i —_—_ «6 cms Canto Peis and ACP ice home envionment. Networking he now mh as oth ran a FER WHE eg 1.9. CONCEPT, DEFINITION, AND TYPES OF PROCESS repos ntl erm prs sein ¥ey BEA ENE Bday oar nce Same cxaples of pial POSES Te EE Been pantcng pcr wasn and dstituton stems, chemical and pe ‘aoa! a, tau ty, afc and ansoration sem py, ‘eran palyeoesing indy, oo td fermentation nds, environment ‘cm ming nsunentatin ndnbaatory equipment production, ‘Some fnton of th fem proces te sere of actos pera cndcing to a od. Asem sve of operations proton +A cman of apron - mana anc. The Meramebtery ithnay defines proces oe amature, popes stl contmang poration of delet marked a seri of gradual changes tha econ another in a lat i wand ead wanda pare ‘altro or anal on vohatailsproresive operation ha comtsef sees ef comme acon or nenemens sutematicaly ected toward @ real oem. ‘The ets of proses re usually measured by process variables. The ‘io of proses arabes is achive by conte (hardware eemest et ‘sofware pogas) nfin contol mets ike eto ales “Te proces ae ise inthe paditon environment and ar afte by time-spusasects. These aspects determine the character of the process. The five in res characteristics a speed (ho, fst) spacing pe i tributed, contin (comiouos, dsr, periods (eyele, yeti) and skacrmnac (ceminsi, sts) Tine spoceaspet ls infurse he ‘smplexy fx paul pros Process can farther be classified as Simpl! compe, saline tra if ad conimuounbtch ‘14 BENEFITS, DIFFICULTIES, AND REQUIREMENTS OF PROCESS CONTROL IMPLEMENTATION. Process contel implementation provided benef ik: beer regulation of el ‘esting beter ualty contol, te atilzation of euros ike ery 28 mil Neer peg cen, nl pon nope ros — "of process operations and operator actions, lower costs Of ion dee poltn nde athena enon Oona ‘Sensured as the equipments can be ee ‘se tematic eee ‘There ar ceri diets encountered in my cam ‘ol arising da tothe following. plementation of process factor ane nd sostsionry nti of proces Pry engin Not ane ame prance ein vs a ange ae pat Tn cases te pce aot ply ele TEE Me ego epnd mi, ona eet ws) Shrine aly of aca mesncement of coal vrei many coc Le Comune ay etocomcickakthabreiacd Tie dtp Tie ys sore ith pct nce b- Sine we acy ona Mutiveriable interactions Since wuliple variables arbeing contol and ma pum simitanecely.terstions month vanables ar uneoidble mak Inet tsk of contra challenging one Sensitivity t nolae and disturbances Processes ae continuously subjected to vars ype of Known and unknown Ustrbanen and oes which make the wk of process cota hallnging ar are cerain requirements which 2 procs has 10 ene ding i operation, ike: qulty and quanity ofthe produ, serene mpl nsf of personnel and eaten Safty Safty of personnel and equipment is of foremost concem. Operating ‘empties, premres, flow rie concetaton of chemicals, shoal wt ‘walowedocxcced allowable iis Production specication A plant sould proce the dsr quantity with ca compromising with he desired quality. Environmental regulation In no eat, the plant ffuents in the form of solid gs) sould exoud the ints ected by flea nd tt oe Even shoud not aus it, water, o polation, Operational consranis The constrains in ers of operating tenpertre, Dresur,lvel, and ow rates rust be adhered to contr that the product ‘pecans andthe safety requirement re ot overlooks. Economies Plan must operate at an optimum level Le, miu operating ‘and maximum prof shouldbe esnomial ution sei ma rower, energy. and capil 1.8. CLASSIFICATION OF PROCESS VARIABLES All the proces varibls canbe broadly cased as ip varias an out Dariales. let vacabies convey the effet of rrroendings onthe POSS. while output varies convey the els of procest onthe srounings. Fur ‘Bet. inpat variables maybe classified at diarhance 7 manipulated varios. hile ouput variables may be classified as meatal or unmeasured variable ‘variables are the ones to be controlled. The parte variable fo bean (6 Process Catia Peeipen and Appcatons i ‘ 1 rola sore the eum tld wri, The desire onlion ofthe controled ‘arb calle the efeenee 1 vet point I cane ‘ 4 reusable owtpits, 39 Fig. 34 Coco stp with the messed ot put varuble Manipulate vtiahls are the ones which ate chosen to alec the ‘hange im conte variable. The acc of manipulated variable depends on how alects the controled varisle sn terme of sped an mngnitde, Dau hunces can be menurable or immeasirable Distrbances ae also Known a load: they enld wre becuse of ambient cages changes i quality ann ‘qunnty of tpt arabes Fyute 1.1 lst the cliiction of proce variable, ‘Let ws ake an example of eomtiawsy stir tank healer (CST), the sehe- ‘mate representation of which 6 sum Fig. 1.2. tthe lean flow ae; F ard T ate the low rate ad temperature of Teed respectively. F and 7 are the flow rat and temperatre of the let team of ST, Hecaune