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CE117 Process Control

PROCESS CONTROL
Peter Wellstead, www.control-systems-principles.co.uk
ABSTRACT: This is one of a series of white papers prepared by Control Systems
Principles to explain control problems and techniques that are often encountered in
industry. They describe what makes a particular type of system important and how it is
dealt with using feedback control. The white papers are background for the laboratory
models of real systems that Control Systems Principles has designed for training in control
techniques. This one is about control in the process industries as explained by our Process
Trainer System. Like most of our designs the Process Trainer is manufactured and
distributed by a partner company under licence. Details of the Process Trainer System can
be found at: www.tecquipment.com/Control/Process-Control/CE117.aspx.

1. Why is Process Control Important?

Process control is arguably the largest area of control engineering application. It is used in the
manufacturing, infrastructure and service industries, and these are grouped under the common
heading: the process industries. Most of the things that we use or do are associated with a
process of some form. For example, if you print this page on to paper, then you are
immediately using two process industry products: for the paper, the papermaking industries,
and for the ink, the chemical process industries. Other typical products of process industries are:
metals, textiles, rubber, polymers, paint, food and drinks, pharmaceuticals and chemicals of all
kinds. Of particular importance are the process industries that extract, process and distribute
natural resources: such as petrochemicals, gas, minerals and electricity.
Process control began as manufacturing and supply became industrialized and there was a need
for accuracy and repeatability. Before this, manufacturing and services were done to individual
requirements using traditional methods. The key transition came with the move to mechanization
and automation. So, for example, papermaking went from producing paper one sheet at a time
and to individual demands, to a continuous process in which pulp and water entered a machine
and standard finished paper flowed continuously from the process1. Metal production followed
a similar route, as did the manufacture and treatment of chemicals, and the petrochemical
industries. As cities grew, the infrastructure, the flow of information, the supply of goods and
services, have become organized along process lines. And all need process control in order to
function reliably
2. Standard Process Control Systems

2.1 Transducers and transmitters.

The need for accuracy and automation led to the development of measuring devices that could
continuously monitor process variables. Key things that need to be measured in a process system
are: (i) level (usually fluid level in vessels); (ii) pressure (liquid or gas); (iii) flow rate through a
pipe or channel and, (iv) the temperature. The devices that measure these variables are usually
called transducers, but because a process variable transducer can be a long way from the control
unit or control room, the measured variable must be transmitted to where it is needed for
monitoring or regulation. For this reason, we often talk of transmitters e.g. a device that
measures a process variable; converts the measurement into an electrical signal, and transmits it
to where it is used for control.

See the continuous manufacture of paper by typing fourdrinier paper making in your search engine.
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CE117 Process Control

Level, pressure, temperature and flow transducers link naturally to the most common control
systems requirements:
(i)
Regulating the amount of material in a reservoir at a constant level as the demand
downstream in the process varies with production rate;
(ii)
Keeping the flow rate through a pipe at a constant level and loads and supplies
changes;
(iii) Maintaining the pressure at which material is treated in a vessel during a process;
(iv)
And controlling the temperature in a process vessel during a chemical reaction.
2.2. Process Regulation.
Regulation at a constant desired value - the
set point - is a hallmark of process control
systems. Sometimes set points are subject to
change by a higher level of control system or
human operator, but usually they stay
constant. Often controlled variables (like,
level, pressure and temperature) interact with
each other and it is necessary to regulate
several related variables simultaneously. As
an example, consider the process vessel
system shown in Figure 1.

