameters for the operation of the controller. First
place, in the box to set tuning parameter options, there
select PID controller type and the use of Ziegler–Nichols rules.
Next, at the bottom of the pop-up window, press the Calculate button.
to obtain the parameters. According to Figure 10.27, it is possible to estimate
approximately a proportional gain value of 4.57, an integral time of
0.93 minutes and a derivative time of 0.23 minutes as well.

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Figure 10.26. Calculation of the loop characteristics.

Figure 10.27. Results of the tuning parameters.

After obtaining such conditions, a Rewind is performed, where

the Initial Specifications option is chosen and OK is pressed. This way it will be possible to
to see how the initial values of the signals were restored in each controller.

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In the [Link], press the buttonUpdate controllerto enter the
parameters obtained in the temperature controller. In this way, when
open the settings window, it is now possible to check the appearance of everything
them.

Consecutively, execute a Snapshot entitled Control by Reason;

And once created, save the case so that when opening the file in different
on occasions all the parameters that have been defined may appear registered
throughout the process.

10.7. Analysis and discussion of results

a) Analysis of the performance of the reflux controller by control strategy

for reason

Initially, perform a new initialization to verify the feasibility in

the simulation. The covers of the two flow controllers and the results table
of control by reason, are activated as evidenced in Figure 10.28.

It should be noted that a servo control will be implemented to consider the effects of
the disturbances that will prevail. Next, perform the following steps:

Start a run in normal dynamic state that is stopped in 0.5 hours.

Adjust in the Run options.

Change the SP value of the FFC controller from 100 to 85 lb-mol/hr and that the
simulation will be stopped in 2.5 hours.

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Figure 10.28. Flow diagram with the activated ratio control strategy.

Again, the SP value of the FFC controller must be varied from 85 to 110 lb.
mol/hr, whose pause time is 4.5 hours.

Restore the value of the SP to its initial condition, that is, 100 lbmol/hr, with a
6.5 hours break.

Once such a procedure is carried out, it will be possible to observe throughout the
run the various variations that the signals experience on the dials
(faceplates) of each controller, and similarly, in the results table of
Ratio, se divisa como el SP de la corriente de reflujo se acopla al nuevo valor
subjected during the disturbance. This is usually identified when the results are
stay still.

At the end of the consecutive runs, select the Plot option to display the
scheme that provides the profiles of the different signals, observing a
general graph like the one shown in Figure 10.29. It is valid to observe how
the process variable that in this case refers to the molar flow of the reflux is coupled
to a relative value once the disturbance is granted. It should be noted that to
the time is completely dependent on the value of the molar flow of distillate
over time thanks to the reflux reason attributed during the

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specifications introduced, thus maintaining a noticeable proportionality between

the distillate and reflux streams.

Figure 10.29. Behavior of the variables of the molar flow controller of the current
REFLUX.

To obtain a better observation of performance, the profiles are considered.

adopted when the ALIMENT current has a flow of 110 lb-mol/hr as it
Figure 10.30 suggests that both the PV and the SP have a value.
in common that is established between 91 and 91.5 lb-mol/hr while maintaining a regulated flow
mass flow of almost 4045 lb/hr, just before the disturbance occurs
described. After that, the three signals begin to experience a progressive
increase in values to respond to change directly
proportional. The signals of the process variable and set points rise up to
to reach an average value between 115 and 120 lb-mol/hr due to handling
a mass flow greater than 5000 lb/hr as contemplated in Figure 10.29.

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Figure 10.30. Profile of the molar flow of reflux when the FEED flow increases its value.
a 110 lb-mol/hr.

b) Discussion of results

According to the analysis studied in the previous section, it is worth highlighting how
effective and simple was the application of the control strategy by reason for
control the molar flow of the reflux stream that is introduced in the rear zone
from column T–101, especially when it comes to reason by product as
it was attributed. This is because the response in the product reason control is
more efficient in terms of signal transmission speed to the controller,
especially when a disturbance is prevented.

Another aspect to highlight is that control by reason should not only be present.
restricted to the reflux current control relating to the distillate, it is also
valid when it is necessary to associate two manipulable variables as well, as
it deals with the case of the same reflux with the flow of food through a certain relationship,
for example. Although it should be noted that this control case was implemented due to
a que consiste en un sistema robusto y resulto mejor adaptable.

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10.8. Bibliographic References

Smith C. A., Corripio A. B. Automatic Process Control: Theory and Practice. 2

Mexico: Noriega Limusa, 1991; 430–438.

Stephanopoulos G. Chemical process control: an introduction to theory and

practice. 2 ed. New Jersey: Prentice Hall, 1984; 427–429.

Luyben W. L. Plantwide dynamic simulators in chemical processing and control.

2nd ed. New York: Marcel Dekker, Inc, 2002; 26–28, 155–156, 176–177.

Svrcek W. Y., et al. A real-time approach to process control. 3rd ed. John Wiley
& Sons Ltd, 2014; 125–126, 141–147.

Astrom K. J., Hagglund T. 2nd ed. Advanced PID control. ISA–Instrumentation,

Systems and Automation Society, 2006; 395–397.

Seborg D. E., et al. Process dynamics and control. 2nd ed. John Wiley & Sons, Inc.
2004; 409–412.

Luyben W. L., Luyben M. L. Essentials of process control. 2 ed. McGraw–Hill

Companies, Inc, 1997; 118–119.

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[Link] CONTROL

11.1. Introduction

There are situations where the control loop is oriented towards a variable of
control. In particular, this is true in highly automated plants where
One cannot expect the operator to make all the decisions that need to be made.
to occur under abnormal conditions.

That said, selective control is a form of multivariable control, and that is

generally seen as the inverse of divided range control. In the range
divided, there is a divided signal and various actuators (control points); while
that in selective control there are many measured signals and a single control point.

It should also be noted that many process control applications have a

equal number of controlled and manipulated variables. However, if few
Manipulated variables are more present than controlled ones, there is no possibility.
to eliminate the offset in all controller variables due to disturbances
arbitrary changes to the set point. For this reason, there are devices such as the
selectors to share the manipulated among the controlled.

A selector is a practical solution for choosing the appropriate measurement from

a determined amount. A selector is also used to improvise the
performance of the control system, as well as protecting the equipment from conditions
of unsafe operation. In instrumentation diagrams, the symbol (>) a
high selector or high signal, and (<) a low one or low signal.