a the coms string temperature atthe elt T, 4. ated tobe same as the temperature , Inside the tak, Lagu evel ‘dened yh Os the amu ‘of eat ae the CSTE, 7 Inpat variables ae FT, Fe 4 sed T, Outpt varables ave F 4 i au TF, may be selected a = nips variable, in which : cave FT. Tate the dist. tes fe to maintain 1 araaricsleeepersae, hen T became the comida ie Fet2 “reersnrey tra wen ate i 14 OPEN-LOOP VB. CLOSED-LOOP SYSTEMS. nw ery tat verse cote sytem cin ether he w dined sytem ow ‘enor eye In enemy system (FEV tal he cook wo ‘md om toewvtenant A haat vat ae W uanly sda the nan ne vies citing hire been eat as elena vais The sane nm tun sem ares tale regan fd bath tm, m6 # nts the ta tee the yen dle the ext fn "0m ng esr: mgement incu Manan Lae 1 sed starve Watt 1 ner Mem eye Introduction to Procana Cort 7 pen og contol yer Fi. 1:1 4b) das ot ive the easement arte variable tet It has die! eedback senmection. cae oF laa yen te vale of en np vail set oven vai th coh he devted val ofthe cat sable The ect ante ested capt valen ew compared wo determine he een if any. that he np sting sald dry, A ipl example a pen ‘eee Wm hee itt rit Focgy ptt ese to accu fot the pradul change on nm temperate trice ne 1 temperature tandice 10 seme the taperatr of the rom ed inpte i temperature wih the ett deed terpeatre) belo ng Saya! Tune change, en bsimes chino sym |p Meret ramane 6130) Opennipapten ined ystems exhibit better performance a they tend Wo be mine ‘eral diurbance, noise, and parameter variations within the sts result ng in improved quality of control of coure, a an ncteased cos and comple "ty Open-loup systems, om the oer hind, ae spe and inexpenie, ta ey aren conret disturbances and plant variatnns 4.7 SERVO V8. REGULATORY CONTROL, Cental sytem exsetaly ensures the out of w nym Wo bave a deed ‘xy by prescribing a int. Boal, the oexive of contol syste 9 of "he tlw + Himinain of disturbances, Hela contro 1 Maki conti vb er he ages ne pr Sern evan of the tp f he set pt 8 zed the feo 4 cveumstances hy adn the vps the sytem Coming the Leroetaarea scam map othe ambien teperatre vain an example "eta uperains Rrelateny cant aytem wll onal have a edas cs on fy Lan eh ey, sansa he pay sen WAS OF deg — se. namreacting Hguid flows hy coats Lt Beppe hema aks | eee cruelty thew ot he Hoang val neg Ten i, the avs vel of the fa et the cose-sectonal ae ocd 4 cued oma, Functionally we ean eae Tan Ta Test Tatt 2 Time asin ste lens sacl usta an ane ect ps th oc fmt sina nae core fe i tidy Js ot a ea task, Some co se eq 4 abner fantom for whac Talo Se mn att net, pamaee = a ee Me Ie FORT ane Mess, evan se 16 Sl mg rc wh ed te) nd Serine Rhea a he HEN kr sytem, ane oO cw SS FOPDT desea by the le Fe-25 ec ta pete day or senna Example27 An FOPDT has atime consat fe, sie ses a iy, and ded ine uf 05 soe. Wee the tan orton expresom when deal is in apeoxiate by (0) Taylor series (i) Pa Firat pprovistion Suton Prosser ation ts) = (6 Using Taylor series approximation Gta) = 05 dest 11-0289 Geo i+ 028) (iy Using Pade's first-order approximation Gls) 24 COMMON SYSTEMS "his eto dseribes the opration of seo th re tans th no ‘era quel in woes ctl Normally, yp nt the wil be at flo, eat rar, mass wane, chem reiton nyse, esa ‘olan combination depending the typeof un operon For example. 2 dilation column al thx ystoms ae preset wen het exchange, ‘oly dad at afr are oe 24.1 Fluid Flow System ‘These are systems involving the Row of ese, Ig nd lacs Hou Pumps pipes, valves. and tanks. A sme ui ak yr este a2 ‘iged ysem composed of hau le unk veel dcr PPP tes antics. aves, ad other fw ecg ences mn be aa 0 using fame ls goveing the Now of as. As shown Fg 26, eri enteng the tank the ate fg) and Be eight othe water ne {ek The wah of tak a he rt fy) en Be Sale sapened. IF the salve always remains ope to the ime exe he te User ic dra outa the same rte. Hut Hf the vale sting vated the "souming thal he waters alight the nk a he sare ae ie Bef heens Pcp oH PEAS yy tir t018 8a og cers eo af ie BN a ets of Ep, ea oni sho ou 09, sa pe ow er es tn hs 0 a i eR hr Now eine deve an Dar a Ye rte sean 47 5 AGE vere 4 ote wf eid (AE) vi Crt of he bao) 4 rf omy) 4, ag tt pat fbn (0) Hite et of btn) K, = Flow coefficient “isn yb compre! oO’ aw for else condctor, he amotns bong suave oft gure rot ofthe head or potential. he fe cnet K, cons abe constant, then the turbulent resistance i od tr ¢_ . Wh=b xt ean dg BK cm timber! at tale eins constant it depends pn theca ow nn leaflets Consent treme olen siesta ptr ae of Nw ae ‘Stvocaly svar fase rao pring ange FOr 7 te pn nse al fesse rege Foran gab nce eso pies i fond 8 sc fosigo tye BL, aL camp" exp" ‘where 1 is dynamic viscosity (Nsim’), vis Kinematic viscosi ameter of pipe mL ‘enim rete aan (ah), Dis nth of ie (mand (hy ~ A) isthe ESE v0 frst