EEIB413 Chapter 1 - Student
EEIB413 Chapter 1 - Student
EEIB413 Chapter 1 - Student
Introduction to Process
Control
Introduction to
Process Control
The term control means methods to force
parameters in the environment to have
specific values.
In general, all the elements necessary to
accomplish the control objective are
described by the term control system.
Control system exist in nature.
This can be as simple as
Making the temperature in a room stay at 21C.
Move large equipment with precision.
Elevator system.
A Human Aided
Control System
An Automatic
Control System
Machines, electronics, or
computers replace the
operation of the human.
Sensor is used to measure the
value of the level and convert it
into a proportional signal, s.
This signal is used as input to
the controller which performs
the function of evaluating the
measurement and providing an
output signal, u.
This control signal used to
change the valve setting via an
actuator connected to the valve
by a mechanical linkage.
When automatic control is
applied to systems like the
example to regulate the value
of some variable to a specific
reference, it is called process
control.
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Servo-Mechanism
The objective is to force
some parameter to vary in
a specific manner
In stead of regulating a
variable to a specific
reference, the
servomechanism forces the
controlled variable value to
follow variation of the
reference value
Servo mechanisms force
the robot arm to follow a
path form point A to point
B, this done by controlling
the speed of motors
driving the arm and the
angles of the arm parts
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Tank A
(Red 30%)
Tank B
(White
70%)
Objective:
To produce pink color
paint.
Stir
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Valve A
Valve B
Mixing Tank
(Pink 100%)
Heater
Valve C
Tank A Tank B Tank C Tank D
Process (Plant)
A process (plant) can consist of a complex
assembly of phenomena that relate to
some manufacturing sequence.
Many variables may be involved in such a
process and it may be desirable to control
all these variables at the same time.
There are single variable processes, in
which only one variable is to be controlled,
as well as multivariable process, in which
many variables, perhaps interrelated, may
require regulation.
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Measurement
To effectively control a variable in a process, we
must have information about the variable itself.
Such information is found by measuring the
variable.
A measurement refers to the conversion of the
variable into some corresponding analog of the
variable. Ex: pressure, voltage, current.
A sensor or transducer is a device that performs
the initial measurement and energy conversion of
a variable into analogous electrical or pneumatic
information. Ex: pressure, distance, motion.
Transducer: converts voltage to current.
The result of the measurement is a
representation of the variable value in some form
required by the other elements in the process
control operation.
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Error Detector
The difference
between the actual
level, h, and the
set-point level, H,
and deduced an
error.
Error determination
must be made
before any control
action is taken by
the controller.
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Controller
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Control Element
It provides those required changes in the
controlled variable to bring it to the setpoint.
This element accepts an input from the
controller, which is then transformed into
some appropriate action performed on the
process.
Ex: the control valve that adjusts the
output flow rate of liquid from the tank.
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Actuator
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e(t ) = r (t ) c(t )
A real control system is evaluated based on the
following requirements. (1) Stability. (2) Transient
response. (3) Steady state performance.
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Stability
The necessary correct
action should taken
on the process to
eliminate the error.
The process can
become unstable if
the action is done
wrongly.
The control system
must be designed
and adjusted so that
the system is stable.
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Transient Response
Transient error occur when sudden change
of setpoint (Ex: temperature change from
20C to 22C) or some other process
variable value (fluctuation of the
surrounding temperature).
Transient regulation specifies how the
control system reacts to bring the
temperature to the new setpoint value for
the purpose to minimize the bad effect on
the process.
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Damped Response
Setpoint is changed to a new
value.
Controlled variable increases
to the new setpoint in
duration of tD.
Some overshoot, emax occur
during the rising period of the
controlled variable.
The duration tD is often define
as the time from the start of
the disturbance until the
controlled variable to go from
10% to 90% of the changed.
Different tuning gives
different values of emax and
tD, either larger duration with
smaller peak error or vice
verse.