It is worth noting that in most simulation programs

chemical processes, these selectors are represented by the blocks
shown in Figures 11.1 and 11.2. In Figure 11.1, a tall selector can be observed,
which is responsible for transferring the highest value from the multiple inputs to the
output signal (OP), ignoring the others. While in Figure 11.2 we have
a low selector that will be responsible for choosing the lowest of the inputs towards the
OP, rejecting the others in the same way.

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The principle of selective control is illustrated in Figure 11.2. The controlled variable
Primary is the output of the process. There is an auxiliary measured variable that must be
considered within the limitsminyzmaxThe primary control has the variable
the process, set point andsp, and output unThere are also secondary drivers with
process variables that are the auxiliary variable z. The output of these
sound controllershyulThe controller is a PI or PID controller that
provides effective control under normal circumstances. The output of the selector
low is the smallest of the input signals; while that of the high is the
larger. This form of selective control is called override.

a) b)
Figura 11.1. Bloques de selectores. a) Selector de alta señal y b) Selector de baja señal.

Figure 11.2. Representation of the selective control principle using a diagram of

blocks.

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There are cases in which complicated control ties such as control in

cascade, reason and selective are obviously applied in the control of an oven.
as reflected in Figure 11.3.

Figure 11.3. Selective control system applied to a furnace.

Normally, the output temperature is automatically controlled, furthermore

what is the maximum temperature value that the current will experience
food. For security reasons, the control structure is carried out by adjusting
the fuel supply through a slave control. Figure 11.3 shows
a pressure slave control that adjusts the fuel supply to the
kettles. The advantages of this slave control are:

Disruptions in fuel supply are eliminated thanks to the

quick action of the slave control.

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In the case of liquid fuel, the pressure in the boiler is maintained above
of a minimum value required for the atomization of said fluid. This
achieves with a high value selector (HSS).

11.2. Problem Statement

It is intended to simulate a mixing process in which ethanol is added.1), with

a high degree of purity of 95% in mass fraction, which must be diluted with water
(F2in a 1000 U.S. gallon tank to a composition of more or less 27%
in mass fraction. A small and constant flow of air is also added.
compressed (F3), to regulate the tank pressure and a pump to be able to
transport the diluted ethanol mixture.

The system, in addition to the tank and the pump, has 5 valves, 3 located in
the power lines, one for the vent current, and in the discharge line
from the tank, which is always installed after the pump for
prevent cavitation.

That said, the goal of conducting this simulation is to design a system of

control in Aspen Plus Dynamics, which will have seven control loops in
total. Among them, three molar flow control ties: one for each flow
feeding by manipulating the valves VL-101, VL-102, and VL-103. Also
there will be a tank pressure control, regulating the current valve
of sale (VL–104).

Finally, a selective control strategy (override) will be implemented, having

as an essential purpose the manipulation of the output signal of the controller more
Low that is directed to valve VL-105, located in the discharge line. In this
strategy, the control of two variables will be considered: the tank level and the flow
discharge current molar, in order to illustrate the operation of
the strategy in the simplest and most effective way possible.

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11.3. Fluid package

Componentes:Agua, Etanol, Nitrógeno y Oxigeno.

Equation: Redlich–Kwong–Aspen.
Reactions: There is no reaction. It is a process without reaction.

Unit system: ENG.

11.4. Steady State Simulation

a) Procedure

First, open a new case in the Aspen Plus simulation environment.

Once this action is completed, the Setup folder is chosen to enter the title
from the simulation that for this case is called Dilution Tank - Control
Selective; and choose as the set of global units, the English system ENG.

In the Components folder, specify the components that will be used throughout.
from the simulation. For this case, introduce as components water, ethanol,
nitrogen and oxygen as shown in Figure 11.4.

Then, you must navigate to the Methods folder where it is selected as

Redlich–Kwong–Aspen thermodynamic model (RK–ASPEN). In form
subsequently, the binary interaction parameters are verified for each
component.

Next, we proceed to locate ourselves in the simulation environment to build

a flowchart like the one shown in Figure 11.5. Join the currents of
material to the units and assign their names accordingly.

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Figure 11.4. Specification table for components.

Figure 11.5. Flow diagram for a mixing process.

Once the diagram shown in Figure 11.5 is constructed, we proceed to introduce

the specifications for the food currents that are provided in the
Table 11.1.

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Table 11.1. Specifications of input currents.

Power supply currents

Properties F1-ETNOL F2–WATER F3–AIR

Temperatura (°F) 90 90 90

Pressure (psia) 150 150 150

Molar flow (lb– 100 600 7

mol/hr
Composition 95% ethanol 100% water 79% of
and 5% water in fraction nitrogen and 21%
in fraction more of oxygen in
music. mole fraction.
Before these are fed into the mixing tank, each one is
install a pressure valve designed with a pressure drop of 40 psia; it is
to say that the valves to which this specification will be inserted will be VL-101,
VL–102yVL–103. Each of the currents is fed to tank V–101.
for the desired dilution or mixing process. This unit operates at a temperature
at 89.98 °F and a pressure of 110 psia.

As illustrated in Figure 11.5, it should be noted that the tank V–101

counts as outputs a venting current and a product discharge line
desired. The first is directed towards the valve VL–104, which is located
equipped with a pressure drop of 40 psia.

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On the other hand, the last one is sent to the pump P-101 that operates at a difference.
at a pressure of 50 psia; and subsequently, the flow passes through the valve VL
–105, accompanied by a pressure drop of 90 psia.

In a continuous manner, starting from the fact that the system is completely
specified, the simulation is saved under the name TANK OF
MIX with the format Compound files (*.apwz). Subsequently, press
The Runy button will show that the simulation successfully converges.

b) Results of the steady-state simulation

The results shown in Figure 11.6 indicate the effectiveness of the process of
mixture, because it can be seen that the liquid current possesses a
appreciable concentration of ethane at 12.55% and water at 87.44% with small
traces of air molecules, as was desired to develop. While the current
of sale drags with it very tiny portions of water and ethanol, clarifying
in this way, the percentage of air remains tolerable in terms of
concentrations very close to those of the incoming air current.

11.5. Equipment sizing

The obtained results are saved and then, the option is activated for
dynamic mode located in the Dynamics menu to enter into it the
specifications required for each equipment; in this case they will be implemented
only for the complete mixing tank.

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Figure 11.6. Results of the mixing process.

