E01517 CRP User's Manual

Didacta Italia
CRP
Pressure Control and Regulation Module
User’s Manual
and Exercise Guide
Didacta Italia
CRP
Pressure Control and Regulation Module
User’s Manual
and Exercise Guide
This manual illustrates the technical characteristics and operating instructions of

the system Didacta CRP Pressure Control and Regulation Module, giving the
instructor or the student a specific knowledge of the unit and its applications.
Besides the manual contains a choice of exercises ready to be performed in the
laboratory.
Didacta Italia Srl - Strada del Cascinotto, 139/30 - 10156 Torino
Tel. +39 011 273.17.08 273.18.23 - Fax +39 011 273.30.88
http://www.didacta.it - e-mail: info@didacta.it

The information contained in this manual has been selected and verified with the
greatest care. However, no responsibility stemming from its use can be ascribed to the
Authors or to Didacta Italia or any person or company involved in its preparation.
The information contained in this manual can be modified at any time and without
warning on account of technical or educational needs.
Copyright  Didacta Italia 2014
Reproduction by any means, including photocopying of this test or parts thereof, or the
figures contained therein, is strictly prohibited.
Printed in Italy - 11/12/14
Code 01517E1214 — Edition 01 - Revision 02

table of contents
Table of Contents
1. General ..................................................................................... 1
2. Composition and description................................................. 5
2.1 Process simulator ....................................................................................... 5

2.2 Control Board ............................................................................................ 9
3. Installation and preliminary operations .............................. 11
3.1 Installation ................................................................................................ 11

3.2 Start-up ..................................................................................................... 12
4. Pressure control ..................................................................... 13
4.1 On-Off control ......................................................................................... 13

4.2 PID control ................................................................................................ 13
4.2.1 General ........................................................................................................................13
4.2.2 Proportional component ...........................................................................................13
4.2.3 Integrative Component .............................................................................................16
4.2.4 Derivative component...............................................................................................18
5. Exercises ................................................................................. 19
5.1 Exercise 1 - P control via software - Verification of residual offset .... 19

5.2 Exercise 2 - PI control via software ........................................................ 22
5.3 Exercise 3 - PI control via software - Effects of a disturbance ........... 25
5.4 Exercise 4 - PID control via software - Effects of a disturbance ........ 28
5.5 Exercise 5 - PID control by means of the external electronic
controller MiniReg - Effects of a disturbance ...................................... 31
5.6 Exercise 6 - PID control by means of the external pneumatic
controller MSRR - Effects of a disturbance ........................................... 35
CRP — User’s Manual v

table of contents
vi Didacta Italia
Chapter 1.
1. General
The CRP study unit has been designed for the study of closed and open loop pressure
control techniques.
The function performed by this unit is to enable the pressure applied by the air to the
tank wall to be adjusted.
At the outlet of the tank, a proportional valve adjusts the output of the air: by
working on this valve it is possible to control the pressure inside the tank according to
need.
Figure 1.1 – CRP Pressure Control Regulation Module
Furthermore, it is possible to turn on an auxiliary air output channel so as to modify

the characteristics of the system and simulate “disturbances” in the control action.
In this unit the controlled quantity is the pressure, and the control action is achieved
by means of a signal which is transmitted to the proportional valve so as to govern its
opening and closing.
In the CRP, the control action can only be of PID (proportional, integrative,
derivative) type. On account of the velocity of the process, it would be meaningless to
attempt simpler types of control action, such as On-Off control.
CRP - User’s Manual 1/40

General
The main components of the CRP process simulators are:
• Line pressure relief valves
• Main air tank
• Auxiliary tank serving as a buffer
• Manual flow control valve between the auxiliary tank and the main tank
• Pressure transducer applied to the main tank
• pneumatic proportional valve for the control of the air output from the main tank
• I/P converter for the control of the proportional valve.
• Measuring instruments for the pressure to be controlled and the pressure

representing the control signal
• Solenoid valve to introduce a disturbance
• Electrical power supply and signal conditioning unit with a control panel
including a digital pressure indicator.
The process simulator can be connected to a PC with the aid of a suitable A/D and
D/A conversion board.
The control action is achieved in one of the following ways:
• by means of an electronic controller (e.g., the optional MiniReg electronic

controller)
• through the pneumatic control module MSRR (optional )
• by means of the CRS (Control Regulation Software) and a Personal Computer.
In the first two cases, the software running on the PC (CRS) makes it possible to
observe the behaviour of the system as it is being controlled.
2/40 Didacta Italia

Chapter 1.
Figure 1.2 – CRS (Control Regulation Software)
In the third case, the CRS can simulate the behaviour of a controller, let the user
establish the control parameters and, as in the previous cases, enable the students to
examine the behaviour of the different variables involved.
Furthermore, the software makes it possible to activate the solenoid valve which
opens (closes) the circuit branch, resulting in the introduction of noise in the process.
The use of the CRP in connection with a PC and the CRS enables the students to
analyse the effects of the different control parameters on the behaviour of the control
chain.
Moreover, since the system is made up of components as are normally used in

industrial applications, its utilisation may lead to a solid knowledge of the problems
encountered in actual practice.

