Automatic Process Control (1)
Automatic Process Control (1)
Control loops
Example of level control system of a continuous stirred-tank reactor. The flow control
into the tank would be cascaded off the level control
Treatment of emulsions:
Emulsions are mixtures of two or more dissimilar fluids.
They are normally created by the individual components
being subjected to changes in pressure and agitation.
Such conditions arise when oil and water leave the
reservoir and move up the production string through the
choke and other items of equipment, end route – track - to
the separator.
Water is associated with the crude oil as following:
1- Free water:
This water is not intimately mixed in with the crude. It is
basically a volume of water that just happens to be
moving along with the crude, such as in a pipeline.
Free water should settle out the oil in any quiescent zone.
It should settle in separators, knockout separator and
storage tanks.
The rate of settling of an immiscible liquid (water) from
another liquid (oil) can be calculated from the following
equation:
K (ρw - ρo) gd2
Rate of settling =
μ
Where:
K = constant of system involved.
ρw = density of water.
ρo = density of oil.
g = gravity factor.
d = diameter of droplet.
μ = viscosity of oil.
2- Emulsified water:
If the water and crude oil have been intimately mixed due
to turbulent flow together or by the shearing action when
passing through pumps, orifices, valves, etc. Then an
emulsion is formed. Tiny droplets of water are scattered
through the continuous oil phase that called water-in-oil
emulsion.
The electrical, heating and chemical treatment are the
efficient way to separate the emulsified water from the
oil.
On the other hand, we deliberately inject wash water into
the crude to create an emulsion to wash out salts and
solids.
3- Soluble water:
The solubility of water in oil is to a great extent a
function of temperature but is also dependent upon the
type of hydrocarbon.
Soluble water will not settle out with time. In fact
lowering the temperature of the oil is really the only way
to remove at least some of the soluble water. Neither
electrical nor chemical dehydration will remove soluble
water.
API is the American petroleum institute.
API gravity is based on empirical scale gravities in
degrees.
API gravity and normal specific gravity are linked by the
formula:
The (4–20 Ma) convention was born in the 1950s out of the earlier highly
successful( 3–15 psi) pneumatic control signal standard, when electronics
became cheap and reliable enough to emulate the older standard
electrically. The( 3–15 psi) standard had the same features of being able to
power some remote devices, and have a "live" zero.
However the (4–20 Ma) standard was better suited to the electronic
controllers then being developed.
The transition was gradual and has extended into the 21st century, due to the huge
installed base of 3–15 psi devices. As the operation of pneumatic valves over motorised
valves has many cost and reliability advantages, pneumatic actuation is still an industry
standard.
BASIC OF FLAPPER / NOZZLE SYSTEM AS AN PNEUMATIC LOOP
To allow the construction of hybrid systems, where the 4–20 mA is
generated by the controller, but allows the use of pneumatic valves,
a range of current to pressure (I to P) converters are available from
manufacturers. These are usually located locally to the control
valve and convert 4–20 mA to 3–15 psi (or 0.2–1.0 bar). This signal
is then fed to the valve actuator or more commonly, a pneumatic
positioner.
The positioner is a dedicated controller which has a mechanical linkage to the actuator
movement. This ensures that problems of friction are overcome and the valve control
element moves to the desired position. It also allows the use of higher air pressures for
valve actuation.
With the development of cheap industrial micro-processors, "smart" valve positioners
have become available since the mid-1980s and are very popular for new installations.
These include an I to P converter, plus valve position and condition monitoring. These
latter are fed back over the current loop to the controller, using such as
the HART protocol.
Module 7– Piping and Instrumentation Drawings
IP Code,
International Protection Marking, IEC standard 60529,
sometimes interpreted as Ingress Protection Marking, classifies
and rates the degree of protection provided against intrusion (body
parts such as hands and fingers), dust, accidental contact, and water
by mechanical casings and electrical enclosures. It is published by
the International Electrotechnical Commission (IEC). The equivalent
European standard is EN 60529. The standard aims to provide users
more detailed information than vague marketing terms such
as waterproof. For example, a cellular phone rated at IP58 is "dust
resistant" and can be "immersed in 1.5 meters of freshwater for up
to 30 minutes". Similarly, an electrical socket rated IP22 is protected
against insertion of fingers and will not be damaged or become
unsafe during a specified test in which it is exposed to vertically or
nearly vertically dripping water. IP22 or IP2X are typical minimum
requirements for the design of electrical accessories for indoor use.
The digits indicate conformity with the conditions summarized in the
tables below. The digit 0 is used where no protection is provided.
The digit is replaced with the letter X when insufficient data has been
gathered to assign a protection level.
Further letters can be appended to provide additional
information related to the protection of the device:
Letter Meaning
f Oil resistant
H High voltage device
M Device moving during water test
S Device standing still during water test
W Weather conditions
Note: Due to the diversity of the field of control theory and application,
many naming conventions for the relevant variables are in common use
This section describes the parallel or non-interacting form of the PID
controller. For other forms please see the Section "Alternative notation
and PID forms".