Since the tank is estimated for a volume of 1000 U.S. gallons (133,681 ft3), y
since the fluid flows (water and high-purity ethanol) are much greater than the
airflow entering the mixer, this implies that drag losses would be
minimums for which the minimum speed calculation will not be carried out to avoid
drag; with respect to the dimensions of the equipment, the heuristic of a
relationship of height and diameter of 2 (H/D=2); then:

2
πD 22D
( ) 3
= = =
4 4 2

3 2V 3 2 ( 133,681 3)
= √ = √ 4.3986 ft

(
H = 2D = 2 4.3986 )
ft8.7972 ft

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These obtained values are inserted into the dynamic specifications window.
from the tank, adjusting it with a flat head type as illustrated in Figure 11.7.
It should also be remembered to deactivate the drivers located in the
panelControllers.

Figure 11.7. Specification of dynamic requirements for tank V–101.

To finalize, the case must be saved again and directed to the File menu to
export it as Pressure Driven under the same name (or also click on the
icon of the same name located in the Dynamics menu They will appear
warnings about the use of efficiency curves for pumps in Aspen Plus
Dynamics, which are often ignored. In those moments, it must
to appear saved along with the simulation in steady state, the case
exportado. Este debe aparecer guardado bajo el nombreTANQUE DE
[Link]. Close the current simulation and open the newly created one.

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11.6. Dynamic state simulation: Aspen Plus Dynamics

a) Molar flow control of the incoming streams

Molar flow control is characterized by having reverse action since a

increase in the amount of molar flow above its reference point (SP),
it would imply a decrease in the percentage of valve opening for
counteract that effect.

Select the blockPIDIncr , located in the Control panel of the visible menu
at the bottom of the simulation environment and three are installed. They are assigned
as titles F1C, F2C and F3C, and their respective configurations go as follows
form:

F1C controller configuration

First of all, insert twoControlSignal one that has the function of

to transport the signal of the controlled variable (PV) which in this case is the molar flow of
the current F1–ETNO towards the controller; and the other that sends the response of
controller (OP) to the valve VL–101 in order to regulate the opening of
this.

Next, open the controller cover and select the Configure box.
In the dropdown window, initialize the values, adjust the controller's action.
as an inverse, add a tuning parameter of a gain of 0.5 and a
integral time of 0.3 minutes, according to heuristic principles suggested by
Luyben. In the panelRanges, enter the limits for the variable to be controlled (PV),
values of 70 and 130 lb-mol/hr, since the steady-state value is
100 lb-mol/hr, a not so flexible range of ± 30 lb-mol/hr is taken.

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F2C controller configuration

Introduce two control signals whose functions consist of transporting as PV

the molar flow of the stream F2–WATER and OP towards the valve VL–102. Open the
controller coverF2C and select the Configure checkbox. In the window
deployed, initialize the values, adjust the controller action as inverse,
add a gain of 0.5 and an integral time as tuning parameters
of 0.3 minutes, according to heuristic principles suggested by Luyben. In the
panelRanges, introduce values of 570 as limits for the variable to be controlled.
630 lb-mol/hr, because the steady-state value is 600 lb-mol/hr, it
take a not so flexible range of ± 30 lb-mol/hr.

F3C controller configuration

Install two control signals whose functions consist of transporting as PV

the molar flow of the current F3–AIR and OP towards the valve VL–103. Open the
cover of the controller F3Cy select the box Configure. In the window
deployed, initialize the values, adjust the controller action as inverse,
add a tuning parameter of a gain of 0.5 and an integral time
of 0.3 minutes, according to heuristic principles suggested by Luyben. In the
panelRanges, introducir como límites de la variable a controlar, valores de 4 y 10
lb-mol/hr, because the steady state value is 7 lb-mol/hr, a value is taken as a
not such a flexible range of ± 3 lb-mol/hr.

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b) Control of the mixing tank pressure

It is characterized by having a direct action due to an increase in the

tank pressure above its SP; for that, it is necessary to open the valve
from the gas outlet flow so that it decreases.

Install a PID controller entitled as PC (Pressure Controller). Then,

insert a signal that has as a control variable the pressure of the unit
process; this is respectively directed towards the controller. And then, introduce
an output signal from the controller to the valve VL–104.

The PC controller's cover is activated and the Configure option is clicked.

to display the parameter settings window. Once activated, it is
it is advisable to initialize the values of the variables to their initial positions for the
steady state. The controller action is specified as inverse and is
established as parameters a gain of 1 and an integration time of 10 minutes
as proposed by Luyben.

Then, it should be moved to the panelRanges to specify the ideal limits for
the process variable. As the exact value is 110 psi, a tolerance is adopted
from ± 40 psi to establish values of 70 and 150 psi.

c) Control flow override SVL-105 and the liquid level of the tank

Initially, to develop the functioning of a control strategy

to override the Aspen Plus Dynamics environment, it is necessary to initially install
the flow and level controller individually and test its effect
in an orderly manner. This is done with the aim of ensuring that the OP signals in the
the same checkpoints are scaled in percentage units (%) so that
they will be synchronized at the same time once they connect to the resource that

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provides the software related to the strategy used; in this case, control
selective.

A continuación se describirán los pasos a seguir para su funcionamiento:

Installation of the molar flow control of the SVL–105 current

Insert a PID controller with the name F5C. Then, implement a signal that
use the molar flow of the SVL-105 stream as a control variable; this goes
directed towards the controller. And then, an output signal is introduced that comes from the
controller to the valve VL–105.

Now the F5Cy controller cover opens and the Configure box is checked.
In the opened window, initialize the values, adjust the controller's action
as inverse, add a tuning parameter with a gain of 0.5 and a
integral time of 0.3 minutes, according to heuristic principles suggested by
Luyben. In the panelRanges, introduce as limits of the variable to be controlled,
values of 649 and 749 lb-mol/hr, due to the value in steady state being
699 lb-mol/hr, a not very flexible range of ± 50 lb-mol/hr is taken.

Once the control scheme is configured, the controller cover must be opened.
and proceed to press the Run button located in the top menu of the window
of simulation. Then the variations in the figures of the signals will be observed.
until they stabilize at a fixed value. At that moment, stop the simulation
with the Pause button that is located in the same segment as the Run button, and then,
Press the button close to it labeled Rewind. Disconnect the output signal.
from the F5C controller.

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Installation of the liquid level control in the mixing tank

The level control stands out for its direct action because when increasing the
liquid level inside the container above its SP implies increasing
the amount of flow of the outgoing liquid current to keep it stable.

Install a PID controller named LC. Then, insert a signal that has
as a control variable the liquid level of tank V–101, which is directed
towards the controller; and another that serves as an output signal that comes from the controller
to the valve VL–105.

