Professional Documents
Culture Documents
Control System
Instrumentation of a technological process
Introduction
Contents
The main topics:
I. Measurement devices
II. Actuating elements
III. Field devices - controllers
IV. Communication networks
V. SCADA & DCS
What is it?
How does it work?
15 hours
Definition
Principle of operation
Main features
Topics
I. Measurement devices
Ia. Sensors
Ia-1. Thermometers: a) Expansion thermometer; b) Pressure spring thermometer; c) Resistance thermometer; d) Thermoelectric thermometer;
e) Optical thermometer. Selection of thermometer and measuring circuit
Ia-2. Displacement and force sensors: a) Resistance displacement sensor; b) Piezoelectric displacement sensor; c) Piezomagnetic
displacement sensor; d) Inductive displacement sensor; e) Capacitive displacement sensor; f) Hall effect displacement sensor
Ia-3. Manometer: a) Hydrostatic manometer; b) Hydraulic manometer; c) Elastic manometer; d) Electronic manometer (strain gauge, inductive,
capacitive); e) Manometer with a force sensor. Selection of manometer
Ia-4. Level indicator: a) Water-level indicator; b) Float level gauge: c) Hydrostatic level gauge; d) Displacer level gauge; e) Ultrasonic level
gauge; f) Radar level gauge; h) Another l.g. (capacitive, eletrical, thermometer). Selection of level gauge
Ia-5 Flowmeter: a) Differential pressure flowmeter; b) Rotameter; c) Velocity-type flowmeter; d) Positive displacement flowmeter; e) Inductive
flowmeter; f) Ultrasonic flowmeter; g) Calorimetric flowmeter; h) Vortex flowmeter; i) Coriolis flowmeter; j) Open channel flowmeter. Selection of
flow meter
Ia-6. Speed: a) Tachometer; b) Digital speed sensor
Ia-7. Relays: a) Non electrical relays; b) Electrical relays and switches
Ia-8. Physico-chemical properties: a) pH meter, ...
Ia. Sensor selection
Ib. Converters
Ib-1. Measuring converters types and selection
Ib-3. Separating converters
Ib-4. Analog-to-digital converters
Ib-5. Digital-to-analog converters
Measuring devices; Instrumentation and control tag
IIb. Actuators
IIb-1. Pneumatic actuator
IIb-3. Electric actuator - Electric motors: a) Brushed DC electric motor; b) Synchronous motor; c) Inductive motor
Electro-mechanical drive system
Fundamental definitions
Block diagram of a control system
supervisor system
communication system
controller
A/D
converter
control devices
measuring
converter
measurement
devices
D/A
converter
actuator
(actuating driver)
final control
element
sensor
(sensing element)
actuating
equipment
plant
b)
c)
Sensors
1 - temperature,
2 - displacement,
3 - pressure,
4 - level,
5 - flow,
6 - rotational speed,
7 - relays,
8 - electrochemical
Converters
1 - measuring,
2 - signaling,
3 - separating,
4 - A/D,
5 - D/A
Control engineering design
supervisor system
communication system
controller
A/D
converter
D/A
converter
measuring
converter
(actuating driver)
actuator
final control
element
sensor
(sensing element)
plant
I. Measuring devices/ 6
Ia. Sensors
Sensor (transducer, measuring converter) - a device that converts a physical (chemical,
biological, ...) quantity into another signal (usually an electric signal). There are many
types of sensors base on different principles.