General
4/40 Didacta Italia

Chapter 2.
2. Composition and description
2.1 Process simulator
Figure 2.1 shows an overall view of the CRF study unit.
3
10
11
6 12
Figure 2.1 – CRP Overall view
2
21
1 20
Figure 2.2 – Compressed air inlet with pressure regulator

Composition and description
5
7
19
17
15
16
14
18
Figure 2.3 – Tanks and valves
13
Figure 2.4 – PN pneumatic proportional valve
6/40 Didacta Italia

Chapter 2.
Y 9 10
X
8
n
11
6 7 12
5
4
13
3
2 14
15
1
20 19 18 17 16
Figure 2.5 – Synoptic view
We may distinguish the following elements:
1. Compressed air inlet
2. Pressure gauge for auxiliary tank input air
3. Manual regulator for I/P converter input air pressure
4. Pressure gauge for I/P converter input air pressure PR2
5. Safety valve for auxiliary tank (3.0 bar)
6. Pressure gauge for main tank pressure read‐out (Controlled variable ‐ Full scale 2.5 bar)
P
7. P/I (Pressure/Current) transducer for the measurement of the controlled variable
8. Optional electronic controller, MiniReg
9. Control board
10. Personal Computer
11. I/P (Current/Pressure) converter for the generation of the control signal

12. Pressure gauge to read the control signal in percentage terms (0‐100% corresponding
to 3 ‐ 15 psi) P
13. Pneumatic proportional valve VN
14. Manual valve to control the magnitude of the disturbance introduced V1
15. Manual valve to empty out the air from the main tank V2
16. Solenoid valve to introduce noise EV1
17. Main tank
18. Manual valve to introduce air into the main tank V3
19. Auxiliary buffer tank
20. Manual regulator for auxiliary tank input air pressure PR1
21. Air flowrate manual regulator
X Control signal
Y Controlled variable signal
n Noise signal
The air coming from the main line and suitably subjected to a reduction in pressure
by means of reducer 20 is introduced into the auxiliary tank 19.
From tank 19, which serves as a buffer, the air is conveyed into the main tank 17
through manual valve 18.
From tank 17 the air can be released via a channel which is controlled manually with
the aid of valve 15 or through a channel which is controlled by means of proportional
valve 13.
The proportional opening of valve 13 makes it possible to control the pressure

applied by the air contained in the main tank to the interior walls.
Work on solenoid valve 16 to have the air flow out via a supplementary channel,
whose is flow can be adjusted manually by means of valve 14.
Measuring instruments 6 and 12 give the values of the pressure controlling the
proportional pneumatic valve 13 (i.e. the control signal) and the pressure in tank 17 (i.e.
the controlled variable), respectively.
8/40 Didacta Italia

Chapter 2.
2.2 Control Board
The control board of the CRP performs the following functions:
• it powers all the electrical components of the unit;
• it performs the conditioning of the electric signals to and from the NI (National
Istrument) conversion board, so as to adapt the board’s inputs/outputs to the
inputs/outputs of the transducers and actuators equipping the unit;
• supplies a number of control switches and selectors;
• supplies a number of test points to let the user check out the most important
electric signals by means of an oscilloscope;
• includes a digital pressure indicator.
Figure 2.6 shows the front view of the electrical equipment of the CRP.
29 22 23 24 25
21 28 27 26

Figure 2.6 – Front view of the control board
In this figure we find:

21. Main switch
22. Digital indicator of the pressure being controlled, as a percentage (100%= 2.5 bar)
23. Trimmer for the manual control of the proportional valve
24. 5‐position operating mode CONTROL selector
0 ‐ control OFF
1 ‐ control via the PC
2 ‐ control by means of external electronic controller (MiniReg)

3 ‐ control by means of external electronic controller (MSRR)
4 ‐ manual control
25. LED indicator for the operation of the noise solenoid valve
26. Three‐position NOISE selector
0 ‐ the solenoid valve is deactivated and its operation is disabled
MAN ‐ the solenoid valve is on
PC ‐ solenoid valve operation is controlled via the PC
27. Auxiliary output of control signal X (0 ‐ 5 V)
28. Auxiliary output of controlled variable Y (0 to 5 V proportional to the pressure reading 0
‐ 2 bar)
29. Didacta logo
Figure 2.7 shows the rear view of the control board.

