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and Other Integrating Processes
James Beall
Emerson Process Management
Agenda
• Background
• Lambda Tuning Method
– Identify the process type as Integrating
– Measure Process Dynamics
– Choose “Speed of Response”, Lambda
– Calculate Tuning
• Case Studies
– Tight Level Control
– “Averaging” Level Control
• Questions
“PID = Proportional, Integral, Derivative”
• P = proportional ‐ output contribution is
“proportional” to error (Set Point – PV)
• I = Integral ‐ output contribution is from the
“integration” of the error
• D = Derivative ‐ output contribution is based on the
rate of change of the error. Actually, often based on
the rate of change of the PV.
Caution!!! – Units for Tuning Constants
• Controllers have different units for their PID tuning
constants. For this presentation:
– Proportional action will be expressed in Gain
Self Regulating Process Integrating Process
Integrating Process ‐ Open Loop Response
• Most levels
• Some temperatures
• Some Pressures (e.g. large pressure drop
across valve)
LIC
Inflow
Outflow
Step 2 ‐ Measure the Process Dynamics
• There is no “final value of the PV” so you can’t
∆%
measure for Process Gain!
∆%
• So, you use the “change in slope of %PV”
• Integrating Process Dynamics are:
% %
– Process Gain, Kp =
∆%
– Dead Time, Td in seconds
Step 2a ‐ Measure the Process Dynamics‐Kp
Controller Output
Δ%OUT = ‐1000BPD*(100%/8550BPD)
= ~12%
Out Scale=0‐8550 BPD
PV Scale=0‐100%
Initial slope = Process Variable
‐1.5%/300 sec =
‐0.005%/sec Final slope =
+4.6%/400 sec =
100 sec. +0.012%/sec.
Kp = (final slope ‐ initial slope)/ Δ%OUT
Kp = 0.012%PV/sec – (‐0.005%PV/sec) = ‐0.0014%PV/sec/%OUT
‐ 12%OUT
Step 2b ‐ Measure the Process Dynamics‐Td
Controller Output
Td = ~40 seconds
Process Variable
Process Model for this Integrating Process is:
• Process Gain = Kp = ‐0.0014%PV/sec/%OUT
• Dead Time = Td = 40 seconds
Step 3 – Choose the Lambda
Step Set Point Change Response
Controller Output
changing outflow PV Back to SP in
smoothly! 6 x Lambda
PV
– Controller Gain, Kc =
| |
– Rate = 0 seconds
• Note, Reset Time is not constant. It varies with
Lambda as does the Controller Gain
Step 4 – Calculate the Tuning Constants
• Using Lambda = 600 seconds (more info later!)
• From example, Kp=‐0.0014/sec., Td=40 sec
• Reset Time, Tr = = 2(600)+40= 1240 sec
• Controller Gain, Kc =
| |
= _____1240 seconds______
0.0014/sec*(600 + 40 sec)2
= 2.2
• Rate = 0 seconds
• Be sure to use the same time units for Kp, & Td
Step 4 – Simulated SP Response
λ = 600 sec
1λ=600 sec
6λ=3600 sec
λ=600 sec., Kc = 2.2, Tr=1240 sec, Rate=0 sec
Step 4 – Simulated Load Response
λ = 600 sec
1λ=600 sec
6λ=3600 sec
λ=600 sec., Kc = 2.2, Tr=1240 sec, Rate=0 sec
Lambda for Integrating Processes
For the previous example of Kp = ‐0.0014%PV/sec/%OUT and Td =
40 seconds:
Lambda Kc Tr
600 sec 2.2 1240 sec
300 sec 4 640 sec
200 sec 5.5 440 sec
120 sec 7.8 280 sec
Note that for a lower Controller Gain, Kc, a “slower” or longer reset
time is calculated. “Tune by feel” often results in too “fast” (short)
reset time which will cause oscillation of an integrating loop.
Choosing Lambda
• For “tight” load regulation, choose a
smaller Lambda – use caution if Lambda <
3*Dead time. Watch out for excessively
high controller gain (though it might be
appropriate)
• For cases you want the PV to absorb
variability and reduce the variability of the
manipulated variable (controller output) –
choose a “slow” Lambda for “averaging”
control
Choosing Lambda
∗
• Required Lambda~ where
∗
– APD = Allowable %PV Deviation from SP
– MLD = Maximum Load Disturbance in units of % of
controller output span
• Can be used for “tight” or “loose” control
Case 1 – “Tight” Level Control
• Need tight level control
• Level was held close to SP LC
but product outflow was
varying dramatically SC
• Non‐uniform distribution
of additive in polymer Polymer
Product
product threating product Additive
quality/sales 100
90
• The level controller had 80
70 PV
Percent
been re‐tuned but it did 60
50
not seem to help 40
30 Output
20
10
0
9:00 AM 11:00 AM 1:00 PM
Case 1 – “Tight” Level Control
• Measure process dynamics
• ADP = 5%
• MLD = 25%
∗
• Lambda = ~
∗
=2*5%PV________________ Kpi=0.00029 %PV/Sec/%Out
0.00029%PV/sec%out * 25%
= ~1400 seconds Dead Time=30 seconds
Case 1 – “Tight” Level Control
Calculate Tuning for Lambda = 1400 seconds
• Reset Time, Tr = = 2(1400)+30= 2830 seconds
• Controller Gain, Kc =
= _____2830 seconds______
0.00029/sec*(1400 + 30 sec)2
= 4.8
• Rate = 0 seconds
Case 1 – “Tight” Level Control
Test with simulation, ADP=5%, MLD=25%
Case 1 – “Tight” Level Control
Results on actual project
Attenuate Variability with
Control/Equipment
• “Capacity” in the process can be used to
attenuate or absorb variability
• Primary source of process capacity is level
control
• To utilize level control as a capacity tune the
controller only “fast” enough to hold the PV
within the allowable PV deviation (APD) for a
maximum load disturbance (MLD)
• Called “Averaging” or “Surge” control
Case 2 – “Averaging” Level Control
• Need to impact of inflow fluctuations
• Need to keep level within 30% of SP if 2 of 4
reactors shutdown (1 reactor = 20% load)
Case 2 – “Averaging” Level Control
• Measure process dynamics
• ADP = 30%
• MLD = 40%
∗
• Lambda = ~
∗
=2*30%PV______________
0.000216%PV/sec%out * 40%
= ~6900 seconds
Case 2 – “Averaging” Level Control
Calculate Tuning for Lambda = 6900 seconds
• Reset Time, Tr = = 2(6900)+30= 13,830 seconds
• Controller Gain, Kc =
= _____13,830 seconds______
0.000216/sec*(6900 + 30 sec)2
= 1.33
• Rate = 0 seconds
Case 2 – “Averaging” Level Control
Test with simulation, ADP=30%, MLD=40%
Case 2 – “Tight” Level Control
Attenuation of Lambda vs. Ziegler‐Nichols Tuning
More Complex Integrators
• There are more “complex” integrator
responses that can be handled with Lambda
Tuning Methods (all include dead time)
• Integrator + lag
• Integrator + lead
• Integrator non‐minimum
phase
Questions?
James.Beall@Emerson.com
903‐235‐7935