Once the graphical control scheme is implemented in the simulation environment,

Open the driver cover and select the Configure box. In the window
deployed, initialize the values and set the controller action as direct.
The level control action is proportional, therefore they will be assigned as
tuning parameters a gain of 2 and an excessively long integral time
big, like for example a million for this type of case, according to
heuristic principles suggested by Luyben. In the panelRanges, introduce as
limits of the variable to be controlled, the 25 and 75% of the steady-state value of
tank level which is 5.49 feet. So from this, the deductions are made.
following values as PV limits: 2,749 and 8,247 feet.

Similarly to the F5C controller, open the cover of the controller and
the Run button is pressed located in the top menu of the window
of simulation. Then the variations in the figures of the signals are observed.
until they stabilize at a fixed amount. At that point, it must be stopped.
simulation with the Pause button that is located in the same segment as the
Run, and then press the button near it titled Rewind Disconnect the
output signal of the controller LC.

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Installation of the controller override

Once the response signals for both systems have been escalated
of controls studied individually, it should be directed to the menu located in
the bottom part of the simulation environment and press the panelControls 2, in it
You will observe a list of simulation icons specific to Control Theory. Like
the idea of simulation consists of simulating a selective control strategy type

Override, the HiLoSelect icon is chosen and is installed again in the

simulation window. It is assigned as nameSelector.

Then, connect the output signal of the F5CalSelector controller as the first
input (Input Signal 1), and the output ofLC as second (Input Signal 2). For
finally, insert a new control signal that serves as the output signal of the icon
Selector towards the control point that is the valve VL–105.

Once the general control system diagram is established, it must be carried out
next the loop configuration. For this, right-click on the icon
Select the route Forms → Configure. A window will then open.
that illustrates a table with a single property to be specified. This property
allows specifying the type of signal that is desired to be manipulated with the valve whether it is
low or high. In this case study, the aim is to work by manipulating
a low signal. Therefore, it should be set to Low, remaining specified as
This is illustrated in Figure 11.8.

Figure 11.8. Configuration table of the Selector block.

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Now, double-click on the iconSelector to expand the results table.
from the selector; in it, you can see that the numerical values as well as for
both input signals and the output correspond to 1. For
correspond them in terms of percentages as is customary for regulation of
to open a valve, the dropdown menu must be expanded and the
Initializatio option, which is located in the tools menu of
simulation (upper section of the simulation window). Carry out a run and
wait for the window that summarizes the success of the simulation to appear. Once
to appear, return the simulation mode that it initially had which is
Dynamic.

From this action, it is valid to observe how the results table of the icon
selector shows the figures of the input and output signals at 50. It is necessary
notice that the signals do not present units because they are not
connected to a control point, only the output signal from the selector is
available in terms of percentages for representing the variable of the opening of the
control valve VL–105. This description is presented in Figure 11.9.

Figure 11.9. Results table of the Selector block.

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11.7. Analysis and discussion of results

Study of the performance of the override controller in level and flow control
molar

Once the general control scheme over the unit has been set up
to study, it is crucial to study the performance of the selective control involved. Before,
It should be noted that the diagram is displayed similarly to that evidenced in
Figure 11.10.

Figure 11.10. General control diagram for the mixing tank.

Next, the simulation is run as a key phase during the

study. First, press the shortcut Run Options to enter a time
communication of 0.001 hours and in this way, it will be possible to witness with
detaining the variation of the signals from the LC and F5C controllers during the
test execution.

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After that, the covers of the two controllers to be studied are opened.
and from the blockSelector to understand the number of changes that manifest.
Then, the Run button is pressed and a certain amount of time is allowed to pass
until the signal values stabilize and then Pause is pressed. It
remember to observe the current changes.

With this, it is observed that in 3 hours, the signals stabilize at their values.
originals according to what is shown on the cover of Selector. Despite that, it is
it is necessary to appreciate the profiles of the variables of each controller to verify
the validity of the low signal selector action. Press the Plot option of the
two controllers and the color of the PV signal is adjusted to red for better
distinction from the others as evidenced in Figures 11.11 and 11.12.

Figure 11.11. Dynamic performance graph of the controller response signals

of the tank level.

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Figure 11.12. Graph of the dynamic performance of the controller response signals
of current flow SVL–105.

According to the behavior shown in the previous figures, it is valid to state

that the molar flow controller of the discharge flow (SVL-105) presents
the performance most susceptible to variation over time presented. In the
Figure 11.12 shows how the output response signal (OP) experiences
ups and downs successively in order to keep the stationary value adjusted
the process variable.

For example, the selector takes control of the lowest signal between the two, which
it is F5C during 0.8 hours; then there is a inflection in the
signal of the OP by carrying it to increase its value to exceed 50%
from the opening that the LC has, therefore, the new minimum signal will be adapted
towards this last controller while the first one ascends to an undefined value
(this is presented in 1.5 hours). Once the current control stabilized it
sufficient its control variable, the OPes signal restored to initial value that
it is approximately 50% in 3 hours, subsequently ensuring stability
total of the control system.

Now the shortcut is pressed Rewindy is selected after the Initial option
Specifications as illustrated in Figure 11.13.

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Figure 11.13. Pop-up window of the Rewind shortcut.

Dynamic performance analysis of the process with a disturbance in the

drop in discharge pressure of the tank

Next, we proceed to study the influence of the disturbances during a

regulatory control system. This consists of introducing a pressure change in
the discharge current after the valve VL–105. To recreate the
perturbation of one of the variables of this current, first of all, you click
right over SVL–105 and the following route is followed: Forms → Manipulate.
Then a table will be displayed like the one shown in Figure 11.14.

Figure 11.14. List of adjusted and free variables for the SVL–105 current.

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It displays a list of variables that are of broad relevance.
during the dynamic study. In addition, aspects to consider are observed such as
its numerical values, unit system and specifications. When referring to the
In the latest aspects, it can be seen how some variables possess the terms
Fixed (adjusted) and Free; the former emphasize those variables whose
value can be varied without any restriction and the second ones are variables whose
value is imposed by the nature of the process to be studied, and therefore, it is
impossible to grant a change.

In relation to the above, a regulatory control can be implemented by conducting

changes in the variables with the Fixed label, in this way it will be possible to
a type of disturbance of the variables. In Figure 11.14, it is shown that the
the only variable with this attribute is the current pressure, therefore, it will be reduced
the pressure from 70 to 50 psi. The handling table is closed and directed again.
towards the shortcut Run Options to set a pause time of 9.5 hours and click
Finally, the simulation is closely monitored.