31 30 33 35
32 36 37 34
Figure 2.7 ‐ Rear view of the control board equipment
We may distinguish the following components:

30. Connector for connection to the external electronic controller (MiniReg)
31. Connector for USB port (PC)
32. Connector for pressure sensor
33. Service socket (220V AC 50/60 Hz)
34. Connector for general power supply cable, 220V AC 50/60 Hz)
35. Fuses
36. Connector IP/converter
37. EV connector
10/40 Didacta Italia

Chapter 3.
3. Installation and preliminary operations
3.1 Installation
Figure 3.1 – Electrictal connections
1) Make sure that manual valve 15 is closed.
2) Set the pressure regulators 3 and 20 on their minimum position.
3) Perform conncetion of pressure sensor, EV, IP/Converter and USB port from PC
as shown in picture 3.1.
4) Connect the unit to the power line (220V 50/60 Hz) by means of the cable
supplied as standard . as shown in picture 3.1.
5) Connect the air input 6 to the compressed air supply through the plastic pipe that
comes with the unit.
6) Gradually increase the pressure by working on regulator 20 which is connected to

auxiliary tank 19 until the relative pressure gauge gives a reading of ca 2 bar.
7) Adjust regulator 3 until the pressure pressure gauge gives a reading of ca 25 psi.
8) Set the CONTROL selector and the NOISE selector on 0.
9) Turn on the CRP by means of main switch 21.
10) Turn on the PC and install the software according to the instructions provided in
the CRS Utilisation manual.

Installation and preliminary operations
3.2 Start-up
1) Turn on the PC and the printer.
2) Launch the CRP program.
3) Power the P by means of the main switch.
4) Proceed with the tests by following the indications contained in the exercises
proposed in Chapter 5.

Chapter 4.
4. Pressure control
4.1 On-Off control
The simplest control action is of the On-Off type. In this case, we assume we have a
two-stage (On-Off) actuator.
Whilst this type of control can be profitably used when dealing with quantities, such
as temperature and level, that vary slowly over time, it is not suitable for quantities that
may vary extremely rapidly, such as flow or pressure.
Accordingly, the CRS software to be used on the CRP has been configured so as to rule out
the possibility of On‐Off control.
4.2 PID control
4.2.1 General
In various practical applications, the control system can be achieved thanks to the
contribution of three components:
• proportional
• integrative
• derivative
The control signal, which is calculated on the basis of the error observed (i.e., of the
difference between the and the desired value (Set-Point) of the controlled variable and
the measured value of such variable) is the outcome of the sum of three terms, the first
of which is proportional to the error, the second is proportional to its integral over time,
and the third is proportional to its derivative (which represents its "trend").
In the following paragraphs, we shall examine the various components in greater

detail.
4.2.2 Proportional component
As mentioned before, this component is proportional to the error between the Set-
Point and the measured value.
It can be characterised by the value of the proportionality constant which is referred

to as proportional gain.
Often people refer to the inverse, expressed as a percentage, of the proportional gain:
this parameter is called Proportional Band (BP).

Pressure control
The reason for this name becomes clearer if we think that when the control signal
reaches 100% of its possible value, in our case when the heating element is crossed by
the maximum permitted current, the error reaches a "saturation level", and any
subsequent increase in the error will no longer be able to cause an increment in the
control signal.
The Proportional Band is the error interval within which the control signal takes on
an intermediate value, of between 0 and 100%, and outside which it is, respectively, 0
and 100%, i.e., within this band, the control signal is proportional to the error.
Given an error, e, between 0 and the BP, the percentage value of the control signal,
X, is:
100
X  e (1)
BP
The greater is the BP, the error being the same, the lower is X; in other words, the
lower is the proportional gain of the controller.
Let us assume we are working with a proportional controller and we wish to obtain a
pressure equal to 50% of its maximum value.
Following an initial transient, a equilibrium configuration is reached in the presence

of a non nil error. If the error became nil, in fact, this would result in the total closure of
the proportional valve and the consequent increase in the pressure against the tank’s
interior walls.
The residual error characterising this equilibrium configuration is called OFFSET.
This behaviour is typical of proportional action controllers.
Let us imagine that, in the example described above, with a BP of 80%, equilibrium
has been reached with a pressure corresponding to 65% (and hence an OFFSET of
15%).
In these conditions, the control signal X will be:
100
X   65  50   18.75
80
This means that the proportional valve is at ca. 19% of its maximum opening, so that
the pressure becomes stable at 65%.
If, for any reason, the pressure were to increase, the error would also increase; this
would result in an increase in the control signal leading to the recovery of equilibrium
conditions.
Conversely, a decrease in pressure would give rise to a decrease in the error and a
consequent reduction in the opening of the valve.