fluid in
stirrer

Ti , wi

V
Q

Heat exchanger

This diagram represents a typical form of

industrial process and is the type of system
fluid out
represented in the Process Trainer. It consists
of a vessel with fluid flowing in and out,
plus a heat exchanger mounted inside vessel
T, w
so that it can change the temperature. To
ensure that every thing in the tank is well
Figure 1: A basic process system
mixed, and all parts are at the same
temperature, there is usually a stirring device or agitator in the tank. This is particularly
important in chemical reactions and for this reason the system in Figure 1 is often referred to as
a stirred-tank reactor.
The set-up shown in Figure 1 is the basis of many chemical process systems where reactions
take place in a reaction vessel, or systems where fluid is either stored or stabilized to a certain
temperature and flow rate. To make sure the system works in an optimal way, the total volume
of fluid in the tank V and the reaction temperature T are controlled to be constant. The
temperature in the vessel can be changed by a heat exchanger which supplies an input heat flow
rate Q, while the fluid input to the system is at temperature Ti and mass flow rate wi. The outflow
temperature is T and mass outflow rate w.
In general, the process control aim is to regulate both the vessel temperature T and the volume of
fluid V in the vessel at a desired level. The control variables are the fluid input flow rate, the
outflow rate and the heat input to the heater. For this set-up most commonly encountered
control tasks are:

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CE117 Process Control

1. Level control. Here the task is to control the volume of fluid in the vessel, usually by
manipulating the inflow to the vessel, without regard to the temperature.
2. Temperature control. Here the task is only to control the temperature in the vessel,
without regards to the precise volume of fluid.
For both these control tasks, a three-term controller is normally used (see our white paper:
http://www.control-systems-principles.co.uk/whitepapers/three-term-control.pdf for details of
this technique). And usually a suitably tuned Proportional plus Integral (P, I) controller is
sufficient.
However, the situation can be more
complex, because changing one of the
Flow
control variables will change both of the
Controller
system outputs. Thus if the inflow
temperature is lower that the tank
FC
temperature, then an increase in wi will
tend to decrease the tank temperature.
Since both outputs must be held constant,
FT Flow
the two control systems can interact with
Transmitter
each other. In this case an extra control
mechanism is used to compensate for the
Flow
interaction between the two control
actuator
loops.

fluid flow , w

Figure 2: Flow control loop

3. Standard Process Control Loops
3.1 Flow control loop
The flow rate of material into the vessel,
wi , can vary as the supply system
changes. To allow for this a flow control
loop is sometimes used. These can be
part of a flow actuator or a separate
control system. In either case, the
schematic layout is shown in Figure 2.
Here the flow transmitter measures the
flow, sends it to the flow controller
which then changes the flow actuator. In
practice the flow actuator is usually
either a pump taking material from a
reservoir or a motorised valve in a
material feed line.

3.2. Level control loop

To control the volume of material in a
tank, it is common to use either a
pressure or a level transducer as the
controlled variable, and to transmit this
signal back to a level controller. The

Level Controller
LC

FCL

Flow Control
Loop

Process vessel
(stirred tank)
LT

Level
Transmitter
fluid out
Figure 3: Level control loop

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CE117 Process Control

actuation signal from the level controller is used as the set point for the flow control loop. This is
shown in Figure 3, where the level control loop consists of the Level Transmitter, the Level
Controller and the Flow Control Loop.
This is an example of cascade control, where the set point to an inner loop (flow control) is
derived from the output of the controller in an outer loop (level control). In this cascade system,
the flow control loop is the slave loop and the outer level control loop is the master loop.
Note that not all systems have a local control flow loop. If control is sufficiently good with just
the level controller then the extra cost of a flow controller and flow transmitter is not justified.
However, the inner loop control gives more flexibility in controller design. It is, in a way, the
process control equivalent to the state feedback discussed in the ball and beam white paper.2
Local control of actuators can also help if the actuation process is significantly non-linear with
dead-zone, saturation or rate limiting. These non-linearities are demonstrated in the Servo
Trainer and the Engine Speed Control Systems.3 The message in all this discussion is that a
higher quality of control can be obtained with inner loop cascade control Thus, if there is no
economic argument against, then do it.
3.3 Temperature Control Loop

The structure of the temperature loop for a

basic process system is shown in Figure 4. A
temperature transmitter sends the temperature
signal to the temperature controller where it is
used to regulate the heat in to the heat
exchanger so that the vessel temperature is
held at the set point temperature for the
process. In a chemical reactor the heat
exchanger may also be designed to have a
cooling effect if the reaction is exothermic and
therefore releases heat. Reactions should be
maintained at specific temperatures to ensure a
correct reaction rate and reaction products.