After the race completes its time cycle, it can be seen in the table of
results of Selector that the values of the OP signals of the two
controllers are distant from 50% of the valve opening as it is
supposed to be anticipated, however, during the elapsed time there were
capable of counteracting the disturbance provided and maintaining the level variables
and of flow in their preferred values during the end as noted in the Figures
11.15 and 11.16.

In Figure 11.15, it is appropriate to state that it is required to decrease the opening.

from the valve to 45.22% so that the liquid level inside the tank can achieve
adjust to your SP based on an estimated average time of 6 hours. During
It is worth noting that the selector adopts this value of OP as a minimum.
from that point in time onward.

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Figure 11.15. Dynamic performance graph of the level controller through control
regulatory.

Figure 11.16. Graph of the dynamic performance of the molar flow controller using
regulatory control.

On the other hand, in Figure 11.16, one can observe in the initial times how
the valve instantly reduces its opening below 47% to

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to cushion the shock generated in the value of the molar flow. Given this, it also
observe how after 5 hours, the output response of the flow control experiences
a sudden rise to 75% (this happens because the selector in that
time chose the output of the level controller as the minimum signal); therefore,
increases until stabilizing at a certain value so that the molar flow is maintained
constant.

Discussion of results

Regarding the results shown above, it can be assured that the

The strategy of controlling overrides is viable during the performance of a strategy.
of global control without the influence of disturbances or of another kind and to a lesser extent
possible time. However, as seen in the case of control mechanism
regulatory, at the moment when the pressure difference of the discharge current
it is altered, a slow process of stability is observed that harbors too much
time lapse.

According to what is established, the selective control strategy is presented as

an auxiliary alternative to build more optimal control schemes regarding
it concerns security issues; however, it is linked to restrictions
such as the selection and amount of desired variables to keep under control
through the required strategy; the dynamic nature of the system to be studied,
among others. It is advisable to have prior knowledge about the
applications of the different types of advanced control strategies for
undertake the thorough and legitimate study concerning the process variables
treated.

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11.8. Bibliographic References

Luyben W. L. Plantwide dynamic simulators in chemical processing and

control. 2 ed. New York: Marcel Dekker, Inc, 2002; 45–46, 87.

Ogunnaike B. A., Ray W. H. Process dynamics, modeling and control. 2nd ed.
New York: Oxford University Press, 1994; 259–261.

Svrcek W. Y., et al. A real-time approach to process control. 3rd ed. John
Wiley & Sons Ltd, 2014; 142–147.

Astrom K. J., Hagglund T. 2 ed. Advanced PID control. ISA–Instrumentation,

Systems, and Automation Society, 2006; 386–388.

Seborg D. E., et al. Process dynamics and control. 2nd ed. John Wiley & Sons.
Inc, 2004; 423–424.

Luyben W. L., Luyben M. L. Essentials of process control. 2nd ed. McGraw–

Hill Companies, Inc, 1997; 122–125.

Roffel B., Betlem B. Process dynamics and control modelling for control and
prediction. 2nd ed. John Wiley and Sons, Ltda, 2006; 483–484.

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[Link] FEEDFORWARD

12.1. Introducción

In the closed-loop control system, a disturbance propagates along the

proceso y es exhibida como una señal de error que entra al controlador antes que
the action is to be implemented to correct it. This implies a deviation from the set
while the spread develops and a control action is taken. With
some control systems, this is often unacceptable; so to counteract
such a problem, feedforward control is implemented. With this form of control, it
you can measure the disturbance and a signal is added to the output of the controller to
reinforce the control law. Given this, the corrective action is initiated without waiting for
the effect of the disturbance to be shown in the input of the error signal to
controller. A typical example of feedforward control is shown in Figure 12.1.

Figure 12.1. Feedforward control scheme.

It is also worth noting that feedforward control is used in a number

countless configurations to improvise the control of the process. In this
strategy, a measured variable is used to detect a change in the

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process within the system. The measured variable transmits this information to a
feedforward controller. The feedforward controller determines the required change
in the manipulable variable, so that the effect of the change is combined with that of
the last one, without any disturbances in the controlled variable.
Such perfect correction is difficult to achieve, due to the feedforward control.
some significant problems. The strategy configuration assumes that the
changes are considered in advance; that the changes will have
Transmitters associated with them, and that no significant undetected changes
will occur.
The general block diagram of the feedforward control is represented according to the
Figure 12.2.

Figure 12.2. Information flow diagram for feedforward control.

The variations in the controlled variable, as a consequence of a

disturbance, are compensated as long as the transfer functions of
both trajectories are identical:

1+ 2 3= 0

Under the operating conditions, the transfer function of the controller

should be represented by the equation:

1
3=
2

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which sometimes requires extensive testing that are, in some cases,

impossible to carry out. For example, assuming for a process that the following
transfer functions were obtained:

1.0e-5 0.5e-3
1= 2=
1 + 10s 1 + 8s

So the feedforward controller would be:

1 + 8s
= 2e-2
1 + 10s

Which shows a gain of 2, a downtime of two, and an element of

delay–advance.
The control equation for feedforward generally consists of a gain.
in steady state, that is, material and energy balances in that state.
This does not take into account any of the dynamic aspects of the system;
there is a difference, or delay, in the response speed of the process to the action
of the control when compared to that of the disturbance, it is necessary to introduce
some dynamic compensation in the control equation.
For instance, if the measurement of the disturbance of the process contains dead time
the delay, the dynamic feedforward compensation must be a predictor, which
It is impossible unless a very fast and accurate model of the process is.
available. In practice, the dynamic elements of the feedforward are
approximated to a lead-lag network that adjusts to a ratio
qualified to provide the rejection of the disturbance over a range
permissible.

Feedforward-feedback configuration

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A disadvantage of feedforward control is that it cannot have

information about the nature of disturbances and their present effects
during the process. If unexpected disturbances enter the process when the
feedforward control implemented, no corrective action is established and
errors will propagate throughout the system. If all disturbances were
measurable and their effects in the process precisely known, a control system
Feedback for regulatory purposes would not be necessary. However, a
complete knowledge is never available, and therefore, feedforwards
occasionally combined with feedback, as shown in Figure 12.3. The
the attempt of this union is that the feedforward takes care of mitigating many of the
effects of the main disturbances and feedback loops provide a
tracking of the set point.

Figure 12.3. Combined feedforward-feedback control scheme.