Chapter 4.
It should be noted that the general characteristics of the system have been designed
to reflect a special relationship between the control signal (opening of the proportional
valve) and the pressure: in the region of interest for our purposes, an increase in the
control signal necessarily entails a decrease in pressure.
A controller of this kind is referred to as “direct action” controller, since, if the

controlled variable increases, this increase is compensated for by increasing the control
signal. The opposite configuration is known as “inverse action”.
This relationship cannot be expressed accurately in an elementary form: for our

purposes let us just acknowledge its "decreasing” character.
By plotting this relationship and relationship (1) (linking the error with the control
signal proportional to it) on a diagram, we obtain:
The equilibrium point P is given by the intersection between the curves representing
the two relationships.
What would have happened with a Proportional Band of 50% instead of 80%?
In particular, what would have been the pressure of the air upon the attainment of
equilibrium?
The relationship showing the control signal as a function of pressure remains the
same. The change is observed in the relationship linking the error with the control
signal, since, in this case, the proportionality constant, i.e. proportional gain, has
changed.
By adding to the previous diagram the curve that represents the new relationship, we
obtain the new point of intersection and we may see its displacement relative to the
previous equilibrium point.

Pressure control
The new equilibrium point P' is obtained for a lower pressure value than the previous
correspondent equilibrium point P.
In particular, the new equilibrium point is obtained with a control signal of 22%
(higher than the previous value) and a pressure of 61%, with a residual error of 11%.
Hence, the error has decreased.
Conversely, if the Proportional Band had been greater than 80%, i.e., if we had
decreased the gain, the OFFSET would have increased.
Aside from the apparent approximation made by taking the relationship between the
control signal and the pressure to be perfectly linear, the general principles have not
been impaired in any way, and they may be summed up as follows:
• a proportional only controller does not make it possible to eliminate the error and
hence to reach the desired pressure;
• the residual error, or OFFSET, increases with increasing Proportional Band.
In the section devoted to the exercises we have included an experiment illustrating

the behaviour of a proportional controller and the influence of the BP on such
behaviour.
4.2.3 Integrative Component
As we have seen in the previous paragraph, a proportional only controller is unable

to reach the desired Set-Point: there is residual error, the OFFSET, than cannot be
neutralised.
The addition of an integrative component to the proportional one, makes it possible

to solve this problem.

Chapter 4.
A proportional and integrative action controller (sometimes referred to as delay

compensator controller) assesses the control quantity as the (algebraic) sum of the
proportional component (as described above) plus an additional term which is
proportional to the integral of the error in time:
X  t   K p  e t   Ki   e xdx (2)
0
The integral part of the control action eliminates the residual error which we would
have in proportional only control.
In these conditions, we can have a control signal other than zero, even in the
presence of nil error.
In this manner, in fact, we take into account the “history” of the error over time, and
not merely the current error, in the determination of the control signal.
Let us consider a system controlled by proportional + integrative action, and let us

assume it is in equilibrium conditions; no residual error may be present, in such
conditions, because if it were present, the integral component of exp. (2) would
accumulate it over time, resulting in a progressively increasing control signal, which
would contradict our assumption of equilibrium.
Hence, the equilibrium conditions are characterised by a nil error.
Let us now assume that in these conditions a “disturbance” occurs; for instance, the
air output channel is suddenly opened and therefore the control signal becomes
“excessive” relative to the requirements.
Obviously, this phenomenon will result in the generation of an error, because the
pressure will decrease to below the Set-Point which had been maintained up to that
time.
The error will give rise to a reaction on the part of the regulator which brings about a
reduction in the control signal and restores the equilibrium conditions; however, thanks
to the integral component, a trace of the evolution of the “error” over time will be
maintained, even when the error drops to zero.
We can say that in these circumstances the contribution of the proportional

component will be nil and the control signal necessary to obtained the desired pressure
value (Set-Point) will be determined only by the contribution of the integral component.
In general, a proportional and integrative controller is widely used when we expect

considerable but rather slow variations in the controlled variable, requiring marked
changes in the control signal. This may be case in temperature control, but not in
pressure control.
In our case, we may therefore expect that the optimal control action will be achieved
with a modest integrative component. It cannot be fully eliminated, in fact, if we wish to

