Objectives

 Discuss final project deliverables

 Control
 Terminology
 Types of controllers
 Differences
 Controls in the real world
 Problems
 Response time vs. stability
FINAL PROJECT DELIVERABLES AND GRADING
DELIVERABLES

1) PROJECT REPORT:
- Project statement (introduction) 2 pages
Explain what are you designing/analyzing and why is that important
On the second page clearly identify (bullet list) project outcomes
- Building description (geometry) 1-3 pages
Schematics that focus on your system(s)
Identify all assumptions and simplifications you introduced
- Methodology 1-3 pages
Describe methodology (equations, schematics, …)
Provide a list of assumptions used in your methodology
- Results 3-5 pages
Formatted results with comments
Tables, Charts, Diagrams, …
Analysis and Results discussion
- Conclusion 0.5-1 page
Summary of most important results

2) PRESENTATION:
- 5 minutes (exactly)
-Power point presentation (4-6 slides)

GRADING CRITERIA:
1) Analysis approach: 60%
- Methodology 20%
- Accuracy analysis 20%
- Result analysis 20%
2) Deliverables: 40%
- Final report 30%
- Presentations 10%
 Sequence of operation for the
control system design
Adiabatic
CC humidifier HC
OA SA
mixing

RA
Define the sequence of operation for:
WINTER operation and:
- case when humidity is not controlled
- case when humidity is precisely controlled
Solution on the whiteboard
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

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

Basic purpose of HVAC control

Daily, weekly, and seasonal swings make HVAC control

challenging
Highly unsteady-state environment
Provide balance of reasonable comfort at minimum cost and
energy
Two distinct actions:

1) Switching/Enabling: Manage availability of

plant according to schedule using timers.
2) Regulation: Match plant capacity to demand
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
 Anticipator can be used to shorten response
time
 Control differential is also called deadband
 Residential system - thermostat

 ~50 years old

DDC thermostat
- Daily and weekly
programming
 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 PID control algorithm
constants
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= is error (offset)

Tset point  Tmeasured

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