CHE 402

Experiment 06: Study Of Process

Control-I
Zarin Tasnim Juthi
Lecturer
Department of Chemical Engineering, BUET
January 2023

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Slides courtesy :
Burhan Kabir Suhan, Lecturer, DChE, BUET
 Objective
• Develop a first order plus time delay(FOPTD) model
using step change data
• Design and Tune Proportional Integral
Derivative(PID) controllers using the developed
model

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 First order process
A mass balance yields in a liquid storage process is
d(ρV) dh
= ρqi − ρq 𝐀 = qi − q [V=Ah]
dt dt
[Assume ρ is constant and cylindrical cross-sectional area A]
significant
resistance to flow
If exit line contain a valve , the flow may be assumed to be at a single point.
linearly related to the driving force, the liquid level, in analogy
to Ohm’s law for electrical circuits (E = IR)
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h = qRv → q = h [Rv is the resistance of the line or valve]
Rv
Therefore, first-order differential equation:
dh 1
𝐀 = qi − h
dt Rv
A first order process is a process whose output y(t) is modelled by a first order differential equation.
dy t
𝑎𝑜 + 𝑎𝑜 y(t) =bx(t) 3
dx
 Transfer Function Model
The time-domain model that relates u and y is an ODE. For a linear ODE, there
is an equivalent model in the Laplace domain, the transfer function model.
Transfer function is a mathematical function which theoretically models the
system's output for each possible input.
• function that relates output to input.
• characterizes the dynamic relationship of two process variables
• directly applicable to processes that exhibit linear dynamic behavior
• Application to nonlinear ODEs? Must linearize first.

Transfer function ܻ(‫)ݏ‬ 4

G(s) =
ܷ(‫)ݏ‬
 Transfer Function for Process
Process → First order:
Process → First order plus time delay:
Process parameters
𝑪𝒉𝒂𝒏𝒈𝒆 𝒊𝒏 𝒐𝒖𝒕𝒑𝒖𝒕
K or Kp = Process gain,
𝑪𝒉𝒂𝒏𝒈𝒆 𝒊𝒏 𝒊𝒏𝒑𝒖𝒕

τ = time constant (indicative of the speed of response of the process i.e

time required to reach 63.2% of the final steady state value)
Θ = time delay = time required for the process to respond to change in
input
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 Step Response
Step Input:
Sudden and sustained change in input. For example, a reactor feedstock may be
changed from one supply to another, causing a change in input variable, such as
feed concentration and temperature.

step input M, U(s) =

M/s

Time-domain response 6

Note: Y(s) or y(t) denotes deviation variable Refer to Table 3.1 of your text
 Process Parameters

Ɵ = Time constant = 30s

Ɵ= Time delay =10s
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 Open Loop Response Curve

Process
gain?
Time
constant?
Time delay?

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 Types of Variables
• Controlled variables (CVs): Process variables that are controlled.
• Manipulated variables (MVs): Process variables that can be adjusted in order to keep
the controlled variables at or near their set points. Typically, they are flow rates.
• Disturbance variables (DVs): Process variables that affect the controlled variables but
cannot be manipulated. They are related to changes in the operating environment of
the process, for example, its feed condition or ambient temperature.

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 Process Control
• Open loop: Change in output due to change in input without any control action.
• Closed loop: Change in output due to change in input with corrective control action.
• Feedback control: Control variable is measured.
• Feedforward control: Control variable is not measured. Disturbance is measured.

Basic Control Modes of Feedback Control

• Proportional Control
• Integral Control
• Derivative Control
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 Control Modes
• Proportional Control: controller output is proportional to error
signal.

Integral Control: controller output depends on the integral of the

error signal over time.

τI = Integral time/ Reset time

• Derivative Control: control output is proportional to rate of
change of error signal with time. 11
Closed Loop System

Asp A

Feedback Controllers work based on error signal value.

The objective is to reduce the error signal to zero.

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 Disadvantages

• Proportional Control: Offset error

• Integral Control: Reset windup
• Derivative Control: Same action for same slope

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 Transfer Functions for Controllers

• P CONTROL:

• PI CONTROL:

• PID CONTROL:

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Simulink Demonstration
Open loop response curve

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Model-based Design Method For Controllers Parameter

INTERNAL MODEL CONTROL (IMC)

τ
PI: τC=
3

PID:

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Simulink Demonstration contd.
Close loop response curve

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