Pressure control
compensate for the residual offset, and it must not take on an exceedingly high value
not to slow down the control process and make it unstable.
In the section devoted to the exercises we discuss an experiment (Exercise 3) which

illustrates the behaviour of a controller of this type.
4.2.4 Derivative component
The control action can be improved further by supplementing the proportional and
integrative components discussed above with yet another component which is
proportional to the derivative (in time) of the error.
t
d
X  t   K p  e t   Ki   e xdx  Kd  e t  (3)
0
dt
This derivative component, whose intervention is associated with the "trend" of the
error, has an anticipatory effect on the overall action of the controller.
This third component, in fact, makes a contribution which is based on the rate of
change of the error: the faster is the rate of increase of the error, for instance, the greater
is the contribution of this component which anticipates, in this manner, a correction that
otherwise would have had to be made later on.
If the error remains constant, its derivative in time is nil and the contribution arising
from the presence of a derivative component is equally nil.
If the error is not constant but its variations are slow we approximate the situation
described before when dealing with the proportional-derivative controller. Thus, the
contribution obtained through the addition of a derivative component should be sought
in all those situations involving fast and limited changes in the load.
In our case, the great speed of the process being investigated makes it difficult to
adopt a derivative component.
Its presence, in fact, would easily result into considerable oscillations of the control
signal.

Chapter 5.
5. Exercises
5.1 Exercise 1 - P control via software - Verification of residual

offset
 Testing procedure
1. Set the CONTROL mode selector on 1 (PC).
2. Set the NOISE selector on 0.
3. Launch the CRP program.
4. Select File-New.
5. Select "PID Regulator" in the "Select Exercise Type" window and press OK.
6. Enter the operator's name and your remarks in the "Test description" window and
press OK.
7. In the "Set-Point Set-up" window select a continuous Set-up function (DC

function) with a width of 0% and offset of 50%, and press OK. This amounts to
setting a Set-Point level of 1 bar.
8. In the "PID parameters" window, set:
• Proportional Band = 80%
• Integrative time = 0 min
• Derivative time = 0 min
and click on OK.
9. In the "Noise Set-up" window, select a continuous noise (DC function) and click
on OK.
10. Do not make any manual alignment, i.e., leave the control signal in the "Manual
Alignment" window on 0 and click on OK.
11. In the "Real Time Diagram" window disable the disturbance by means of the
"Enable" field in the "Noise" panel.
12. Press "Start" to start the test.
13. Watch the behaviour of the system for a few minutes.
14. Return to the "PID Parameters" window by means of the "Param" button in the
"Real Time Diagram" window and set a Proportional Band of 50%; press OK.

Exercises
15. Examine the behaviour of the system for a few minutes.
16. Recall the "PID Parameters" window again, set a Proportional Band of 100% and
press OK.
18. Recall the "PID Parameters" window again, set a Proportional Band of 120% and
press OK.
20. At the end of the test, press the "Stop" and "Cancel" buttons.
21. Examine the samples of the signals produced during the test and their evolution
in time by means of the File-Browse-Data and File-Browse-Diagram functions.
22. Print the data and/or the diagram, if desired.
23. Save the data on disk by means of File-Save, if desired.
24. Conclude the exercise by means of File-Close.
 Test results
Figure 5.1 – P control with Proportional Band = 80%, 50%, 100%, 120% (File PID_1.CRS)

Chapter 5.
 Remarks
As can be seen, after a few minutes of the start of the test, the controlled variable and
the control signal become stable.
The Set-Point (50%) is not reached, and we are left with a rather conspicuous
OFFSET (of 15%).
When the Proportional Band is decreased to 50%, the OFFSET decreases to 11%.
Conversely, when the Proportional Band is raised first to 100% and then to 120%,
we see that the residual OFFSET is also progressively increased.
Notice the behaviour of the control signal in the different conditions: it "adapts" to
new equilibrium pressure.
 Suggestions
The proportional Band being the same, repeat the test for different Set-Point values.

Exercises
5.2 Exercise 2 - PI control via software
2. Set the NOISE selector on PC
4. Select File-New.
press OK.

and press OK
on OK.
13. Watch the behaviour of the system for a few minutes and wait for equilibrium
conditions to be reached.
14. Recall the "PID Parameters" window by means of the "Param" button in the
"Real Time Diagram" window and set:
• Integrative Time = 1 min
15. Examine the behaviour of the system for a few minutes and wait for equilibrium

Chapter 5.
 Test results
Figure 5.2 – P and PI control (File PID_2.CRS)
 Remarks
It can be clearly since that as soon as the integral component is introduced, the
controller begins recovering the error.
Equilibrium is reached when the error is nil, i.e., when the desired Set-Point is
reached. Notice that in these conditions, the control signal is determined by the integral
component and its value remains nearly constant on account of the error being
neutralised.

