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The control loop (definitions)

Controlling equipment
w e

y z
x

x: output signal (0...100%) Controlled system

y: input signal (°C, rH )

z: interferance variable
w: setpoint (°C, rH )
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Control loop

y w
Y PI x

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Type of controls

PI Control

PID Control

PD Control

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PI-controller

Here as a cascade application

X1

X2

Y2
W
Y1

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2-Position control

2P control
1
Output

0
Actual value

Set-point

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3-Position control

Can not move to a given set point.

Is a quasi modular control.

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0…10V control

Actuator has it’s own control loop.

It can move to a given set point.

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Heat exchanger characteristic

Q/Q100
Application a-value
Preheater 0.3...0.5
Reheater 0.15..0.3..0.5
a<1
Cooling coil 0.4..0.8
Heat exchanger 0.5...1.0 1)
a=1 "Flow control" approx. 1.0
1) depending on the
construction
V/V100

The smaller the a-value thecircuit

and hydraulic more energy
passes through in small volume flows

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Valve characteristic

Water at 5..30°C

Flow
Water gauge

pv100 = 1 bar
10 m

kv100

kvs in m3/h

ar
e e
lin tag
e n
e rc
a lp
q u
e
Stroke
H100

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“Heat transfer” characteristic

Linear Equal percentage

Q/Q100 Q/Q100

Pv =1
a =1 Pv =1
a =1

H/H100 H/H100

The a-value is given but the right valve sizing is up to you

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Valve and Heat Exchanger combined

Model
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Rangeablity Sv

Valve with a plug Magnetic valve with a disc

Flow [kv/kvs] Flow[kv/kvs]

0,2
0,1
kvo Linear
Equal percentage kvr
kvr
0,2 0,4 Stroke 0,1 Stroke
[H/H] [H/H100]

kvo : theoretical zero point With Siemens magnetic valves,

kvs
Sv  kvr : allowable slope deviation is rangeability in accordance with VDE/VDI
kvr still maintained 2173 is not practical.

Motoric and electrohydraulic valves have an Curve shows no discontinuity (the gain comes
Sv = 50..150 fromzero when valve is opening)

The rangeability is defined as ration of the flow of the fully open valve to the minimal
controllable flow in the valve !

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Degree of difficulty S

e.g. Reheater Air temperature ()

Tu
S=
 Tg

Tu : Time lag
Time Tg : Recovery time
Tu Tg
R S
Stroke jump e.g. 20%
t=0

The lower the degree of difficulty, the simpler the control

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Typical Tu and Tg values

Controlled system Tu Tg S 1) No 2)
District heating 20  40 secs 0.5  2 mins B1
Boiler return temperature control 0.5  2 mins 1  5 mins B4
Supply water (injection circuit) 10  20 secs 30  60 secs C1
Supply water (injection circuit with 10  20 secs 30  60 secs C11
through port valve)
Supply water (mixing circuit) 3) 10  20 secs 30  60 secs 0.2...0.4 C2
Supply air control 4) 10  40 secs 30  120 secs 0.15...0.5 D1
Supply air control with cascade 1  5 mins 10  30 mins D11
Extract air control 5) 1  5 mins 10  60 mins 0.1...0.3 D12
Radiator 6) 5  15 mins 1  2.5 hrs 0.05..0.2 D2
Floor heating 0.5  2 hrs 3  24 hrs D23
1) Details from Recknagel
2) According to application recommendation
3) From Recknagel : Supply water temperature
4) „ „ : Supply air temperature
5) „ „ : Extract air temperature
6) „ „ : Room temperature

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Minimum controllable heat output

Q min
QN
94.0150
70

50
40

30

Qmin out
25

20

15

10 B
8.7
8
• Valve authority Pv
• Rangeability Sv
5
4
3.1
B'

• a-value
3

Pv
1 1.0
0.80

0.60
0.50
A' A
0.40

0.30

0.20 Small stroke valves Sv > 50..100

0.15
Large stroke valves Sv > 50..150
0.10
0.4 0.6 0.8 1 2 3 4 5 6 8 10 15 20
.
Vmin

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All impact factors on a control loop

y w
x
Tu
S
Tg

pv100[kPa]
Pv 
pv 0 [kPa] qactual
a
q max

a - value (Heat exchanger)

Calve authority PV (dpMV,dpV100 )
ngl ( kvs 
V 100
pv 100
100 )
Valve Characteristics n gl kvs
SV Rangeability Sv 
S Degree of difficulty
kvr

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