Chemical Process Dynamics and Control

Feedback Control

Eng. Misael Gonzlez Macias

Regulatory and Servo Control

Regulatory: systems designed to compensate for DISTURBANCES.

Servo: the controlled variable must follow the SET POINT.

Basic Components of Control Systems

Sensors and Transmitters. Controllers. Final Elements Control: Control Valves

Sensors and Transmitters

Range
Consider a pressure sensor/transmitter that has been calibrated to measure a process pressure between the values of 20 psig and 50 psig. Then, the Range is 20-50 psig.

Span
Is the difference between the high and low values of the range. For this case the span is 30 psig.

Zero
The low value of the range. The zero is 20 psig.

Sensors and Transmitters

Process Variable ST(s) PV(s) Transmitter Output

TO(s)

Sensors and Transmitters

Gain of a sensor/transmitter
Consider an electronic pressure transmitter with a range of 0-200 psig with electronical signal output of 4 to 20 mA.

Consider an neumatic temperature transmitter with a range of 100-300 F with neumatic signal output of 3 to 15 psig.

Control Valves
A control valve acts as a variable restriction in a process pipe.

Safety
air-to-open or fail-closed valve. air-to-close or fail-open.

Control Valves

Example
Control valve

Control Valves
The Control Valve Actuator
percent controller output

Transducer

Control Valves
Control Valve Capacity and Sizing Liquid service.

F: liquid flow, GPM. P: pressure drop across the valve, psi. G: specific gravity of liquid at flowing conditions.

Compressible Flow
Gas flow. - Steam flow

Control Valves
Control Valve Capacity and Sizing
Q: gas flow, scfh (scfh = ft3/h at standard conditions of 14.7 psia and 60F) G: gas specific gravity with respect to air, calculated by dividing the molecular weight of the gas by 29, the average molecular weight of air. T: temperature at the valve inlet, R=F + 460. Cf: critical flow factor. The numerical value for this factor ranges between 0.6 and 0.95. (Figure C-44 C. A. Smith and A. B. Corripio, Control Automtico de Procesos, Limusa.) P1: pressure at the valve inlet, psia. W: gas flow, lb/h. TSH: degrees of superheat, F

Control Valves
Control Valve Characteristics

Concept of Feedback Control

d m Process y

Open loop
d Controller Mechanism

ysp

+ -

e
Controller

Final Control Element

m Process

ym

Sensor/ transmitter

Closed loop

Typical Feedback Control Systems

Flow Control

Typical Feedback Control Systems

Pressure Control Liquid-Level Control

Typical Feedback Control Systems

Temperature Control Liquid-Level Control

Representation of Feedback Loops

FT for flow transmiser PC for pressure transmiser LC for liquid-level transmiser TC for temperature transmiser CC for composition transmiser

FC for flow control PC for pressure control LC for liquid-level control TC for temperature control CC for composition control

Representation of Feedback Loops

Example
Control valves on a flash drum

See also Apendix A of A. Smith and A. B. Corripio, Control Automtico de Procesos, Limusa

Types of Feedback Controller

Error

Proportional Integral Controller (PI)

Proportional Controller (P)

Proportional Integral Derivative (PID)

percent controller output (50 %)

Types of Feedback Controller

Proportional Controller (P)

Types of Feedback Controller

Proportional Integral Controller (PI)

Types of Feedback Controller

Proportional Integral Derivative Controller (PID)