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The following example of feedforward control in a heat exchanger is considered.
heat with a cascade control, according to Figure 12.4. The addition of control
Cascading feedback is useful for eliminating the offset due to deviations.
modeling and other unmeasured disturbances.

Figure 12.4. Application of a feedforward-feedback control system in a

heat exchanger.

In steady state, a global heat balance is written, according to [12.1], [12.2]

y [12.3]:

− =0 12.1

− ( 2− =1 )0 [12.2]
o

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= 2−( 1) 12.3

Where it is the enthalpy transferred by the steam condensing to form

condensed (kJ/kg) and Cpit is the heat capacity of the process fluid (kJ/kg K).

In this example, the incoming liquid flow, W, and the temperature, T1, they are measures
to determine the amount of heat required according to equation 12.3. The
desired outlet temperature, T2it is the set point in the feedforward controller. The
temperature controller feedback in the liquid current measures T2to adjust
some disturbances that are not corrected by the feedforward controller.

12.2. Problem Statement

The process considered is an adiabatic reactor with a diameter of 1 meter and a

length of 10 meters, in which the chlorination reaction of propylene takes place.
This consists of two irreversible exothermic reactions in the vapor phase:

1
3 6+ 2→ 2= − 2 +
2
3 6+ 2→ 2 − − 3

The feed to the reactor is a mixture with a molar composition of 10% chlorine.
and 90% propylene. It has a molar flow of 0.025 kg-mol/second and a temperature
of 403 K. This system has two valves, one in the feed line and
another in the output stream. In the simulation of this process unit, it is installed
a feedforward control - Feedback, in terms of the feedback controller is used
of some of the tools that Aspen Plus Dynamics has for estimation
of the process parameters (gain and last period), through the method
closed-loop ATV tuning. Once they are calculated

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parameters, the Tyreus-Luyben rules are used to calculate the parameters

dynamic controllers. The system's performance is evaluated against
different disturbances.

12.3. Fluid package

Components: Propylene, chlorine, hydrochloric acid, allyl chloride, and dichloropropane.

Equation: Chao–Seader correlation with Lee–Kesler enthalpy (CHAO–

SEA).

Unidades:MET.

Reactions:
1
3 6+ 2→ 2= − 2 +
2
3 6+ 2→ 2 − − 3

12.4. Steady State Simulation

A new case is opened in the Aspen Plus simulator and once it is displayed
In the main window, click on the Setup folder in the navigation panel.
the open window to the right introduces the name of the simulation in the
marcoTitlecomo “Reactor PFR” y en el botón desplegableGlobal unit setse
select the MET measurement system.

The Next Input button on the toolbar is pressed, which then

expand the Components folder in the navigation panel. In the window

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deployed to the right, introduce the following components: propylene, chlorine,
hydrogen chloride, dichloropropane, and allyl chloride as stated in the
Figure 12.5.

Figure 12.5. Component assignment table.

The Next Input button on the toolbar is pressed, which

expand the folderMethods of the navigation panel. In the window
deployed to the right is selected in the dropdown button Method name,
and the method for calculating properties titled CHAO-SEA is chosen.

Once the above-mentioned has been completed, the necessary data for the
estimation of the properties are fully specified. Proceeding to
enter the simulation environment. The flowchart is built as
appears in Figure 12.6.

Figure 12.6. Flow diagram - Dilution tank.

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Click on the Streams folder in the navigation panel and specify the
food current as described in the problem statement
(Section 12.2).

Select the Block folder in the navigation panel, and in the Setup panel
the reactor R-101 is specified as shown in Figure 12.7.

Figure 12.7. Reactor R-101 specifications.

In the Configuration panel, the diameter and length of reactor R- are specified.
101 as shown in Figure 12.8.

In the Pressure panel, the pressure drop across the reactor is specified as
is shown in Figure 12.9.

In the panelReactions, click on the New button , the name is left

which appears by default, R-1, and POWERLAW is chosen as the type of reaction.
Next. In the navigation panel, the Reactions folder is selected; then,
In the Stoichiometry panel, click on the New button and edit the reaction.
No. 1 as shown in Figure 12.10.

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Figure 12.8. Configuration specifications for reactor R-101.

Figure 12.9. Pressure specifications for reactor R-101.

Click the New button again to specify Reaction No. 2

as shown in Figure 12.11.

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Figura 12.10. Especificaciones de coeficientes para la reacción No. 1.

Figure 12.11. Coefficient specifications for Reaction No. 2.

In the panel Kinetic, reaction No. 1 is specified as shown in Figure.

12.12, while Reaction No. 2 is specified as shown in the Figure
12.13. Regarding the valves VL-101 and VL-102, these have a drop of
pressure of 5 atm each. After this point, all have been specified.
the necessary data for the simulation to converge satisfactorily, is
proceed to press the Run button .

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Figure 12.12. Kinetic specifications for reaction No. 1.

Figure 12.13. Kinetic specifications for reaction No. 2.

12.5. Equipment sizing

Once the simulation converges without warnings or errors, the selection is made.
Setup folder in the navigation panel, and in the frame Global settings is done
click on the dropdown button Input mode to change the option that comes

por defectoSteady-StateaDynamiclo que permite dimensionar los equipos del

process. However, in this case, it will be preferred to leave the options that it brings.

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by default because this type of aspects for a reactor are not high
significance during dynamic simulation.

Before exporting the simulation to Aspen Plus Dynamics, it is necessary

make a change in the system valves, the valve VL-101 is selected,
In the frameworkFlash options, click on the dropdown buttonValid phases
to change the default option from Liquid-Vapor to Vapor-Only, this
it allows the dynamic state simulation to be faster and more robust since
the calculations in this valve will be carried out only in vapor phase. The same is done
for the valve VL-102. Proceed to press the Run button once
convert the simulation, this is saved with the name CONTROL
[Link].

12.6. Export to Aspen Plus Dynamics

Para verificar que la simulación está configurada de manera correcta para su

After use in dynamic state, click on the Pressure Checker icon.
To export the simulation to Aspen Plus Dynamics, the following path is followed
File»Export»Pressure driven simulation, and the file is saved with the .dynf extension.
with the same name and in the same folder where it was saved CONTROL
[Link].

12.7. Dynamic state simulation

Initialization run

Through the Aspen Plus Dynamics simulator, the CONTROL file is opened.
[Link]. Initially, click on the dropdown button Run Mode
to change the default option DynamicaInitialization, press
the button Run, this initialization run is performed to ensure that the
the simulation is correctly specified and also allows saving its state

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once the message shown in Figure 12.14 appears, it goes back to
Choose Dynamic in the dropdown button Run Mode.