Measurement of a basic physical quantity:
1) temperature
2) displacement and force (also stress, strain)
force-related measurement
3) pressure (also pressure difference)
4) level (also volume)
amount-related measurement
5) flow
6) rotational speed
and another:
7) relays (two-stage transducer)
8) electrochemical transducer
More: http://www.omega.com/literature/transactions/
http://www.sensorland.com/
Ia. Measuring devices/ 7
liquid-in-glass
e.g. mercury-in-gas thermometer
or alcohol thermometer
mechanical
bi-metallic
elongation-type
The difference in thermal expansion in the two metals
leads to a difference of lenght or to a twist of element
in proportion to the temperature
capillary
manometer
(spring-type pressure gauge)
thermometric
bulb
platinum
nickel
copper
Metal resistance increases under the influence of temperature
R
PTC
thermistor (semiconductor)
NTC
ceramic
PTC
T
Temperature dependence of resistance
Ia. Measuring devices/ 10
metal A
T2
T1
metal B
1) Fe-konstantan
2) NiCr Ni
3) PtRh - Pt
E
[mV]
1
2
E=f(T1-T2)
measuring junction
(hot junction)
C
connecting
head
500
1000
1500
Measuring area
Non-contacting measurement
based on an optical system and a detector
1) Temperature range:
expansion
pressure spring
resistance
thermoelectric
optical
-200
500
700
900
-50
-270
1600
-100
400
2700
2) Contact or non-contact
R2
R0
Uz
Rw
R3
R1
R3
Rt
The connecting wiring
are added to
the measured resistance
connecting wiring
R2
R0
Uz
2-wire circuit
Rw
3-wire circuit
connecting wiring
Rt
The connecting wiring
occur in
two legs of the bridge
Ia. Measuring devices/ 14
t0
R1
R2
mV
Rt
R3
Uz
hot
junction
A
e1
B
e3
cold junctions
t0
e2
thermostat
e4
e=e1-e2 (e2=const), e3 = - e4
mV
Ia. Measuring devices/ 15
linear
rotary
R=rl
R=r
strain gauge
polarization
disk compressed:
generated voltage
has the same polarity
as poling voltage
disk stretched:
generated voltage
has polarity opposite
that of poling voltage
applied voltage
has the same polarity
as poling voltage:
disk lengthens
applied voltage
has polarity opposite
that of poling voltage:
disk shortens
[http://www.americanpiezo.com/knowledge-center/piezo-theory/piezoelectricity.html]
F
L
transformer-type sensor
mA
Ls0W2/
transformer-type sensor
1) Measurement of inductance
2) Measurement of eddy current
(eddy current linear encoder)
U2
rotary c.
cylindrical c.
differential parallel-plate c.
Target
Sensor
x
Ia. Measuring devices/ 21
UH=kIB
I+
x UH
float sensor
(U-pipe)
p1
p2
h
p1-p2=gh(1-2)
p
p
p1
p
p2
cy+mg=pA
p1
p2
p2
p2
p1-p2=gh
Ia. Measuring devices/ 24
p
Sensor uses the deflection
of a flexible membrane
that separates regions of
different pressure
p
The bellows is stretched on
pressure influence
(measurement of inductance)
capacitive
(measurement of capacity)
differential capacitive
p2
p1
p
Differential manometer with
an elastic membrane is a
double capacitor
with piezoresistive
strain gauge
with strain gauge
2
h2-h1
h2
h1
p1=p2
h2-h1 the pressure arisen from a liquid flow
Assumption: no pipe resistance
2
h2-h1
h2
h1
p1>p2
Ia. Measuring devices/ 28
resistance
Float moves
on a linear resistor
patm
h1
P=p1-patm
P=gh
bell-type
capacitive
Weighing of
the displacer element
Sensor
without
chamber
Sensor
in a side-and-bottom chamber
Ia. Measuring devices/ 32
Capacitive l.g.
Sounder is a long capacitor and his capacity depends on draught
p
Pressure sensor measures the differential pressure before and within the constriction
flow nozzle
Venturi tube
(Venturi meter)
Nozzle and tube offer advantages over orifice plates in that they require less
upstream piping and incur lower permanent pressure loss.
Ia-5b. Rotameter
Principle: Balance between the flowing force and the weight of the float
The rotameter consists of a vertically oriented glass (or plastic) tube with a larger
end at the top.
The substance flows through the meter vertically from bottom to top and lifts the
float proportionally to the flow quantity.
plastic
metal
glass
Ia. Measuring devices/ 38
blade f.
counter
impeller
screw f.
counter
impeller
turbine f.
piston
four-way
valve
Piston is operated to fill a cylinder with the fluid
and then discharge the fluid. Each stroke
represents a finite measurement of the fluid
electromagnet
electrode
The liquid serves as the conductor and the
magnetic field is created by energized coils
outside the flow tube. The inducted voltage is
detected with the aid of an electrode.
It can only be used for electrical conductive fluids as water.
scheme
Z
Two temperature sensors are in close contact with the fluid but thermal insulated from each
other. The flowing fluid cools both sensors but one of the two sensors is constantly heated.