The PID control scheme is named after its three correcting terms, whose
sum constitutes the manipulated variable (MV). Hence
:
where Pout, Iout, and Dout are the contributions to the output from the PID
controller from each of the three terms, as defined below
Proportional term
Where
• Iout: Integral term of output
• Ki: Integral gain, a tuning parameter
• e: Error = SP − PV
• t: Time or instantaneous time (the present)
• τ: A dummy integration variable
The integral term (when added to the proportional term) accelerates the
movement of the process towards setpoint and eliminates the residual
steady-state error that occurs with a proportional only controller.
However, since the integral term is responding to accumulated errors from
the past, it can cause the present value to overshoot the setpoint value
(cross over the setpoint and then create a deviation in the other direction).
For further notes regarding integral gain tuning and controller stability,
see the section on loop tuning
Derivative term
Where
• Dout: Derivative term of output
• Kd: Derivative gain, a tuning parameter
• e: Error = SP − PV
• t: Time or instantaneous time (the present)
The derivative term slows the rate of change of the controller output and
this effect is most noticeable close to the controller setpoint. Hence,
derivative control is used to reduce the magnitude of the overshoot
produced by the integral component and improve the combined controller-
process stability. However, differentiation of a signal amplifies noise and
thus this term in the controller is highly sensitive to noise in the error
term, and can cause a process to become unstable if the noise and the
derivative gain are sufficiently large
Summary
The proportional, integral, and derivative terms are summed to calculate
the output of the PID controller. Defining u(t) as the controller output, the
final form of the PID algorithm is:
Settling Error at
Parameter Rise time Overshoot
time equilibrium
Small
Kp Decrease Increase Decrease
change
Indefinite (small
Kd decrease or Decrease Decrease None
increase)
MEASUREMENT
- To control a dynamic variable in a process, you must have information
about the entity or variable itself. This information is obtained by
measuring the variable.
- Measurement refers to the conversion of the process variable into an
analog or digital signal that can be used by the control system. The device
that performs the initial measurement is called a sensor or instrument.
Typical measurements are pressure, level, temperature, flow, position,
and speed. The result of any measurement is the conversion of a dynamic
variable into some proportional information that is required by the other
elements in the process control loop or sequence.
EVALUATION
- In the evaluation step of the process control sequence, the
measurement value is examined, compared with the desired value or set
point, and the amount of corrective action needed to maintain proper
control is determined. A device called a controller performs this
evaluation. The controller can be a pneumatic, electronic, or mechanical
device mounted in a control panel or on the process equipment. It can
also be part of a computer control system, in which case the control
function is performed by software.
CONTROL
The control element in a control loop is the device that exerts a direct
influence on the process or manufacturing sequence. This final control
element accepts an input from the controller and transforms it into some
proportional operation that is performed on the process. In most cases,
this final control element will be a control valve that adjusts the flow of
fluid in a process. Devices such as electrical motors, pumps, and dampers
are also used as control elements.
Process and Instrumentation Drawings
-In standard P&IDs, the process flow lines, such as process fluid and
steam, are indicated with heavier solid lines than the lines that are used
to represent the instrument. The instrument signal lines use special
markings to indicate whether the signal is pneumatic, electric, hydraulic,
and so on. two types of instrument signals are used: double cross-
hatched lines denote the pneumatic signals to the steam control valve
and the process outlet flow control valve, and a dashed line is used for
the electrical control lines between various instruments. In process
control applications, pneumatic signals are almost always 3 to 15 psig
(i.e., pounds per square inch, gauge pressure), and the electric signals are
normally 4 to 20 mA (milliamperes) DC (direct current).