Exercises
 Suggestions
Repeat the test with different integrative constant values and examine their influence
on the recovery action mentioned above.

Chapter 5.
5.3 Exercise 3 - PI control via software - Effects of a

disturbance
4. Select File-New.
press OK.

and press OK
on OK.
13. Watch the behaviour of the system for a few minutes.
14. Wait for equilibrium conditions to be reached and introduce a step like
disturbance; the disturbance can be either introduced manually, by means of the
NOISE selector set on MAN, or via software after setting the NOISE selector on
PC. In this case, just set the characteristics of the noise through the "Noise Set-
up" window and enable the disturbance by clicking the "Noise" field in the "Real
Time Diagram" window.

Exercises
15. Wait for the new stability conditions to be reached.
16. Recall the "PID Parameters" window by means of the "Param" button in the
"Real Time Diagram" window and set:
18. Eliminate the noise.
19. Examine the behaviour of the system.
 Test results
Figure 5.3 – P and PI control with the introduction of a disturbance (File PID_3.CRS)

Chapter 5.
 Remarks
See how the system reacts to the presence of noise.
• in the presence of proportional only control, it reduces the error but does not
neutralise;
• when the integral component is introduced, the error is totally recovered.
Finally, it should be noted that the deactivation of the solenoid valve EV1 entails the
introduction of a disturbance which results in the error being increased, but this error is
then neutralised by the controller.
 Suggestions
Repeat the test by assigning different values to the proportional and integrative
constants and examine system behaviour.

Exercises
5.4 Exercise 4 - PID control via software - Effects of a

disturbance
4. Select File-New.
press OK.

and press OK.
on OK.
13. Watch the behaviour of the system for a few minutes and wait for equilibrium
14. Recall the "PID Parameters" window by pressing the "Param" button in the "Real
Time Diagram" window and set:

Chapter 5.
• Derivative time = 0.50 min
16. Wait for equilibrium to be reached, and introduce a step like disturbance; the
disturbance can be either introduced manually, by means of the NOISE selector
set on MAN, or via software after setting the NOISE selector on PC. In this case,
just set the characteristics of the noise through the "Noise Set-up" window and
enable the disturbance by clicking the "Noise" field in the "Real Time Diagram"
window.
 Test results
Figure 5.4 – P and PID control with the introduction of a disturbance (File PID_4.CRS)

Exercises
 Remarks
Examine the reaction of the system to the presence of noise by restoring the
controlled variable to the desired value; as can be seen, the presence of a derivative
component, even a modest one, results in the generation of undesired oscillations. The
derivative component is therefore not suitable for this type of process.
 Suggestions
Repeat the test by assigning different values to the derivative constant and examine
the behaviour of the system.
Now repeat the test by assigning different values to the three constants (Proportional
Band, Integrative and Derivative Constant) and examine the behaviour of the system.

Chapter 5.
5.5 Exercise 5 - PID control by means of the external

electronic controller MiniReg - Effects of a disturbance
 Initial considerations
This exercise is performed with the aid of MiniReg, an electronic controller that can
be had on request. Again, we shall use the CRS software to examine the behaviour of
the system and transmit the Set-Point signal to the external controller.
For greater details on the operation of the MiniReg, see the relative documentation.
To use the MiniReg set the CONTROL selector on position 2 (ELECTRONIC REG.).
The MiniReg performs a PID control action enabling the operator to set the values to
be assigned to the three fundamental parameters; among its functions, MiniReg features
the automatic determination of the optimal values to be assigned to these parameters.
The exercise consists of using the MiniReg in this particular operating mode and
examining the behaviour of the system by means of the CRS. Furthermore, it is of
interest to determine the optimal values of the PID parameters by means of the MiniReg
and to compare such values with the ones set in the CRS software for the previous
exercises.
1. Check the electrical power supply and MiniReg signal connections before turning
on the MiniReg.
2. Set the CONTROL mode selector on position 2 (ELECTRONIC REG.).
3. Set the NOISE selector on PC.
4. Launch the CRS program.
5. Select File-New.
6. Select "Ext. Regulator" in the "Select Exercise Type" window and click on OK.
7. Enter the name of the operator and any note you may wish to add in the "Test
Description" window and click on OK.

function) with a width of 0% and offset of 50%, and click on OK. This amounts
to setting a Set-Point level of 1 bar.
9. Set the MiniReg on "Remote" mode to accept the Set-Point from the PC by
pressing the REM button.
on OK.

