Announcements

• Next class is the course evaluation

• Final project related additional office hours
– Tomorrow afternoon from 1 till 4 pm
– Thursday afternoon
– Friday by appointment
 Objectives
• Discuss the exam problems
• Talk about final project report and presentation
• Learn about automatic control
– PID and Control terminology
– Sequence of operation
– Control optimization
 Project presentation
• Timing: 10 minutes for presentation
Approximately 1 PowerPoint Slides per minute
For example
• Specify the project Provide some basic floor layout and input variable assumptions
• Results (form calculation and manufacturer catalogs)
• Disuses you system challenges and modifications related to your design solutions

• 3 minutes for Questions and Answers

• I will need you power point before the class

– You can email it to me.
 HVAC automatic control
• Maintain environmental quality
– Thermal comfort
– Indoor air quality
– Material protection
• Conserve energy
• Protect equipment
 Terminology
• Sensor
– Measures quantity of
interest
• Controller
– Interprets sensor data
• Controlled device
– Changes based on
controller output
Figure 2-13
 outdoor

Direct Indirect
Closed Loop or Feedback Open Loop or Feedforward
• Set Point
– Desired sensor value
• Control Point
– Current sensor value
• Error or Offset
– Difference between control point and set point
 Two-Position Control Systems
• Used in small, relatively simple systems
• Controlled device is on or off
– It is a switch, not a valve
• Good for devices that change slowly
 Modulating Control Systems
Example: Heat exchanger control
– Modulating (Analog) control

Cooling coil

air
x

water

(set point temperature)

 Modulating Control Systems
• Used in larger systems
• Output can be anywhere in operating range
• Three main types
– Proportional
– PI
– PID

Electric (pneumatic) motor

Position (x)

fluid

Volume flow rate

Vfluid = f(x) - linear or exponential function
 The PIDconstants
control algorithm
time

e(t) – difference between

set point and
measured value
Position (x) Proportional Integral Differential

For our example of heating coil:

K d (Tset point  Tmeasured )

x  K  (Tset point  Tmeasured )   (Tset point  Tmeasured )d  K  Td
Ti d

Proportional Integral Differential

(how much) (for how long) (how fast)

Position of the valve

Proportional Controllers
x  A  K  (Tset point  Tmeasured )
x is controller output
A is controller output with no error
(often A=0)
Kis proportional gain constant
e = Tset point  Tmeasured is error (offset)
Unstable system Stable system
 Issues with P Controllers
• Always have an offset
• But, require less tuning than other
controllers
• Very appropriate for things that change
slowly
– i.e. building internal temperature
 Proportional + Integral (PI)
K
x  A  K  (Tset point  Tmeasured )   (Tset point  Tmeasured )d
Ti

K/Ti is integral gain

If controller is tuned
properly, offset is
reduced to zero

Figure 2-18a
 Issues with PI Controllers
• Scheduling issues
• Require more tuning than for P
• But, no offset
 Proportional + Integral +
Derivative (PID)

• Improvement over PI because of faster response

and less deviation from offset
– Increases rate of error correction as errors get larger
• But
– HVAC controlled devices are too slow responding
– Requires setting three different gains
Ref: Kreider and Rabl.Figure 12.5
 The control in HVAC system – only PI
K
x  K  (Tset point  Tmeasured ) 
Ti  (Tset point  Tmeasured )d

Proportional Integral
value

Set point
Proportional
affect the slope

Set point Integral

affect the shape after
the first “bump”
 The Real World

• 50% of US buildings have control problems

– 90% tuning and optimization
– 10% faults
• 25% energy savings from correcting control
problems
• Commissioning is critically important
 Practical Details
• Measure what you want to control
• Verify that sensors are working
• Integrate control system components
• Tune systems
• Measure performance
Commission control systems
 HVAC Control
Example 1:
Economizer (fresh air volume flow rate control)
Controlled device is damper
fresh
damper air - Damper for the air
- Valve for the liquids

mixing
recirc.
air

T & RH sensors
 Economizer
% fresh air
Fresh air volume flow rate control
enthalpy 100%

Fresh
(outdoor)
TOA (hOA)
Minimum for
damper air ventilation

mixing
Recirc.
air

T & RH sensors
 Economizer – cooling regime
How to control the fresh air volume flow rate?
If TOA < Tset-point → Supply more fresh air than the minimum required

The question is how much? % fresh air

Open the damper for the fresh air

100%
and compare the Troom with the Tset-point .
Open till you get the Troom = Tset-point
Minimum for
If you have 100% fresh air and your ventilation

still need cooling use cooling coil.

What are the priorities:

- Control the dampers and then the cooling coils or
- Control the valves of cooling coil and then the dampers ?

Defend by SEQUENCE OF OERATION

the set of operation which HVAC designer provides to the automatic control engineer
 Economizer – cooling regime

Example of SEQUENCE OF OERATIONS:

If TOA < Tset-point open the fresh air damper the maximum position

Then, if Tindoor air < Tset-point start closing the cooling coil valve

If cooling coil valve is closed and T indoor air < Tset-point start closing the damper
till you get T indoor air = T set-point

Other variations are possible

 HVAC Control
Example 2:
Dew point control (Relative Humidity control)
damper fresh filter cooling heating filter
air coil
fan
coil

mixing

T & RH sensors

Heat gains
Humidity generation

We should supply air with lower humidity ratio (w) and lower temperature

We either measure Dew Point directly or T & RH sensors substitute dew point sensor
 Relative humidity control by cooling coil

Cooling Coil

Mixture

Room
Supply

TDP Heating coil

 Relative humidity control by cooling coil (CC)
• Cooling coil is controlled by TDP set-point
if TDP measured > TDP set-point → send the signal to open more the CC valve
if TDP measured < TDP set-point → send the signal to close more the CC valve
• Heating coil is controlled by Tair set-point
if Tair < Tair set-point → send the signal to open more the heating coil valve
if Tair > Tair set-point → send the signal to close more the heating coil valve
Control valves
Fresh air

mixing

cooling heating
coil
coil

Tair & TDP sensors

 Sequence of operation
(ECJ research facility)
Mixture 3

DPTSP
Set Point
(SP)
Mixture 1 Mixture 2
Control logic:
DBTSP
Mixture in zone 1: IF (( TM<TSP) & (DPTM<DPTSP) ) heating and humidifying
Heater control: IF (TSP>TSA) increase heating or IF (TSP<TSA) decrease heating
Humidifier: IF (DPTSP>DPTSA) increase humidifying or IF (DPTSP<DPTSA)
decrease humid.

Mixture in zone 2: IF ((TM>TSP) & (DPTM<DPTSP) ) cooling and humidifying

Cool. coil cont.: IF (TSP<TSA) increase cooling or IF (TSP>TSA) decrease
cooling
Humidifier: IF (DPTSP>DPTSA) increase humidifying or IF (DPTSP<DPTSA)
decrease hum.

Mixture in zone 3: IF ((DPTM>DPTSP) ) cooling/dehumidifying and reheatin

Cool. coil cont.: IF (DPTSP>DPTSA) increase cooling or IF (DPTSP<DPTSA)
decrease cooling
Heater control: IF (TSP>TSA) increase heating or IF (TSP<TSA) decrease heating
 Other examples for HVAC:

Heat recovery

Dual duct system

 Other examples
Thermal storage UTs CHP
 Thermal storage for
adjustment production to
consumption