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Cyclic/Underdamped Response
When setpoint changed,
the controlled variable
oscillates about the
setpoint.
emax and tD (also called
settling time) be
measured as well.
The duration is measured
from the time when the
allowable error is first
exceeded to the time
when it falls within the
allowable error and stays.
emax and tD can be varied
by tuning the minimum
area or quarter
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amplitude.
A = e(t ) dt = minimum
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Transient Response
Elevator system: a slow transient response makes passengers
impatient, excessively rapid response makes them
uncomfortable.
Too fast a transient response could cause permanent physical
damage.
Steady-State Response
This response resembles the input and remains after the
transient have decayed to zero.
Elevator system: stopped near the desired floor for the
passengers to exit.
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Digital processing
For modern control system.
Data are represented as binary bits.
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Data Conversions
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NO/OFF Control
Most elementary control.
Controller output only produces two
digital representation binary signals:
1 and 0.
The final control element only has
two stages: ON and OFF.
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Ve = K (Vref V )
Programmable Logic
Controllers (PLC)
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Transfer Function
Linearity
In signal conditioning, for each value of the input
variable, there exists one unique value of the
output variable.
The relationship between the input and output
can be represented by linear equation (straightline):
cm = mc + c0
c = variable to be measured
m = slop of straight line
c0 = offset of intercept of straight line
cm = output of measurement
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a) When T = 66C
I m = mT + I o
4mA = m(20C ) + I o
20mA = m(120C ) + I o
Solve for m :
16mA = (100C )m
m = 0.16mA / C
Then, solve for I o :
b) When I = 6.5mA
I 0.8mA
T= m
0.16mA / C
(6.5 0.8)mA
=
0.16mA / C
= 35.6C
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as :
100 = m ( 20 ) + R 0
180 = m (120 ) + R 0 Temp. Range:
Solve for m :
Resistance Range:
100 ~ 180
180 100
= 0 .8 / C
m =
120 20
Solve for R 0 :
100 = 0 . 8 ( 20 ) + R 0
R 0 = 100 16 = 84
The linear equation
R = 0 . 8T + 84
relating resistance
and temperatu re is :
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First-Order Response
t /
]
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b(t ) bi = (b f bi )[1 e t / ]
The sensor output for the first time constant can
be found by substitute t =
The output function becomes:
b(t ) bi = (b f bi )[1 e / ]
b(t ) bi = 0.6321(b f bi )
One time constant represents the time at which
the output value has changed by approximately
63% of the total change.
The output approximately reached its final value
after five time constants.
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66
= 1 .5 s
5 = 5(1.5) = 7.5 s
Temp. Range:
Output Voltage (V)
20C ~ 41C Sensor:
33mv/C,=0.75s
41C
b (0.75) = 660 + (1353 660 )[1 e 0.75 / 1.5 ]
= 660 + 693 (1 0.6065 )
20C
= 660 + 272 .6955
= 932 .69 mV
The corespondi ng temperatu re for this value of output is :
932 .69 C
T=
= 28 .26 C
Output at 0.75s
33mV / C
0.75s
The actual temperatu re is 41 C, so the error is :
41 C - 28.26 C = 12.74 C
The output of the sensor wil l achieved 1353mv after 5 which is represent 41 C.
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10 R
V=
volts
R + 10k
The sensor time constant is 350 ms. At t = 0, the
pressure changes suddenly from 40 psi to 150
psi.
a) What is the voltage output at 0.5 s?
b) What is the indicated pressure at this time?
c) At what time does the output reach 5.0 V?
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0.1
0.2
0.3
0.4
0.5
0.3
1.8
2.8
3.4
3.9
4.2
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a) Find the value of amplifier gain, K, required to open the valve when the level reaches 1.5
m.
b) At what level does the valve close?
c) Suppose Q1 = 5 m3/min, Q2 = 2 m3/min and Qout = 9 m3/min (when open). What is the
period of the level oscillation?
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