Professional Documents
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Systems
DISTURBACES
MANIPULATED CONTROLLED
VARIABLES PROCESS VARIABLES
1-Process
2-Measurement
3-Evaluation
4-Control
1. SYSTEM ERROR
The system error is the difference between the value of
the controlled variable set point and the value of the
process variable maintained by the system
e(t) = PV(t) SP(t)
where
V = is the control valve position
Kc = is the adjustable proportional gain of a typical process
controller
m = is a constant, which is the position of the control valve when
the system error (e) is zero.
Proportional control can be illustrated by using the three graphs
in Figure 1-12 and setting the proportional constant to three
different values (i.e., Kc = 1, Kc <1, and Kc >1).
PB=(1/Kc) .100
where
dV/dt = the derivative of the valve position
with respect to time (t)
Ki = an adjustable constant
-Deciding which control action (i.e., PD, PID, etc.) should be used in a control
system will depend on the characteristics of the process being controlled.
-By understanding these concepts you will be better able to select the proper
control action type for effective control.
where
mi = the initial sensor output
measurement
mf = the final sensor output
value
= the sensor time constant
If mi=0
td = t 1 - to .
In this process, the maximum rate of change for the output does not occur
at time zero (to) but at some later time (t1). This is called dead time in
process control:
EXAMPLE
Problem: Determine the dead time for the process shown in Figure 1-9 if the
temperature detector is located 50 meters from the heat exchanger and the
velocity of the process fluid in the discharge pipe is 10 m/s.
Solution: The dead time is given by td = D/v. Since D = 50 m and v = 10 m/s
Deciding which control action (i.e., PD, PID, etc.) should be used in
a control system will depend on the characteristics of the process
being controlled
the system's response curve has an amplitude ratio or decay ratio of one-quarter.
A decay ratio of one-quarter means that the ratio of the overshoot of the first
peak in the process response curve to the overshoot of the second peak
is four to one