Figure 12.14. Message about initialization run.

Feedforward-Feedback Control Loop Installation

In the model library located at the bottom of the interface, in the panel
Press the dead_time icon to install a dead time element
In the flowchart, under the title DT. Next, in the same panel Controls
press the iconPIDIncrto install a driver in the flowchart with
thePCname. In theControls panel 2 theFeedfoward icon is pressed for
install a feedforward controller named FFC.
Click on the dropdown button for current types and in the menu that appears
se selecciona la opciónControlSignal, al realizar esto aparecen las locaciones
where the control signal can be connected; these are represented by arrows
blues in the currents and units of the flowchart.
Click on the arrow that comes from the Food flow to specify how
the disturbance measured by the feedforward controller of the total molar flow, in the
The window that appears when you double click on the option Total mole flow.
muestra en la Figura 12.15,después se conecta esta señal al controladorFFC.

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Figure 12.15. Control variable in the Feed current.

To specify the opening of valve VL-102 as the controllable variable, it

click on the output signal of the controller and connect it to the valve VL-102.
You click on one of the arrows coming out of the reactor R-101, with this it
specify the output pressure as a control variable, then connect this
signal to the dead time element DT. A control signal is installed that goes out
of the dead time element and enters the PC controller as the control variable
(PV). Click on the controller's output signal, select the option
Controller output, and it connects to the controller FFC as Remote bias, which
allows to divert (increase or decrease) the output signal of the feedforward controller.

To configure the timeout element, right-click on its icon.

And the following path is followed: Forms » Configure to specify a value of 1 minute.
for the downtime. Once again, right-click on the icon.
OptionScripts of the dropdown menu is clicked on Initialize. It is double clicked.
About the controllerFFC it is specified as shown in Figure 12.16.

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Figure 12.16. Feedforward controller specification FFC.

Right-click on the FFC driver, follow the next path

Forms»Configure to specify a value of 50% in the Remote bias box.
Then proceed to open the PC controller's Faceplate and its window.
configuration; the type of controller action is selected as direct and is done
Click on the button Initialize Values. In the panel Ranges, specify the minimum value.
(61.785495 atm) and maximum (81.785495 atm) for the control variable.

Auto-tuning of the reactor pressure controller R-101

Before starting the test, click on the Run options button. for
specify a communication time of 0.001 hours. By doing the above the
simulation time will advance more slowly and will allow for better observation of changes in
the variables in the graph.

To perform the auto-tuning, click on the Tune option. delFaceplate

from the PC controller. Once the [Link] window appears, in the Test panel
choose the closed-loop autotuning method (Closed loop ATV) and leave it
the default value of 5% for relay. To start the test, click on the
Runy button then in the PC window, press the Start test button. Then,
click on the Plot button Remove the facia to observe the controller
graphically the variation of the variables. To better appreciate the response of the
Control variable is double-clicked on the graph to open its menu.
configuration. In the frameVariables, the process variable (PV) is selected,
choose the red color and press the Accept button. A click is made

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right on the graph and in the dropdown menu, click on the option
Zoom Full. The test stops when the process variable (PV) response
it is a constant amplitude oscillation, allowing the simulator to calculate the
profit and the last period. From that, the Pause button is pressed and then
the button Finish test of the window [Link] to calculate the parameters as
shown in Figure 12.17.

Figure 12.17. Gain and last period for the pressure controller.

Once obtained, press Rewind and double-click on the option

Dynamic Initialization so that the simulation returns to the state it had before
carry out the test.
In the Tuning parameters panel of the [Link] window, in the Tuning frame
parameter options choose the Tyreus-Luyben rules for a controller
proportional-integral (PI) as shown in Figure 12.18, the button is pressed
Then calculate the Update button controller for the parameters.

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estimated dynamics based on this method should be specified in the controller
PC.

Figure 12.18. Parameters estimated from the Tyreus-Luyben rules.

12.8. Performance of the control loop Feedforward-Feedback

Before starting the run, it is necessary to create a graph that shows

the behavior of the feedforward controller variables. Unlike the
PIDIncr blocks, Feedforward blocks do not provide options to log the
graphic profiles of the involved variables as the first one does; so
Due to these reasons, the proper procedure for creating is explained.
graphs that represent the diversity of variables.

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Figure 12.19. Flow diagram of the PFR reactor in Aspen Plus Dynamics.

First, navigate to the toolbar, locate the Tools menu,

which will display a list of options, and among them follow the path New >> New
Form..., in such a way that it opens a dialog box where it requests the
name and the type of representation to be inserted. So you write the
name FFC and a typePlot representation is chosen because it wants to introduce a
graphic representation platform, as illustrated in Figure 12.20. Then,
press OK and an environment will appear with characteristics similar to that of Figure
12.21.

Figure 12.20. New Flowsheet Form.

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Figure 12.21. Graphic environment for the FFC controller.

Once obtained, it should be noted that the only variable displayed on the scale
it is the time, located on the x-axis, therefore it is necessary to add the
of the ordinates. For that, the cover of the FFC controller is deployed, making
double click on your block. Then, you need to locate yourself on the cell that has the
variable OP of the first column, keep the left mouse button pressed on it and
drag it towards the y-axis of the newly created graph. It is released and
observe how the variable is part of the diagram. In a similar way, it is repeated the
same step for the remaining ones like SP and PV, and successively, the plan will be
completely specified as shown in Figure 12.22. Note: In case that the
the scale present on the ordinate does not match the values of the variables, it is done
doble clic sobre ella, y se desplegara una ventana que muestra las opciones de
editing, similar to that of a graph for PID controllers.
Now that the creation process has been completed, it is possible to get into the substance of
detail with the simulation test. At first, go to Run Options for
specify a communication time of 0.001 hours, a pause time of 2
hours and press Accept. This way, they remain open the

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covers of the two controllers, as well as their respective graphs, is pressed
Runy carefully observes the obtained profiles.

Figure 12.22. Graphical environment for FFC along with its incorporated variables.

In Figure 12.23, the performance obtained for the PC controller is shown.

values remain stable without an oscillatory feature present. The same can be
to say about the FFC controller, shown in Figure 12.24, presenting values
constants during the given time period.
Since the PV and SP values in both controllers are almost similar, it
They observe in the 2 figures how the profile of each variable covers the other.
preventing the observation of the 3 signals.

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Figure 12.23. Graphical representation of the performance of the PC controller.

Figure 12.24. Graphical representation of the performance of the FFC controller.