The temperature difference between the two sensors is proportional to the flow rate.
Animation http://en.wikipedia.org/wiki/File:Vortex-street-animation.gif
Animation: http://www.emersonprocess.com/micromotion/tutor/42_densityoperatingprincipal.htm
Ia. Measuring devices/ 45
sharp-crested weir
V-notch weir
Venturi flume
Ia-6a. Tachometer
(Rate generator)
Principle: A small ac/dc generator that develops an output voltage proportional to its rpm
The rotor of the tachometer is mechanically connected, directly or indirectly, to the load .
dc generator
ac generator
U1
Uzasil
eg
eg
1
The dc rate generator often has
permanent magnetic field excitation.
The phase or polarity of output voltage (eg) depends on the rotor's direction of rotation
photoelectric
transformer-type
fn
fz Uz
.
magnetoresitive
relay-type
(reed swich)
NS
(rotational speed
sensor)
fn
acoustic
light-, ...
- photodiode, photoresistor (proximity detector )
N S
turn
N S
tern
tern
limit switch
a) pH pH meter
b) redox potential (oxidation/reduction potential, ORP) ORP meter
c) humidity hygrometer
d) oxygen (proportion of O2 in the gas or liquid ) oxygen meter, lambda sensor
e) conductivity conductometer
f) suspension densitometer, suspension turbidity meter
g) water hardness
h) concentration refractometer
....
Ia-8a. pH meter
Principle: The measurement bases on an electrode made of a doped glass membrane
that is sensitive to a specific ion
10-7
10-14
100 mol/l
- concentration of hydrogen ions (H+)
- in practice from 10mol/l to 10-15 mol/l
14
basic solution
7
H2O
pH
acidic solution
Ib. Converters
Definition and classification
Classification of converters according to function:
1) measuring
conversion of a sensor signal into a standard signal
typical electric standard signals: 0-5mA, 0-10mA, 0-20mA, 4-20mA, 0-10V
2) signaling
matching circut - exchange of one standard to another
current-current, voltage-voltage, current-voltage, voltage-current, currentpressure (intersystem converter);
3) separating
assurance of the galvanic isolation between functional sections of system
the same standard of input and output and the gain equal 1
4) analog-to-digital converter (ADC, A/D, A to D)
conversion a continuous quantity to a discrete time representation in digital form
typically the digital output is a twos complement binary number
5) digital-to-analog converter (DAC, D/A, D to A)
conversion of a digital (usually binary) code to an analog signal (current, voltage
or electric charge)
Ib. Measuring devices/ 55
parametric, generating
According to construction (electric circuit)
Us
Rs
Iout
Us
Us
Rr
Rb
Rf
Rr
Rb
Rf
generating
tachometer generator
modulating
position-type
MC
OS
Cout
AC
MC matching, AC activation
OS - oscillatory system
Cout output converter
out
f =
1 F
2 ml
F
A
l
string-type converter
(the force F into the frequency f)
Ib. Measuring devices/ 58
Uout
UX
LG
ULG
UA
ULG
UX
UA
UC
Uout
LG linear generator (g. of linear signal)
UA activation; C - comparator
Ux input voltage
Uout output voltage
ti
parallel voltages
result of a ground loop
frequency of 50Hz5kHz,
high voltages, constant component
sensor
measuring
converter
RA
UR
RB
CB
UP
UP
200
I1
2
200
sys
100
I2
200 5
200 3
optoelectronic
GZ
xin
Iin
TO
xout
=
Iout
Ib. Measuring devices/ 62
Sampling
u[k]
Quantization
Sampled-date signal
(discrete in time and
continues in amplitude)
Encoding
Discrete time
discrete amplitude
signal
Digital signal
Ux
Ux
U1
Uw
U1
U2
U3 L
U
Nx = Nmax x
Uw
Ux
T1
T2
U2
GW
US
T1
t
U3
Nmax
Nx
Uw
T2
frequency-type ADC
c
U
UX
Uout
ti
fx
Forming
frequency
input
Gate
Controler
Pulse generator
Counter
Nx
Cancel
counting fx
for a determinate
time period
weigh-resistive
U
21R
2iR
22R
2iR
21R
Uout
U
1
0
1
0
X0
22R
1
0
X1
Uout
Xi
voltage ladder
U
2R
2R
2R
2R
2R
2R
Uout
U
1
0
X0
1
0
X1
1
0
2R
2R
Uout
Xi
...