compl c's aw because the 0 bi sty erring. Ufone, lines 0 wl" ‘Scns in india practice Tain esisance is ound by: a Mise a) : 4" gD fl apcaceis defined by, P28 Lasetek pm c= ( eo a Press Dynami od Matemateal Moding 34 wer isthe volume othe ed nak Lig eapactance of anki Tcere equa to the eronesccioval area ofthe tank ken at he Huds ee inc tnk has a constant rss-sectonal area. then he guid experiance {constant for any head Struc ye has clement analogous othe ress. inducer. and co ocho om electra cuit Haembie esisace atrium and FRfputnce itera othe Mid, Ryralc capacitor i due wo stage and co Fenton. an eae inetr due wo mas of Hi 242. Heat Transfer System ‘These stems ae designed to transfer et been mms and inca con- ‘tol shell be bet exchanger condensers rors radiators Most ou anf systems aio incude fad hw. Thermal sts involving ea afr fom one substance 1 another a ato eurcenied by resistance and capoctance. In thermal sens wll be Sut tht subsiancs characterize y esizace to Bet Mow hve welpble ‘omg of heat (ax ery thin air im), abd substances characterize by bet ‘Sorcha eligible resistance oat fw ara lok of copper ralmieu “Te low les for heal ansfrcorespond to conduction, comet, and adn ode of het arse For conde how anor ough specific enduco. th et fw ae is given by the Fourier lw, which reduces wo ca 238, oom es where g = Heat Dow eC) [E= Therma eondoctiiy( 4 Arca nga het fw (a?) {AA Length along whieh et ws) *) roe ph te 5 jenn om a> HAG ~T) t stn 11cm oti "i et yawsrk Princes 8 cipcoa teal COME wie tet en crt syslog 0 letra ti ESSEC ye eat wis NY he Stang ek eo 7) y . 2572410" Se p< sitartaonan rst 2972510" oe Fre fing HY Teer yyy seceningion nant taking nt aco Ke ste betwee he “Foe ion sistance | taal . ay KATA a nee Tt he vege frat 284 SHE Rg wos oT To apy he bef emp ed a ‘Soloed fora sal ange of empeati. 243 Mass Transfer System ‘Thess trea options ae characte by transfer of substance tg Geant ena mele cle. For example, when water evapora fy fool the i steam flowing over the water surface, molecule of wag Aepour fla ugh the aa the surface into the main portion ef ea ‘A subtatilumber f operations in a chemical proces are concer ‘langing th compos of ins and mixtures through metas nt ‘ean involving chemical repetions, Us these pettions are deca ‘rnd searing a subtneit is cmpanent parts. I the operat ina hm in conostins of sos, hy ae known as mass ns ions Mass transfer systems ar an img par ofa large number of He Theil ais eso, xt, cyte Mam a stom ks ac wit Sas at ame and i ow se ofa pollstion contol regulations, automobiles inenrpot 3 yi ma exchange devin theese, te won ‘ine near th exist valves nie this vie, catalytic surface i toe hot exhust asa it lows through the rufMer and then ot tie. The cal tls comer ¢| Caney, Te stat opt conven carton mano to exon dni arcs fin istry ty the flowing equation: Process Ojamis and Maratea Madang 39 ‘2.44 Chemical Reaction System sta ame Cea ct gh yn 25 MATHEMATICAL MODELLING CConol ofa process requires ha We iene he Resi he es thu its ouput change with Ue under the ence of change nthe ‘Aisalitrbancesand manipalste arable Quito he prone wan {ont snot ayalabe, oe canst perf experiment 8 deine oe {he cess eat arog apts an tere we cant eg he ape Re Sono sptem. Even dhe proces euipem avaible, the rset ry eos, Thorefire we eed simpe desertion of bow the res ects {i anous np, which mathemati modes can provide us ‘mathematical modelo proces desertion of he chats of unber f phenomena hake place ima paces Its comkeiet pres the {serpin inthe frm of nc of material estos Al oh Be [Ne urmahcmatieal suains or eraps, esis af a Ths ppc of Theoretic analysis has bxome penal for mls an gn oes. ontrol stems st ft he pss f vestgaing sn Fons {er varous input condone witout tngerng wth acl phys es "or rotcal reasons dsr a else lately senps 0p8 mage dsb simpitons te physical iy il nae Tale jis, Forenample, tis ase that ens romans and tn considered be neigh singhy the altos "With computtional costs reduing ental madsing seg cpl 8 “ivese ras ike marketing sft nage, ental elation traning edcation lt shou be ep ie ind ht mato mel 38 roimatio of the press aie Fouling an xt ates mkt fin findings solution i an up nk do to he Ick of es vai ious process parumetrs and also fase ee 0 was of SOR ‘earpctreof he vars pls chemsal peers MEH 26 TYPES AND USES OF MATHEMATICAL MODELLING at ps Depending upon the rurerent alin evil “ vce maybe Toma. toad thea tes Ki of i process contolat tenors ae ctr av) tnaton pinscher eet ao) cn 8) smc RIES. Tg, ey ep dc acted RP akin. Asana et nh my Tee al Tei ea a TON Eg es ae a ors Sm hd he pct « ania = oct rin ace st Te) 8) We or endo cemes sheet em nade Rete ee a ml Ty wed estimate mae cei tid hf tote et er tel aceon ponent eapeersion a SE cement em rai Uses of Mathematical Medling In