Temperature
Transmitter
TT

Process vessel
(stirred tank)

TC

Heat exchanger

Temperature
Controller
Figure 4: Temperature control loop

If there is a flow control system associated with the vessel, and there are significant variations in
the temperature and the rate of in flow, then the temperature and level control systems will
interact significantly. There several control schemes for compensating for this interaction.
Feedforward control is the best known and simplest. We will use it as a way of introducing how
to handle interaction. Feedforward was developed as a way of compensating for changes in a
known disturbance to a process. So if we consider the temperature control to be the main control
loop, we will show how feedforward from a flow control system can help reduce disturbances in
temperature as the flow changes.
2

See the white paper: www.control-systems-principles.co.uk/whitepapers/ball-and-beam1.pdf

See the white paper: www.control-systems-principles.co.uk/whitepapers/engine-speed-control.pdf and
http://www.control-systems-principles.co.uk/whitepapers/servo-control-systems1.pdf
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CE117 Process Control

3.3 Feed Forward Control

The main idea in feed forward control is to send information about a coming disturbance to a
control loop so that it can take compensatory action in good time. In Figure 5, this situation is
illustrated through the use of a feed forward loop that takes information about changes to the
level control and sends it through a feed forward controller to the Temperature Controller. Thus
if it is known that the feed of material or fluid is colder than the reaction vessel, then the feed
forward would be designed to increase the input to the heat exchanger in proportion to increases
in the inflow of feed material or fluid. This will compensate for the cooling action of the
increased in flow. For this to work effectively the systems needs to be well known, but even
approximate feed forward can reduce the impact of disturbances. In this case feedforward works
by introducing interaction between one feedback control loop and another. Other ways of doing
this exist and are explained in the Process Trainer manual.
Feed Forward Controller

FFC

LC

Feed forward
loop

FCL
Level control
loop

TT
Temperature
control
loop

Process vessel
(stirred tank)
LT

TC

Heat exchanger

Figure 5: Combined flow and temperature control

with flow feedforward loop
4. The Process Trainer
We have put these different aspects of a process control system in to a bench top system
(pictured on the next page). In this system a process vessel is heated by a heat exchanger while
the flows in and out of the vessel are actuated by sets of pumps and valves. In addition the vessel
can be sealed at the top so that it becomes pressurised. This lets us examine pressure control and
the kind of systems that use closed vessels to achieve particular process control objectives4.
Likewise the process fluid inlet temperature can be manipulated by a special cooling system; this
to adds a further dimension to the set of control problems that can be investigated and
demonstrated.

The pressurised head box of a paper making machine is an example of this form of system.
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CE117 Process Control

Figure 6. The Process Trainer

5. A Final Word
We frequently get emails from students who are keen to learn more about control and get help
with their projects. However, we are sorry to say that we cannot answer general questions about
the contents of our white papers, unless we have a contract with your organisation.
6. Bibliography
History of Control and Control Industries: At Control Systems Principles we recommend the historical books of
Stuart Bennett. They are:
Bennett, S. A history of control engineering, 1800-1930, Peter Peregrinus Ltd, 1979
Bennett, S. A history of control engineering, 1930- 1955, Peter, Peregrinus Ltd, 1993
New books on process control are regularly published , but we still prefer the following book, authored by world
authorities in the field:
Seborg, DE, Mellichamp, DA, Edgar, TF and Doyle FJ, Process dynamics and control, Prentice Hall, 2003
Technology moves fast, and with the advent of mass computerization and automation, process control has become
integrated within plant -wide automation, system integration and business process design. This means that process
control systems are now part of the bigger task of optimizing and regulating entire enterprises. This area evolves
quickly and is specific to particular enterprises and process automation companies. Up-to-date material on this area
is rarely found in textbooks or taught courses. The best thing is to get practical laboratory experience and then relate
it to the literature and presentations of the companies that are driving innovation in process automation.