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Discussion of results

According to the analysis obtained, it is worth noting that the feedforward control
it allows compensating for the disturbance caused by the inflow to the reactor, in
the sense that there is a decrease in the transitional order, that is, the
the distance between the disturbance and the controlled variable is wide, thus implying a
minimization of the effects caused by the first. In addition to this, it can be
see in the simulation diagram that the closest dynamic elements by
excellence consists of the controlled variable (reactor pressure PFR) and variable
manipulated (opening of the valve VL–102), indicating that the control function
will be more effective and significant, thanks to the decrease in the influence of the
disturbance.
However, it is also necessary to establish that this simulation has been carried out.
without producing any change of regulatory type or servocontrol to any variable
as has been done in previous guides, due to the fact that the case study
presents a high complexity dynamic, causing inevitable difficulties
during her study. Because of this, the present guide is shown as the only
exception in this instruction because it is only restricted to showing one run
normal and a common example of a feedforward control application.
Although it lacks depth of study, it is advisable to continue.
investigating the operation of feedforward control in Aspen Plus Dynamics
to carry out a rational and reliable analysis in future works, in this way
it will be essential to acquire solid and satisfactory knowledge about the
concept.

12.9. Bibliographic References

Svrcek W. Y., et al. A real–time approach to process control. 3rd ed. John Wiley
& Sons Ltd, 2014; 137–140.

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Roffel B., Betlem B. Process dynamics and control modelling for control and
prediction. 2nd ed. John Wiley and Sons, Ltd., 2006; 480–482.

Bolton W. Instrumentation and control systems. 2nd ed. Elsevier, 2004; 300.

Gilman G. F. Boiler control systems engineering. 2nd ed. United States: ISA–The
Instrumentation, Systems and Automation Society, 2005; 10,12–13.

Smith C. A., Corripio A. B. Automatic Process Control: Theory and Practice. 2

Mexico: Noriega Limusa, 1991; 447–456.

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ANNEX A: LIST OF SYMBOLS AND TERMS
EMPLOYEES
Table A.1. Physical and Mathematical Symbols

Symbol Term Units

Enthalpy or latent heat /
Density of liquid current ⁄ 3

Density of vapor current ⁄ 3

Time constant
Speed of derivation or pre-action
Integration or readjustment time
A Steady state entry or step change 2

Sectional area of a unit −

Parameter used in the integral method
1 of the error for proportional control −
Parameter used in the integral method
2 of the error for proportional and integral control −
Parameter used in the integral method
of the error for proportional, integral, and −
3 derivative
Total heat transfer area 2

Steady-state output −
Parameter used in the integral method
1 of the error for proportional control −
Parameter used in the integral method
2 of the error for proportional and integral control −
Parameter used in the integral method
of the error for proportional, integral and
3 −
derivative
Heat capacity or specific heat ⁄ .
Variation of an entry −
Symbol Term Units
Diameter of the section of a unit (tanks,
separators, tubes, among others)
Minimum diameter required in a tank or
separator
Error signal in terms of Laplace −

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Error signal −
Drag coefficient −
Minimum step change filter factor (used
−
only in the IMC tuning method
̃ Transfer function for the control model
internal −
Transfer function for the response curve
reaction or in a process −
Transfer function for the final element of
control (valve) −
Transfer function for a controller
Feedforward −
Transfer function for the meter or sensor −
Transfer function for the process −
Length of the unit (tanks or separators)
Steady state gain −
Controller gain −
Reaction rate constant
Last profit −
Output value of the controller in terms of
−
Laplace
Output value of the controller −
̇ Mass flow of a current ⁄
ℎ
Specific heat load ⁄ℎ
Input energy current
Output energy flow
Ratio between two variables −
Slope at the inflection point of the curve
reaction −
1 Initial temperature °
2 Final temperature °
Last period
Symbol Term Units
0 Dead time
Ideal time constant in closed loop
Volume of a tank 3
3
̇ Volumetric flow ⁄
Maximum towing speed ⁄

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Volume of tubes in a heat exchanger 3

Mass flow of cold current (used in balances

of energy) ⁄
ℎ
Mass flow of hot current (used in
energy balances) ⁄
ℎ
Controlled variable −
Wild or uncontrolled variable −
Measured value of the controlled variable in a
−
determined interval
Output with the value of the set point −
Selector signal (ControlOverride) −

High signal from the selector −

Low signal from the selector −

Table A.2. Terminology used in software

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Angello Roncancio Ortega
Term Meaning Units
. Simulation file in Aspen Plus −
File with the physical properties of the
simulation, employees during the simulation −
. . dynamic
. Aspen Plus Dynamics input file −
ℎ Time delay constant
Lead time constant
Controller action −
Dead time value
Lead time or derivative
Total molar flow ⁄ℎ
Controller Gain −
Input signal in a block −
Full-time
Liquid level
Exit signal −
Initial output −
Maximum output value of the controller −
Maximum output value of the controller −
Exit signal in a block −
Pressure
Process variable −
Maximum value of the process variable −
Minimum value of the process variable −
Specific heat load ⁄ℎ
Task options offered in Aspen Plus
−
Dynamics
Set point of the operator
−
Set remote point −
Temperature °
Time constant
Fracción molar − ⁄ −

Table A.3. Abbreviations

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 INSTRUCTIVO DE SIMULACION DINAMICA DE PROCESOS
CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
Acronym Meaning
Closed-loop autotuning
Process response curve
Final control element
Integral of the absolute value of the error
Internal control model
Integral of the squared error
Integral of the absolute value of the weighted error with
the weather
Proportional action
Proportional and integral action
Proportional, integral, and derivative action

Table A.4. Terms used to name blocks in Aspen Plus and Aspen
Plus Dynamics

Terminus Meaning
Composition controller
Dead time or DT Dead time
E - 101 Heat exchanger
Flow controller
ControlFeedforward
LAG - 1 Dynamic delay
Liquid level controller
P - 101 Bomb
Pressure controller
Invalid input Reactor
Module for product or quotient in control by
reason
Module for selector in selective control
T - 101 Distillation column
Temperature controller
V - 101 Tank or separator
VL - 101 Valve

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 DYNAMIC PROCESS SIMULATION INSTRUCTIONS
QUIMICS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
BIBLIOGRAPHY

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CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
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CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
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CHEMICALS WITH ASPEN PLUS DYNAMICS V8.0

Melanio Coronado Hurtado

Authors: Galo Coronell Higgins
Angello Roncancio Ortega
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