Process Control atest tn pos so fanless ‘nga puse Se fe eat plato oF Mabe ating ewes eh ‘Tomo kang fhe oes: Pres ml ca et timestep har watt the enp and pect ade fpr pce Togas degen yr cmon: Steals mal sims ane wed dere te to posal ope Tescom ewan wig pas: Ame ie Bes tke mdeb-bsed and xk predictive como ca be evaluat ‘te epee mel “ Tei pong era: Pat perenne Seri rena deal with emersency situations by working seve ui For cumple igh aul ae ed 9 lashed pane pace (OF MATHEMATICAL, MODELLING emmy eee ke ake ming of vi Se Sierras Proce Oyama a Maher Moi 35 ose etn edeling th of ein vanes which wl ia $SET% nating enmnle blo: Devito arable oe nda proces od 1h ome area i critic om epersing pi aly i) SAN Sting ot evinces wn ea, which coin or ‘Sin Lalas vos. ‘274 LUquid Level System without Resistance Element For he gd ee ptm Shown 27, oul ‘nn are A) items ‘oterepsai ered ‘suing doom ‘etd an tk 1 onion erwrsectcnl sesh he ms an aun te ek es Fg 27 Uninet ten itd oan fart ee hee eat ty an hig ny i 2 0, Ue ta 1s a = en) Sine fi conti f= ‘eposin al tbe atoms devon vibe, Fa lae Btn ohh, For F= alt ee: en ia aa inv nf on fo mt en rary ny Larne fo -en 2.72. Unt ect PEC nog 22 re ee ero oe a uel ei 8 ey oem ees np ge cae ced cml ser aa ae Serene eeu iivommatsetr on a ayn x poe (2) tect a sede erro p= fenre| 28) 4 opo= so 7 Avante —— Haye om os Sear anes ay 1 cate $ ree 1oen( M2) secay (2 on sv pi asog ae Sitctig os 255) Wher ira models vali esetion of th sentinear ym oe sot depends the operation of tise sem Ashe onncar Bing {posnated by a ngs atthe opraing pon the devin between he ae ‘Rival the setters nea the operating poi wil be ace el ‘Src smoking Soa 0 hep th vaio aan the epating pt mins ‘mum. enon wks wel 27.3. Liquid Level System with Nonlinear Resistance Element Let deve the exesion fr Ms) and Hare the nonlinear em fr he Tiga eve! stem town in Fig. 24 i wich ene eet a the oo ‘Sonicare square rat elation ‘Aman at te eld of cot deny, andi he ak hs nlm rs setonl se the ras alto rand a es f-L= AB p= at es0 ato Doing otc snes cane expe =i em 1K es Inset sine apni hb tig os em earth pd [Snecma rt bpp op aid ee ‘52'S m3 lean ps ee re an BAe (l), symptoms am Negi highend tems {ee xje-ni] eon eset: athe xudh ex F208 gaitsprncples and APP 40 oe caring a fm Sm aa, Lae acest! »| a yin tes of eit ables, esas 200 ona « Nhe ica fe Rim ihn F te (od) & a | Now ht ih he harccng parameters KT and Fare ot conta ba Peabo pering oi ‘tangle 20 Ostow(.) fom + ark eq 10207 nlow sa Seah ste een ak is anda ofthe tank 2 ma Find (RSM ‘ancl partes be tase fenton, ‘suse na AB gee sine HON 4, Hh hin va hal wig itn var a O65)=6 Ms) none ster Ms) any =o aamb)=h- He wy Mon Bee Te hee + seat = ( ‘dime constant = Proce Ojames se Mara Modsng 38 ,4 Non-intoracting Two-tank System with 274 Noninteracting ‘System with Linear Fie 29 shows a two-ank stem i which outlaw fom nk 1 dinhages ‘ily otk 2 Flow doh he incr estanesF, and, pes ‘Sut mopestively. The change inh inno way. ae charger hy ek Sleds noncecting ptm ‘sso that) he ii if cont density ihe tak as fr rou nection (4) a ()fesstanes ints lane hm thank eal asad 4 egy om ato rein oh eng pion den eo wo tn on te Mw kk Oi” Rav” Reet where j= Ryan 5 = ‘as flan arama nk 3, sgt abv union in vain wits 0)ecco ron sate jermb etek s,Q 8 Rain Hora ws ae. 1). ey Qin een teasing ink sem shown nF ok dinamo re 2 era Perae + dow oy 0)" Toate s re armnineraioe aun Kg mete] on irene ete Aine Kfle""—uine™| ON ewe. gaily sows tbe repome fone ak nd wok p= Ins ob ht thecal ane fenction fr two no-itercig der sso conned seven singly the prog of indivi a F021 Unt ees reenter aac moter ‘Poca Oram Manat Mang 44 nr fps The response comes lg gh atmo se ae com vied nse giving the ec "rani and “nd te 275 Interacting Two-tank System with Linear Fesistance Eloments pee 2depes unk imag 9s. The ow ug 0 depends Umieene betwee anh. bene arsine stn Asem dot hg of om ey he nk a io nmr scone, tl fitter ea tem fle pe ‘Shanta ess in fling egies ems of deviance a0) 4M om here = A As Tors so. onsmencing ce, to ne comnts ely ke ssi wi he (27) esc, {ne incracting tation, for equ ime constants and ory = Ae wanes frncton get aa oss) Fora nit spiny Bg. (285 becomes (ter action fe emia wat a6 Aa = sommes tine) em tery be med tte iting rigs fo snk sh cach having tine constant of, xt a ot e212 otek tineg a 2g tiga 9 fg fF neraon ggg {ng 02 in TS AT piano fis-ordey % f Mie ee oma irene of trating and no, gee eps " vn see 10 5 long 8S ee el ing systems have a slower reg seg re ey ine es ms Peed nmr 5 ‘276 continously Sted Tank Heater (CSTH) rsa continously tired EHNA, Lig ‘he rocoto rer Night atouNeE TW Fe gy Sh sam ol Sangeet a a Q (Osi Ty iS (Fe.212, Comarsondskorepenmotencing ening woiowerame fam ex | Yo Stn Fa Coney sneter ne Ce Process namie and Mtbonatal Moding 43 ated dat