Ib. Measuring devices/ 66
measuring c.
separating c.
controller
A/D
controller
communication port
Ic. Measuring devices/ 67
process parameter
function: R - recording
I - indication
C - control
A - alarm
TRCA
154
alarm
specification
TRCA
154
D density
F flow rate
G distance, length, position
L level
P pressure
Q material properties
T temperature
W velocity, mass
programmable
device
TRCA
154
configurable
device
US Standards:
ANSI Y32.2.3 Graphical Symbols for Pipe Fittings, Valves and Piping
ANSI Y32.2.11 Graphical Symbols for Process Flow Diagrams
ISA 5.5 Graphical Symbols for Process Displays
British Standards:
BS: 1646 1-4 Symbolic Representation for Process Measurement, Control
Function and Instrumentation
German Standards:
DIN 19227 P1-P3 Graphical Symbols and Identifying Letters for Process
Measurement and Control Functions
Polish Standards:
PN-M-42007 (archive)
More: http://enormy.pl
http://www.samson.deServicesTechnical Information
supervisor system
b)
communication system
controller
A/D
converter
D/A
converter
measuring
converter
(actuating driver)
actuator
sensor
controling
system
final control
element
(sensing element)
plant
controlled system
Examples:
Actuating equipment (final control equipment):
- final control element
- actuator
Control valve:
- valve (closure element, body of valve)
- actuating driver
- positioner (measuring element)
ball (globe)
rotary (butterfly)
knife
neadle
flap
IIa. Actuating equipment/ 71
IIa-1. Valves
Valve a device that manipulates the mass flow on basis of a throttling.
ball valve
(globe valve)
Inside a spherical disc
Features: simplicity, sealing
butterfly valve
(quarter-turn valve)
Inside a metal disc mounted on a rod
and positioned in the center of the pipe
Features: low cost, light
More: http://www.valtorc.comValves
IIa-2. Pumps
Pomp a device used to move fluids (liquids, gases, slurries) by mechanical actions
(often a reciprocating or rotary mechanism).
velocity pump
positive displacement pump
The pump moves a fluid by trapping a fixed
amount of it and then forcing (displacing) that
trapped volume into the discharge pipe
screw
lobe
Operation under closed valve conditions
The positive displacement pump physically displaces the fluid
The velocity pump can be safely operated
resulting in a continual build up in pressure and finally
under closed valve conditions
mechanical failure of either pipeline or pump
impulse pump
The pump use pressure created by gas (usually air) and pushing part of the liquid upwards
IIa. Actuating equipment/ 73
IIb. Actuators
(effectors, servomotor)
Actuator - a type of motor for moving or controlling a mechanism (final control element).
It is operated by a source of energy (an electric current, hydraulic fluid pressure,
pneumatic pressure) and converts this energy into some kind of motion.
Actuator processes and amplifies the output signal of controller
diaphragm actuator
pneumatic cylinder
bellow actuator
Motor
a small torque
a high velocity
stator
rotor
[http://www.allaboutcircuits.com/vol_2/chpt_13/1.html]
permanent magnets
+
brushes
N S
electromagnets
+
series m.
shunt m.
M
separately excited m.
three-phase s.m.
stepper m.
N
S
Control:
- sense of rotation depends on the direction of rotating magnetic field control by change of the phase order
- motor speed is synchronized with the supply frequency control by a variable-frequency driver
Advantages: speed independent of the load,
accurate control in speed and position for stepper motor
Disadvantanges: above a certain size, synchronous motors are not self-starting motors
Control:
- sense of rotation depends on the direction of rotating magnetic field control by change of the phase order
- motor speed is proportional to supply frequency control by a variable-frequency driver.
Advantages: ruggedness, simplicity, 90% of industrial motors are induction m. (mainly the squirrel-cage rotor)
Disadvantanges: hard starting (it is accompanied by inrush currents up to 7 times higher than running current)
V
Starting with:
star-delta switch
motor soft starter
M
U
Contents
The main topics:
Instrumentation of a technological process
I. Measurement devices
15 hours
II. Actuating elements
-----------------------------------------I. Field devices - controllers
15 hours
II. Communication networks
III. SCADA & DCS
82