Symb
Name of unit Definition Relation to SI units
ol
atmosphere (stand
atm ≡ 101325 Pa[34]
ard)
atmosphere (techn
at ≡ 1 kgf/cm2 = 9.80665×104 Pa[34]
ical)
inch of
≡ 13595.1 kg/m3 ×
mercury (conventi inHg ≈ 3.386389×103 Pa[34]
1 in × ɡ0
onal)
kip per
ksi ≡ 1 kipf/sq in ≈ 6.894757×106 Pa[34]
square inch
≡ 13595.1 kg/m3 ×
micrometre of
1 m × ɡ0 ≈ ≈ 0.1333224 Pa[34]
mercury mHg
0.001 torr
≈ 999.972 kg/m3 ×
millimetre mmH2 1 mm
= 9.80638 Pa
of water (3.98 °C) O × ɡ0 = 0.999972 k
gf/m2
≡ N/m2 =
pascal (SI unit) Pa = 1 Pa[35]
kg/(m·s2)
pound per
psf ≡ 1 lbf/ft2 ≈ 47.88026 Pa[34]
square foot
pound per square
psi ≡ 1 lbf/in2 ≈ 6.894757×103 Pa[34]
inch
Temperature[edit]
Further information: Conversion of units of temperature
Temperature
Relation to
Name of unit Symbol Definition
SI units
[K] ≡ [°C] +
degree Celsius °C [°C] ≡ [K] − 273.15
273.15
[K] = 373.15
degree Delisle °De
− [°De] × 2⁄3
[K] ≡ ([°F] +
degree Fahrenheit °F [°F] ≡ [°C] × 9⁄5 + 32
459.67) × 5⁄9
[K] = [°N] ×
degree Newton °N 100
⁄33 +
273.15
[K] ≡ [°R] ×
degree Rankine °R; [°R] ≡ [K] × 9⁄5
5/9
[K] = [°Ré]
degree Réaumur °Ré × 5⁄4 +
273.15
[K] = ([°Rø]
degree Rømer °Rø − 7.5) ×
40
⁄21 + 273.15
[K] ≡ [GM]
Regulo Gas Mark GM; [°F] ≡ [GM] × 25 + 300 × 125⁄9 +
422.038
≡ 1⁄273.16 of
kelvin (SI base the thermodynamic
K ≡1K
unit) temperature of the triple
point of water.[10]
Density[edit]
Density
ounce (avoirdupois)
oz/ft3 ≡ oz/ft3 ≈ 1.001153961 kg/m3
per cubic foot
ounce (avoirdupois)
oz/in3 ≡ oz/in3 ≈ 1.729994044×103 kg/m3
per cubic inch
ounce (avoirdupois)
oz/gal ≡ oz/gal ≈ 6.236023291 kg/m3
per gallon (imperial)
ounce (avoirdupois)
oz/gal ≡ oz/gal ≈ 7.489151707 kg/m3
per gallon (US fluid)
pound (avoirdupois)
lb/ft3 ≡ lb/ft3 ≈ 16.01846337 kg/m3
per cubic foot
pound (avoirdupois)
lb/in3 ≡ lb/in3 ≈ 2.767990471×104 kg/m3
per cubic inch
pound (avoirdupois)
lb/gal ≡ lb/gal ≈ 99.77637266 kg/m3
per gallon (imperial)
pound (avoirdupois)
lb/gal ≡ lb/gal ≈ 119.8264273 kg/m3
per gallon (US fluid)
Frequency[edit]
Frequency
Name of Relation to SI
Symbol Definition
unit units
2- Types of Maintenance
** Detection
For all machines that are maintained based on condition mentoring, there
must be a prescribed schedule, may it be on line measurements, or ever
certain period.
Data gathered from detection are located on a data sheet that keeps all
values reading taken on the equipment verses the reading date of
equipment meter reading, this data sheet may be used to forecast when the
problem will happen, and to detect the machine condition at each point.
** Analysis
Once the cause of problem is detected corrective actions are taken towards
the machine.
** Corrections
After detection of the machine condition, then the problem found has
being analyzed, correction actions taken by following the procedure of
maintenance that are known by the maintenance engineers.
There are several available techniques for applying CBM, the great and
rapid development in the field of testing and inspection of equipment
provides effective tools for particular application of CBM.
1- Vibration analysis.
2- Motor current signature analysis.
3- Ultrasonic analysis.
4- Thermo graphical analysis.
5- Oil analysis.
6- Wear particle analysis.
7- Performance trending.
8- Visual, listing, and touching observations.
All static plant will require the appropriate maintenance and inspection
regime to be developed through its life cycle, and RBI seeks to optimize
the management and inspection programs for static equipment.
Essential the RBI process can be considered to consist of four main steps;
1- An assessment of risk, initially by way of a screening
process, for each item of equipment.
2- An inspection program is developed to select the most
appropriate inspection tasks and frequencies with respect
to cost and risk distribution criteria.
3- Optimizing the inspection program with respect to
aligning frequency, location, and inspection techniques.
4- Inspection assessments and decision process reviews
results for inspection, improving the knowledge of an item
condition. This provides information for planning the next
inspection or deciding on repair, replace or modification
actions.
3-3- Reliability Centered Maintenance (RCM)
The RCM is doing the right maintenance work at right time to provide
maximum reliability and minimum cost, by focusing on specific probable
failure modes. It relies heavily on condition mentoring and diagnostics /
prognostic (trend analysis) approach. The approach follows the following
steps;
1- Select critical equipment to be covered by the RCM.
2- Define equipment performance standards.
3- Define probable failure modes and root causes.
4- Assess failure effects and consequences.
5- Define maintenance strategy for the selected equipment.
6- Implement and refine maintenance policies.
1- Failure data.
2- System design redundancies
3- Operating experiences.
Objectives of TPM:
1- Reliability.
2- Availability.
3- Utilization.
The three parameters are described as following;
Reliability
Installed
time - Breakdown time
Reliability % =
Installed time
Availability
Installed time
Where the downtime = Preventive maintenance time + Breakdown time
Utilization
Installed time -
Stoppage time
Utilization % =
Installed time
The average net time of repair for a specific failure (of equipment or
component).
Both the MTBF and MTTR parameters are useful in establishing the
maintenance plan and updating the task frequencies.
5- Critically Assessment