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Pressure
Flow
Level
Process Temperature
pH
dP cell
I/P
Capacitance
Sensor Radar, Sonic
Magnetic
Resistance
IR/Laser
4-20 mA
Transmitter 1-5 Vdc
PID
Controller Fuzzy logic
4-20 mA
Transducer 3-15 psig
Linear
Control valve Equal percentage
Pressure
Flow
SP
Level
Process Temperature
pH
dP cell
Capacitance CONTROLLER
Sensor Radar, Sonic
Magnetic
Resistance
IR/Laser
4-20 mA
Transmitter 1-5 Vdc TRANSMITTER
CONTROL
Field/profibus VALVE
PID
Controller Fuzzy logic
PROCESS
4-20 mA
Transducer 3-15 psig
Linear
*SP = set point PV
Control valve Equal percentage
Simulation mode
CONTROLLER
PROCESS
CONTROL
VALVE
SP PV
TRANSMITTER
x t y t
Chapter 4
system
X s Y s
where:
Y s L y t
X s L x t
Transfer Functions for a Process
Example: Stirred Tank Heating
System
Chapter 4
0 wC Ti T Q (2)
wC Ti Ti T T Q Q
dT
V C (3)
dt
But,
dT
V C wC Ti T Q (4)
dt
T T T , Ti Ti Ti , Q Q Q
Take L of (4):
V C sT s T 0 wC Ti s T s Q s (5)
K 1
T s
Q s Ti s (6)
s 1 s 1
Chapter 4
where
1 V
K and
wC w
T (s)=G1(s)Q(s) G2(s)Ti(s)
K 1
T s
Q s Ti s (6)
s 1 s 1
T (s)=G1(s)Q(s) G2(s)Ti(s)
K 1
T s Q s Ti s (6)
s 1 s 1
K (gain) – it describes how far the output will travel
with the change of the input.
*If a process has a large K, then a small change in the
input will cause the output to move a large amount. If a
process has a small K, the same input change will move
the output a small amount
K
Y (s ) 2 2 X (s )
s 2s 1
• First-order-plus-dead-time (FOPDT)
Kest0
Y (s ) X (s )
s 1
Response with time delay
X(t)
Y(t)
t=0 t=t0
PV(s) C(s)
H(s)
Process variable Transmitter output
C (s ) KT
H (s )
PV (s ) T s 1
KT = transmitter gain
T = transmitter time constant
Transfer Functions for a Controller
Proportional Control
For proportional control, the controller output is proportional to
the error signal,
p t p Kc e t (8-2)
where:
p t controller output
p bias (steady-state) value
Kc controller gain (usually dimensionless)
p is controller output when the error is zero
Transfer function
Integral Control
For integral control action, the controller output depends on the
integral of the error signal over time,
1
p t p 0 e t *dt *
t
(8-7)
τI
where τ I , an adjustable parameter referred to as the integral time
or reset time, has units of time.
•Integral control action is normally used in conjunction with
proportional control as the proportional-integral (PI) controller :
1
p t p Kc e t 0 e t * dt *
t
(8-8)
τI
20
•The corresponding transfer function for the PI controller in is
given by
Transfer function
1 t de t
p t p Kc e t e t * dt * τ D (8-13)
τ I
0 dt
The corresponding transfer function is:
Transfer function
Transfer function for Valve