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I. Introduction
Structure of control system
Control software
actuating actuating
drives units
actuator
controller Process
or plant
transducers sensors
transmitter
Standard signals
operator desk
Variables
Material flow
Visualization software
SCADA (Supervisory control and data acquisition)
Mathematical software, like Matlab, are used preparation the model of the process.
Variables and signals
action signals
or manipulated variables
control signals
actuator
transducer
measured signals or
detecting signals
operator desk a part of these
feedback signals
disturbance variables
Dimensionless technique
controlled manipulated
variable variable
feedback action
signal signal
max
max
20 mA 20 mA
30 V
24 V Logical 1, or high 20 mA
max
7V
4 mA
Logical 0, or low
0V
Open-loop
open loop control: It needs to measure the outflow and the difference pressure know the relation
between the valve position and the actual value of the tank level at an average value of outflow.
feedforward control: It needs to know the relation between the valve position and the actual value of
tank level at different value of outflow, and needs to measure the outflow.
Closed-loop
on/off feedback control: It needs to measure the tank level. If it is higher than the reference value
the valve is closed and when the tank level is lower than the reference value the valve is opened.
modulating feedback control: It needs to measure the level of the tank. The difference between the
reference and feedback signals determine a continuously action signal for the actuating drive
of valve.
Problems of control strategies
inflow
valve In steady-state the inflow equals the outflow. The
steady-state error means: The actual value of the
pump level and the required level (shown by reference
difference
of pressure signal) isn’t equal in steady-state.
outflow
tank level
open loop control: The error in the actual value of the tank level is caused by the difference of the
model of process and the real process.
feedforward control: It needs more measuring to know the relation between the valve position and
the actual value of tank level at different value of outflow, and of course it needs a flow transmitter
and an more expensive controller for complicated task.
on/off feedback control: It has a violent fluctuation of tank level caused by valve on/off. Any delay
in the plant response, which is common in more complex plant, means that the level will continue to
rise even after the upper limit is reached. With very sensitive switch and negligible delay the valve
very frequently fully open and closed.
modulating feedback control: There is the stability problem. Other problem at the stable control
loop is, the performance of the time response isn’t adequate for requirements of the technology.
Block model (Classical method)
Modern method is the state-variables description
We assume the variables are within a range and
the output remain in this range in steady-state.
w(t) y(t) Y
y(t)
WP2
WP1
The steady-state characteristic. When
the transient’s signals have died a new
t
working point WP2 is defined in the
steady-state characteristic.
W
The dynamic behaviour is describe w(t)
by differential equation.
Using the Laplace transform method
the transfer function replace the
differential equation. t
Performance of a block
Frequency transfer function: Y
y ( j )
G ( j )
x ( j ) y(t)
WP2
x(t ) y (t )
WP1
t
x( j ) y( j )
W
x(t)
F 1
x( j ) x( j )e jt d ( j ) x(t )
x( j ) y( j ) j
dt dt
x(t) y(t)
x(j) y(j)
d 2 y (t ) dy(t ) dx(t )
k2 2
k1 k0 y (t ) c1 c0 x(t )
dt dt dt
y( s) c1s c0
k2 s 2 y ( s ) k1sy ( s ) k0 y ( s ) c1sx ( s ) c0 x( s ) G ( s)
x( s ) k2 s k1s k0
2
Summary questions
• Sketch the main structure of process control. What are the points of view to
choose control strategies?
• Classify and characterise the control strategies.
• Interpret the block diagram representation technique. What is the steady-state
and the dynamic performance of a block. What is the advantages of the
dimensionless technique?
• Define the correlation between frequency and time domain. How we can use
the Laplace’s transform method?
• Sketch the detailed block diagram of a single loop, compensator in cascade,
closed loop system, and define the blocks, signals, and variables.
• Highlight the role of the transmitter in a control system. What are the linearity,
sensitivity, repeatability, and accuracy of a transmitter?