Objectives

Finish DOAS
Control
Terminology
Types of controllers
Differences

Controls in the real world

Problems
Response time vs. stability

www.doas.psu.edu
DOAS with multi-split systems

Fresh air?

DOAS fresh air configurations

DOAS fresh air configurations

Issues Related to DOAS

Split of sensible and latent load
Selection of hydronic system
Winter vs. summer operation
Winter operation with DX systems (heat pump)

Sequence of operation for the

control system design
OA

CC

Adiabatic
humidifier

HC

SA

mixing

RA
Define the sequence of operation for:
WINTER operation and:
- case when humidity is not controlled
- case when humidity is precisely controlled
Solution on the whiteboard

Economizer
% fresh air

Fresh air volume flow rate control

enthalpy

damper

Fresh
(outdoor)
air

TOA (hOA)

mixing

Recirc.
air

T & RH sensors

100%

Minimum for
ventilation

Economizer cooling regime

Example of SEQUENCE OF OERATIONS:
If TOA < Tset-point open the fresh air damper the maximum position
Then, if Tindoor air < Tset-point start closing the cooling coil valve
If cooling coil valve is closed and T indoor air < Tset-point start closing the
damper
till you get T indoor air = T set-point
Other variations are possible

Basic purpose of HVAC control

Daily, weekly, and seasonal swings make HVAC control
challenging
Highly unsteady-state environment
Provide balance of reasonable comfort at minimum cost and
energy
Two distinct actions:
1) Switching/Enabling: Manage availability of
plant according to schedule using timers.
2) Regulation: Match plant capacity to demand

Terminology
Sensor
Measures quantity of
interest

Controller
Interprets sensor data

Controlled device
Changes based on
controller output

Figure 2-13

outdoor

Direct

Indirect

Closed Loop or Feedback

Open Loop or Feedforward

 Set Point
Desired sensor value

Control Point
Current sensor value

Error or Offset
Difference between control point and set point

Two-Position Control Systems

Used in small, relatively simple systems
Controlled device is on or off
It is a switch, not a valve

Good for devices that change slowly

 Anticipator can be used to shorten response time

Control differential is also called deadband

Residential system - thermostat

~50 years old

DDC thermostat
- Daily and weekly
programming

Modulating Control Systems

Example: Heat exchanger control
Modulating (Analog) control

Cooling coil
air

water

(set point temperature)

Modulating Control Systems

Used in larger systems
Output can be anywhere in operating range
Three main types
Proportional
PI
PID

Electric (pneumatic) motor

Position (x)
fluid

Volume flow rate

Vfluid = f(x) - linear or exponential function

The PIDconstants
control algorithm
time

e(t) difference between

set point and
measured value
Position (x)

Proportional

Integral

Differential

For our example of heating coil:

x K (Tset point

d (Tset point Tmeasured )

K
Tmeasured ) (Tset point Tmeasured )d K Td
Ti
d

Proportional
(how much)
Position of the valve

Integral
(for how long)

Differential
(how fast)

Proportional Controllers
x A K (Tset point Tmeasured )
x is controller output
A is controller output with no error
(often A=0)
Kis proportional gain constant
e = Tset point Tmeasured is error (offset)

Unstable system

Stable system

Issues with P Controllers

Always have an offset
But, require less tuning than other
controllers
Very appropriate for things that change
slowly
i.e. building internal temperature

Proportional + Integral (PI)

x A K (Tset point

K
Tmeasured ) (Tset point Tmeasured )d
Ti

K/Ti is integral gain

If controller is tuned
properly, offset is
reduced to zero

Figure 2-18a

Issues with PI Controllers

Scheduling issues
Require more tuning than for P
But, no offset

Proportional + Integral +
Derivative (PID)
Improvement over PI because of faster response
and less deviation from offset
Increases rate of error correction as errors get larger

But
HVAC controlled devices are too slow responding
Requires setting three different gains

Ref: Kreider and Rabl.Figure 12.5

The control in HVAC system only PI

x K (Tset point Tmeasured )

K
(Tset point Tmeasured )d

Ti

Proportional

Integral

value
Set point

Set point

Proportional
affect the slope

Integral
affect the shape after
the first bump

The Real World

50% of US buildings have control problems
90% tuning and optimization
10% faults

25% energy savings from correcting control

problems
Commissioning is critically important