tempore Tis withdraw tthe same ont rateastheinet rar. The ak volume emi nd pei beat ofthe guid ae pnd Gy, eee The net ht of voporiatin of steam i Assumptions 1) Cone fhe tank swell mined otha emperstr fhe id inthe tank ad th oul team rein he same 2) The phys propries ps Cand donot vary significa with temperature 3) ‘ile heat given up by he tam though condensation) i received 1 lig conten fhe tan: Lo bet fom the steam is ac aad nthe ois 4) ent loses tothe stmosphre renege ‘Overall Mass Balance hcotans men itn et £1) ate of mass ptt the tok ~ Rate of ms opt fm he ah: ‘Therese gsnerion nor consumption of wat inthis proves Thus ‘he veal ms blane eqns is Sogn oP oF onset tle ts mpl ct dey ‘Ts, the materia une eqstion merely lls that we ane otk shame pecs Thi soul ot ome uri in prt Keng wih “beconmon sense th int low rat egs oat Mow ate, then he me ‘win the sys mast remain unchanged ‘Overall Energy Balance Fer this sytem, note hit even hough he olen is sm fe nea pote enerey and inte ener the rat f accumulation of eer wil favre ony tera of change of eral ney. Tass fo the simple eon hte tank not moto, ths eliminating he nolvemen: of shy Kn ergy terms an sleasnce thre chen inthe poion of ts tank. he ‘a of poi energy wil be 7. Let mow proceed wit the ence Bl. . Rat of accumtion of enry (wiih nk: PGI Rate fest np (fom inet seam) ACT, ate of et inp (ough stu esti: 22 Rate of ouput through ott steam: PPTre ° °° ries Bebe Bea &% tere @= Pith m Modlin Tr of ein va Cray ae cotton (278 BECOMES ¢ Wyte em tenn defo tli wiles in ems of Svat varie fg syne es ea veyr w=O-03 2% Te steacing £4290 fom 9.289, lye Bersales en 1! ea eee “tan Denn Mat “ing Lp asim of 29 es Rearing 292) wen (24 Juena(— ro (J}4(ge om on 217 Choma! Reaction 5 Mok ceil atin en dnpenening te at ‘npr ete valent atm nd eatin He ‘crams cata ie se which meas wasfomation ott SESE ies md prin no a5 non paselns,ndis eee ro oat et Curate we est ee as ate of disappearance ‘of pods We wil se the definition DO! Proves Oram ng Maren Medsing 45 as of easton i 2 Gcion of emperatire and compostion. ad ean Re = ftempeat) fs composton) = Kampen) al bake 295) ore sem of avon af ection. yi ld freon fet, TIS paceman and tempers. Ts epresinn times a onc eacon rae operate Tita camerson hy pen east defied a he aon of the ree soe proc. leo Acted eon) leaf fed or 3 const density spt, oes mt eam. So = MAME ety ae espresso for dimple entons Teor miele fit order ton: “honodite ea em nih dent etme (ays tees Mb he a1 ry meri i fa he rt a. e101) ee “Te eco is he hea a chemi procsing pln, wh ter Svcs ‘armunding fr pyle! este! Oe vrios ter cans, The td facto are wed rng reactor slo nd esp: tattoos tuts nthe nate ad manor of actin once an cea ‘pendence of echelon, ste Beat of action, Reactant 8D inthe form of ses, ls sobs The heat of teas exthro eter icons tna ago remain Ie nes om thse facts speichern 1 Be ti urements Tre me ce eso el eco Bach ease. 8) inc tor, bi Pg Hw eer.aw proces Cox: PRO ja tit acon Wel ied a te ston sine No Tid enters OF leaves he eee aaa sean ete Sd te o=e™ snore en ean eal CSTR oie sted sponse of eons A eae ere in he nt sean se Toman tem ‘ Cn a nrc ne i sind i ete hal ee om uly aoa Aa Sr ci nt an gene me cme Ae ese ae ak er show Pe 21 a gtk ror ro that hg Sd ent CSTR a ds a ee pee im ean ened bla rector T= ma hy en erp of fiw nie recor wih tp Fora tty wn emetoffid overtaking 2 sun ning isin slong op ‘Tuatha toca psig he er eS i oe ‘eal eur etn po ent of in a ‘fons amen omens empentae o beNal marten seg leg coy stance tn ee ‘roel nen ane” ncn 0 ‘Crete ig no ew down ke 278 Continuously Stived Tank Reactor (CSTR) Figae 215 sows a CSTR vey commonly wed typeof reactors in nds Avera nt eta nr econ Ae Cate finde, exothermic reaction in plc sie the reactor. Feed Mow rte F, temperate 7 a8 enration af component 4 (Cx) 64 ‘ing the tak reactor bavi #4 - Product ut as temperate 7: tte Fand concentration of 4 (C,).Conan is wing 01 ‘est tring at flow me Fe erate, and leaving a a.288 CSTR ores takes Tete tata oS!) eating i roots Dyas and Memes! Moding 7 ance oe 08 Lig op Fsta ‘as war am Bone 1 components Baan 2G GE e109 Hs .c,a% =F (108) ade ” Subing = Ahad ing 2102) a nfo C= FY = CaF ~EaP Ee 09 a WHE oF ea )-AO ED) e106 whtce- Cale teweeaT) A nee Balance Serre enan x xterm ho wile hen wo CSTR sy te ‘a cs Len «nah FRE caiKe 2 O18 aim I -PT+tat nar em precatiyens wang -A-F a vo all Rane caH yen ean ee enn Ii = BADR pe, 27.9 Tubular Heat Exchanger Flew 2 16shows he hur eat exchangs, a crane of dna ae em, Inid het xchange oT ws trough be nr ie ad BSE bong sted te steam tat Rows concn around he ws Fearne pee te hqud canes wit tne along tea dreston = fm The vl 7, te eta tae Zt tex . ra nse tmperare dct nt change aang he rai of he pe ncn tat temper doe ot ave rail vaio.Fe Bi8 Tseng sing tance qusio