Exercises
13. Activate the "Self-Tuning" function of the MiniReg by following the indications
given in the MiniReg manual.
14. Wait for a few minutes to enable the controller to interact with the process and to
determine the optimal parameter for the control action.
15. Examine the behaviour of the system for a few minutes and wait until it becomes
stable.
16. Introduce a step like disturbance through the customary procedure.
18. Determine the PID control parameters from the MiniReg.
23. End the exercise by means of File-Close.

Chapter 5.
 Test results
Figure 5.5 – PID control through the MiniReg with the introduction of a disturbance
(File EXT_1.CRS)
 Remarks
By working on the MiniReg panel we have determined the optimal values of the PID
control parameters:
• Integrative time = 0.4 min
As can be seen, the MiniReg has excluded the derivative component, confirming the
unsuitability of this component for this type of process.
 Suggestions
Repeat the tests by setting different parameters, other than those suggested by the
MiniReg, and observe the behaviour of the system.
Repeat the test using the CRS as the controller, in lieu of the MiniReg, and by
assigning to the parameters the values suggested by the MiniReg, that is:

Exercises
• Proportional constant = 150%
• Integrative constant = 0.4 min
• Derivative constant = 0 min
Follow the indications given in Exercise 3. The control action will be seen to be
similar to the one observed with the MiniReg, but the oscillations in the value of the
control signal are markedly smaller.
In actual fact, though the PID parameters are pretty much the same, these two control
techniques are drastically different: one being analog and the other digital. The digital
simulation of an analog system, which is obtained, as is known, through the z transform,
in fact, has inherent limitations due to system discretisation.

Chapter 5.
5.6 Exercise 6 - PID control by means of the external

pneumatic controller MSRR - Effects of a disturbance
 Initial considerations
This exercise is performed with the aid of MSRR, an optional pneumatic controller.
The CRS software is used again to analyse the behaviour of the system.
Connect the pneumatic controller to the CRP module via the pneumatic inlet and
outlet located on the side of the module and called MSRR -IN and MSRR -OUT.
• MSRR -IN is connected to the output of the I/P transducer.
• MSRR -OUT is connected to the pneumatic control of the proportional valve.
With reference to the synoptic view shown in Figure 2.2, the connection between
proportional valve 13 and the I/P transducer is disconnected by such terminals;
As a result, for normal system utilisation (without the MSRR), it is necessary to

connect these two terminals by means of the fast-on jacks (the system is generally
supplied in these conditions). To use the MSRR, instead, open this connection and
connect the terminals to the MSRR controller.
In MSRR mode, the electric module makes the electrical connection between the
transducers located on the input and the output of the module itself; in this manner, the
output from the I/P transducer is a pneumatic signal corresponding to the quantity being
controlled, i.e. to the pressure applied by the air to the interior walls of the main tank.
Thanks to the connections described above, this signal becomes the input signal to
the MSRR controller, whilst the output from the latter, representing the control signal, is
directly connected to the proportional valve.
For greater details on the operation of the MSRR, see the specific manual.
1. To facilitate the realisation of the pneumatic connection, it is advisable to reduce

to 0 the pressure of the compressed air supply, by working on the special
regulator or disconnecting the line.
2. Remove the upper jumper between MSRR -IN and MSRR -OUT.
3. Remove the caps from the lower bushings.
4. Connect the compressed air supply to inlet 9 of the MSRR by means of the
special bushing located in the CRP module next to the output of the manual
compressed air pressure regulator, by removing the relative cap.
5. Connect the pneumatic output corresponding to the controlled variable MSRR -

IN to the inlet IN of the control section of the MSRR module.

Exercises
6. Connect the pneumatic control signal MSRR -OUT to the output OUT of the
control section of the MSRR module.
7. Connect the pneumatic output corresponding to the controlled quantity MSRR -

IN to the input IN1 of the recording section of the MSRR module.
8. Make the pneumatic connections necessary for the type of control action to be
used (PID, PI or P) according to the indications given in the MSRR manual. In
this case, make the connections for PID control.
9. Restore the compressed air supply to the unit (2 bar).
10. Turn on the recording module of the MSRR.
11. Set the CONTROL selector on 3 (Pneumatic Reg.).
12. Set the NOISE selector on PC.
14. Select File-New.
15. Select "Ext Regulator" in the "Select Exercise Type" window and press OK.
press OK.
18. On the control section of the MSRR module set a Set-Point of 50% by working
on the red indicator.
19. In the control section of the MSRR module, set:
• Integrative time = 0.4 min
by means of the knobs equipping this section and by referring to the manual.
on OK.