incon ume A: very bance 264 UT POV PG YAMA +O MDG) — C112) secmminon | [ovine] [owe or [oti tat ie | [eee iene |e nla eears Sel acne es amt see i rok As period period poe the time period Ay | Where @ = amount of het nse frm the stam to the guid per wit si and ut eat taser area ‘= rossctonal re of the inner tube ‘= average (assumed constant velocity of the Hiqid = external dame of he ener tbe Dring he ies F211 by an eign ad a 2 spel 09 ta pl - 200 ans) Sananing wih A(T. U he oe et se ‘rfc ar Se yall 164 pea aDa00T, aaa ‘Tha he bine equation gives ws the behasou of emperatue of gud along the length ofthe exchanger I «pial difereia equation because that harass of dtibted puree syste. Here, temperature (depen! ‘arable fiction of two independent ables (2 27.10 Tubular Reactor pu 217 depicts a tbult reactor i which the reaction takes place a the ‘eats flow song the he. Asme tht an exthemic inter reaction ‘shin lace The colar cue ace tke aay the ea. Temperate ee process Omaice nd Mahwmatcal Moceting 40 onpson vay wth epee ies wl along te gh of he na ee ample of red press sme ak ec ae saan concnraon nies.) stheest reson ina) rpm ethic ection) socig nil ese 1" ety = ve inlet veo sare cog ae rent? Taran ol Ma aace 4 page = GORE aus gas) = WO We ee tbat tps) 8 Component Balance r= AC thy e290 ETD) Co (beh tC y= (04 BCA (0 CyB Mle FA B28 Diving sogout by 88 IC, 42a tere( SE}, -0 a6) Seales very Balance “18:96, MwA TH, WAGE, Dh WABI, Da ey Nally r) 8d 8 — (QUADS 8 un 2 Rte of test ema per tie, Diving by UA) wd ating» and 30. ar. a jefe? ene aa eG, er ~ 40 Proce Cont Prcces nd Appts a RECAPITULATION ne saying fs OF FCeeS WED ey coer Mitae tem ate dre ty ODE a which pd ary mony, eS Printed prams sys a bey PDE ia which dope sa setts oon sce an hee abr Bet exchanger ‘Pye me te ote aria omnes Healy sate ale ae inca yt ats poy asm and Supe Dyan pees ae lied seine ne, Sse, eon ‘eto and dead ie Fastandr seme ae decid by toner rt eqn, Saving Shei and ne cms x characenangparaetr Some systems re deol by seiner ential gation, be ine ste sett damping at, and natal eq a hating + Unde econo kp respons 6 st comm, + Deal ine lene ees delays an a apex by Tales sporoxonn «+ Span cml econ indy af oss est fe ‘vem, mee aa sien, a cement. | Thee kind of mech nn ses cn ae hee op 1 Tn lr see examin is wl inci ie cnn ahaa —$—$—$———. exercises Review Questions 1. Die Retweodtbad and anges rms stem wth the eo smeumne 2 Meni th process omen wc Wh he ep phe sem ut te men dcr emily. 3. Gwen empleo ezine nd som. tn he lg whch dens cy wi opens 5 Geral as wt of aon mG pe (6 Whar carry des the cate comer sl in automobiles come ar? plan op ton, 2. Wat ae hares ick mato dein wed i ps cnt 1 Dstccac ang mand fw hah hd pg aw ng N 2 Process ames and Mahara Moding 81 jumerical Problems srmnng aes given fk = 0 help a dy te Tinmebendhcarge pen kf 6 016% 10° ee now suey foe hc find th igh tank i Oman os wy = _—— 2. Vien ice 10 tp fr a cine dicen mec 2 mae ee Tong one Tepe pak eno! dpement = 58 Bing 3 ace oe nk Fa lef me ecm eras te a eon i ce i py. he pp of re en A ad age of ens a cnet Theory of Controllers Si Gd Ma pons dopant eed pee (pda emg no sen hd dh, hea, ere aning ton: 29, Wie xpos or {84 INTRODUCTION Acie dy Ey Teproces coo! ops a oll so inlence he coma system = ; Ter ‘eres sigmatel oft convaled veal equa te a of Pee SPC iy eal he “a of proces coal op. wn Sitar n weyheconolesondstotheenr determines "mode seen yenoaiy” Cone gers cone sgl the fil ov skin depncing upon th devin beeen he toi ad the mes se ee ftom ata The way nih fe one espnds © SEMIN meal enrller made, The coe of parr operating See Sipe dnison ving ooh noice of procs ha eet and ae fr eon, comple. The esr he EE auncconre ves noma nel rand the proces el Ain cool load onthe ye os sing asa promise he Sonate mon ec tine, x ceed change causes hag inh on wold nae The protons th the ables the et Tela fie tec Th ine y te proces 1 rend the ncn eles pcs eg becom gf ine eh ‘Sim neta uno il oo ene, Ded tine eed ‘toon dpsed betwen ororenc a eed beget he dsr ep oncom! alps ng Dedicate rotund npn fom Tey fhe cons operon 82 CLASSIFICATION OF CONTROLLERS ‘Conti canbe simples rly a the sme tin, hey can st coma ‘Radar ancl eter coal aad! predicive cont simaated on Sepete wel cply complex sorts: There one clasifetin tht ‘Guus somes aeeording he chi sure af power ty we eran. mae mechanical dan. At presse sigals wed ae 3-15 i ‘Tate acl igs ae + 20 A 0-10. tsnen spp 28 io54 Feces Corr: nips an Alon , oeeeenes michael se ‘ke. ar used interface with pe as SSS eet nmgiage Pane eee secon cen at i aioe baat a ames ett Gmeaertertntn fl eee ‘control, oo cee eemaeeeee . ‘p ‘TL — sul elif a ems of de ‘aap bts the one ‘pat andthe ‘error inp Depening on he ype of ete the contol signa ean either be conto or dcoins wih futher casi tom under hos dpi ‘args St comer which deerbe the a 32 Contotrtrms 32. CONTROLLER TERMS Fig 3.2 represents the contra pre cn ep. The apt lon artis of col res) an corr op och rll cxpena a prea ely fn ene-b ov or exesed psc of pn: a2 Whee ay tl Pg Fe ai an min mesure values of the Conte arabe {Conor onpat expe a percent of il sae: pe Aan 100 03) og, te main and iia vase of coating puree Spec ‘heny ot Coote 55 ___________ ‘Banple3t The posers ins tsk rie fom20 ps0 10 pi Te peor aiid be hp 0p, What sel cl eo when pres ii theta 30ps? + ‘0. 2 = 7 30 = EA 109 = $2238 100 = 2200 ~ 29% Fe Tac han 61° * top=20 1” a0 ror hows ht the meses elo et i Potive xomple3.2-Aconole ouputs 4-209 signal oceialmterspeed fom io. 40 pn ih inet dependence, Cee {ay the cnet ceponding wo 310 rp (by oe ile of erent a (expressed 2 percentage of onto tps ‘sas (a) SKIS HO 4K Se 20 a 20.K Sp 22) song 2.1 0322 DPS minh ad S208 tion 881mm tam peg of 20m es, 2 a9 6 34 DISCONTINUOUS CONTROLLERS Daconnaocontoles areas sled wiching conto The manip ee incom onal neces onl fev deste ates 0s ‘Seip or mar supp tothe spt canbe changed ony in drat es Freecom bow yrs templated val can sme & Sect made among two psionte-powton amd melsipnie em Hr Cuhpuat so cumin cols. dscontiones coals nee SoA Sane Shing ial contain cement 1th proces tie SASS cacgh pd quality of onl wi soll ror canbe =i ‘Sen nth dessus contro snl sta elements 3441, Onoff Controtor ‘Te twopoino nodes ndoutdly te sine Xind of cn td ‘ced in dems tind ppis Te ra sion on fT dene euch nme eval wo poston one Bag cm Meera Spal of tv a fra me herman of ea ae an ena cn Pe-pstion sme compares ee‘6. Pons Covi: arco ans Atos twit ied DE 8 gia ah psig we COMIC 5 LW the (eer oe it At anaes ee srt eer Ts ety tee EAN i eo cn ce wt Ne OT fos en ey bo en ea ey hd tr paces meanest s Rg, sce eo ao he ite nd Estey of el sees 2 is mln ayo oe Ape ee ee cg othe npc, ee seit ene Se cnr bess eel sal Foi ct st olde exe we a eof se ley te seins nents sg pa Srp ane cena hon epee rene vay sew. Ae rok ele nur i ao SETS ad cnt my Semele “tea poston ots eed wih wl 0 ed 10ers son oo pot. Cn cen ie cy Eoin ys bon i ed eh esc of ‘eres orem ode sureties of COREL Soca ee te mma smb prof el ‘Shrcor afin doin fa pi Cen epee iS moa alton cehecinne conve Soma 3300) Sos pets Pe 34a sete te oo on ‘te ino LAG the sae of a an (teenie out Ths. Tey Canela 57 neff comt esis frm ‘scones wich common ‘lye i he indy. eter be tetra aecrding 1 the ‘rors Lathe ok a he Sng empl of ied evel cone folsom shown in Fig 3A flat ‘Serer ude > Fig 5 Lnsdwcomelopten _ idee back Asclenaes he aes that regula he nein fw te 9 hes the vcs Om inponccamseing pl epee he ovo conic. emis A isd nel nl gem toot cones dnt of STE isola ws col apm Arey senes a torpton Fe econ m nae Tey cs 20 edo SOA ate ann Dusen pene ance nd) pear ane ne ssn exten, m= Kam He Sim £ 0 mA hy Song te bone pins. 000s Bean = 18 “herd cee at mA. wih ai ove “he ores 10m, th a = aosts( 5) oma +178 «2975 Nawal ees 25 m= 25750180 a coal ayer sige wy comings ed SaabS Ts one ss ty ns mom TENG c tose of rom frie hc elo vee apt vont pen yh Waser en. on o ws Cet openop mol ie sem vasa ucr'a Pe aa8 connnoet 4Ie seconde tha hee a ae pest inthe oom whichis ifeem serings sy (8,20, ant 22) and the temperate in he rom is 13°C The ‘eto ssp responses fr dierent stepnpt ae show in Fi 37. Fe ihe Sings of uh ompeatie stray aes a isher epee rom th above Fre oberon kes about 250 mies or the reomiorach ane elim empertre. Alb tahivea final trpeatae (OF 20C. teeter mes run at 20 Sting. Now. fa distances applied ie {the door pened thn teria dap he trp hich show a the Fig 3.8 From the temperate tie po ean be Observed tht he ‘opcaoop colle s ery sensi to distances. “im. me have su ha the Rest ean have ay desi stig. Now les assume etapa reais hat the tracy has oly 6 sings ae ff and on eel) Fig9 shows love op model af ‘oor pert contol wing am tf coal "The aleofthecont ina M5} remaine Sith emer ech 20°C from 18°C wh isthe foom tempore, Here, 20°C the died ‘emperstac:andfthsempertr aces the deed emperate,the coalt Fe 38 Opens remote isndahetarce Teay Conca 50 OM cea} 1 89, Comsop mate itches of This con e cll expline with he lp of Fis. 3.10 and 6) Nth atow the beaour of temperate (cond varie) ad th ool Tia rel Tris centyunersod tht if he temper exces the deed tempers tut thn he cooler switches of anda te temperate fils below the ‘Sper dared, fhe cole sibs on This process contin il he ‘SERS ind the oom ny cle fo 20° (Ihe dese tegerae) “he mfichng atone colle ser fa wich my Joa he salen ement (PCE) inte lg. To prove the fia col clement fom dogs areal nel povided tat the convallis St sien cperte of he or evites rom set post of 2 by = O05, [fhe val of te cota sipale3 and te zone provide i 05. ten the ‘tuner of esas witina gen eden Tus sisi. 3.1 Trane