Chapter 5.
23. Watch the behaviour of the system for a few minutes and wait for stability
24. Introduce a step like disturbance manually and examine the reaction of the
system. To introduce the noise via the PC just enable the continuous disturbance
previously set by means of the "Enable" field in the "Noise panel. Wait for the
new stability conditions to be reached.
25. Eliminate the disturbance and examine the reaction.
26. Introduce the disturbance again and see how the system reacts.
32. Examine the diagram, produced on paper by the recording section of the MSRR,
corresponding to the pneumatic control signal and pneumatic signal relating to
the controlled variable.

Exercises
 Test results
Figure 5.6 – PID control by means of the MSRR with the introduction of a disturbance
(File EXT_2.CRS)

Chapter 5.
Figure 5.7 ‐ Diagram of the control signal and the controlled variable obtained
by means of the MSRR
 Remarks
You can see the satisfactory performance of the pneumatic control obtained by
means of the MSRR module. From the diagram you can see that the desired value is
obtained in a relatively rapid fashion and that it remains stable.
In the diagram shown in figure 5.6, obtained with the CRS, the control signal and the
signal of the controlled variable coincide as, as mentioned before, the CRP module in
MSRR mode sees to the electrical connection between the input signal and the output
signal.

Exercises
In actual practice, this means that it is not possible to see the control signal on the
diagrams produced with the CRS program, as only the controlled variable appears.
The MSRR recording module, instead, makes it possible to obtain (see figure 5.7) a
diagram on paper showing both the pneumatic control signal and the pneumatic signal
corresponding to the controlled variable.
You should also notice that unlike the MiniReg, the MSRR will not transmit the Set-
Point signal to the controller; this value is set via software for purposes of visual
reference in the diagrams plotted out.
 Suggestions
Perform additional tests by setting other parameters, other than those suggested
above, and examine the behaviour of the system.

E01517 CRP User&#39;s Manual

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

E01517 CRP User&#39;s Manual

Uploaded by

Copyright:

Available Formats

Didacta Italia

This manual illustrates the technical characteristics and operating instructions of

Didacta Italia Srl - Strada del Cascinotto, 139/30 - 10156 Torino

Tel. +39 011 273.17.08 273.18.23 - Fax +39 011 273.30.88

http://www.didacta.it - e-mail: info@didacta.it

Copyright  Didacta Italia 2014

Printed in Italy - 11/12/14

Code 01517E1214 — Edition 01 - Revision 02

2. Composition and description................................................. 5

2.1 Process simulator ....................................................................................... 5

3. Installation and preliminary operations .............................. 11

3.1 Installation ................................................................................................ 11

4. Pressure control ..................................................................... 13

4.1 On-Off control ......................................................................................... 13

5.1 Exercise 1 - P control via software - Verification of residual offset .... 19

CRP — User’s Manual v

Furthermore, it is possible to turn on an auxiliary air output channel so as to modify

CRP - User’s Manual 1/40

The main components of the CRP process simulators are:

• Line pressure relief valves

• Main air tank

• Auxiliary tank serving as a buffer

• Pressure transducer applied to the main tank

• I/P converter for the control of the proportional valve.

• Measuring instruments for the pressure to be controlled and the pressure

• Solenoid valve to introduce a disturbance

The control action is achieved in one of the following ways:

• by means of an electronic controller (e.g., the optional MiniReg electronic

• through the pneumatic control module MSRR (optional )

• by means of the CRS (Control Regulation Software) and a Personal Computer.

2/40 Didacta Italia

Moreover, since the system is made up of components as are normally used in

CRP - User’s Manual 3/40

4/40 Didacta Italia

2. Composition and description

2.1 Process simulator

Figure 2.1 shows an overall view of the CRF study unit.

CRP - User’s Manual 5/40

6/40 Didacta Italia

We may distinguish the following elements:

CRP - User’s Manual 7/40

The proportional opening of valve 13 makes it possible to control the pressure

8/40 Didacta Italia

2.2 Control Board

The control board of the CRP performs the following functions:

• it powers all the electrical components of the unit;

• supplies a number of control switches and selectors;

• includes a digital pressure indicator.

29 22 23 24 25

21 28 27 26

In this figure we find:

CRP - User’s Manual 9/40

Figure 2.7 shows the rear view of the control board.

32 36 37 34

We may distinguish the following components:

10/40 Didacta Italia

3. Installation and preliminary operations

1) Make sure that manual valve 15 is closed.

2) Set the pressure regulators 3 and 20 on their minimum position.

6) Gradually increase the pressure by working on regulator 20 which is connected to

8) Set the CONTROL selector and the NOISE selector on 0.

9) Turn on the CRP by means of main switch 21.

CRP - User’s Manual 11/40

1) Turn on the PC and the printer.

E01517 CRP User's Manual

E01517 CRP User's Manual