ange of meatal ne frher eense,osciaons decrease 8 sve ie eval bt thot of nrened destin fom thst poi. Fos Sie apr sow in Fig 312~~ 0 Process Carros Prose and Aocesons ‘eer of Conoten 1 7 m 73%, 108), teby increas a ——__ ing the quatty of conrel Meson conotsneow 7 srattorwo positon coals ‘ie more comp aa ‘onl element Figure 3.13 Tan 5) “Tonpertenanencing atone wen cst Isr asa mean ea oy cova wih Hye 805 iy AS Seppemamapannlinwnteenneemsin =a ett ded cht Be gece ncremes, th osilations eres, hey xing te fal Conte elem fom mae bt tring guy fot (ion om Po 342 Muttiposition Controller ee — SUS eases Faen nae ‘ows he coma oupat or ‘ threepostion controle. ‘When the emo sia Benes jana, cups 0% whe ‘vexed, the apt jmp to 100%; and when he er ges Below Ey be ‘apt eps dow 0 OF. “Pre poston conor: as sssune tee ciflest swing sas. secpersre contol system, ee ater could be on (hex) an off sn Tworpstn cabo, ps cooling. In the eld of conto valve teal, thee pin contol ae equ wedi combination with ese ath or The te es my be eumrlchise motion (€opening. eck ‘se moon (eg closing) abd of say wre i, e.a2 Teopeatorcntercnt 343 Time Proportional Contr “Tine poporicasl cont spec ype of con! mode in which capt of “moles omnes, bu he pat fal cool ements dioninou “Though atrial contol meat as eyo postions bu he tine for ‘tic wl gemini thse wo pstons wl vary according to conor ‘out mene ve ase pnt, uty yt 50% ial como element vil oom fr 50% of tne ed of othe et 5% mesure vale more Then set poi, dee the on ine end increase the of ine. Wiha ce of TO see te contr dace 45% fhe ouput toe apie the este. then the output would make the Nester on for 45 see and of fer 55 sc. Fig 31 gives nfralon about he enballr’s ouput wien 25%, 5%, PLL SL g29 29 2 uuu 314 Teno cnet LM, TON,oc ort Preps Actors Segrit wrt payne ale Te te uon nase oe Expense lt iim CA ra gc Pe See ere empanadas eh san Senne pl he eg Mea ana cp pe nt rainy sae OK fmm pre hepa i mt ig ay a iaturteose ‘Como ig sof min. 5 temperate wil fare op by dea we "Wh th temperate reaches 309°, beter Becomes active andthe renprtee ar alg pa he tof Kimi i teaches 80K 309 4-712 6 Baca of cont lg th ie regu wil increne opt 1438 min ‘enperire nuldBcoe 331 ad he lr wel eo. S52 1425) vito pried 621. min Thre a andro f °K and ons Sint ofK stent petal ne esl ne ede pind wl sree. The epee tine rope sh Fig 2 ‘Toro Corman 82 45 CONTINUOUS CONTROLLERS Comino cel mode the loge extemion of lipo ano 1 we feapemnenang he eve mpostion cool meld oinch thresh mde fcr else hewee he cra. lerorpt andthe errs comin ata inion Thee ‘ye ancora esto cold be ay om, a i practi be ie ‘hn near Sa for pct paps, he mathratial cons wed tnt nll modes mde prporionl nerd, nd va comnts of thx he Fypue31S epics cle ap moe th ‘ror soins coool modes Popol pat take come acon ‘carat erin pt takes contol cbse on ctv rors {ate pa aes mol atin bed on the seed ac he ce ‘hang. 1254. Proportional Mode (P Controller) In opin cole, ouput an be eer 0% of 1. alipotioe ‘ner more dvinons feo up te psabl 29% 3%, a, tc) The mmr! extension of lpn contol srt mee ig wich smooth nea esi enissbetmen the col cp nd Theor The yame Rv of Pome aera sp cans i hea ‘shi showm nt ig 3.16 The ampltae of the manips are” 'Sdccmioedby he ero be proportion! acon cei Figs $.inand 7 cay how a aig epee ong ing ae ‘het con sl som eins an cnn rong coral tons4 Proce Cenk: ropes nd Aen Inthe en con stato, i. wi ag, env proportionally cool doer rconslton Some apie Soweter fie contol varbe isto beige 5, Say eelafeaibaminasysem wat ‘epi nord achive hs, P emg, Teste an pie fr sting te ot Tispton provided y adding st 7 thcoffs P10 he P cone. ‘e317 Pepretcnrsagod Then pveing atin of oneal peenees PK Et Pe 04) 1 te ener wi 0 ero (6) ad ie proporional sin bere canal pat exo nd cone capt |" OU Direct and reverse action controller ‘Aste mesure abe nen bya poi «=~ Bsa neg ‘ithe cnt opting (34) oul tn PT ee ‘Tone aoe, when nel val ntsc up aes {iets sh nro ge comodo sat on ee pip, hn he sooo up sold dct, cing he av ar String AO ae). ence he ve gus bod test pn Hence re ‘ingore mee On he rh fe cnr ging tind wate on ene pipe nthe ut shoul reste eee fSesbjnl hese pot ening et ating cole Whee etl er Sie xh at i et ating cml ome des, te ‘opt es and Eoverngepaon eames rary os Proportional bend/proportional gain and offeat ‘Let ny and undestnd the tw pons haratiingpurumetes of pe roa conte, proportion! had and proprinal pin, wth ie be mm of gas ~\ Piva at centre 100% chang in i et pede 100% change at 7 ny 1. Pet ght: 108 shane i ap sce change apt AB for 100% etange in out, pt nO shoul cans : hangs by 200% (P= 2008) Fa. 310 nent cen pevn POL Ue 50% change in ‘ronaears Stes te ou by 10 * eee ‘ea of Creches 65 “The rng of enor hat can ep become cuput een 0 10s calle i proportional and PB) 90) = 006) 08 03) = 80 » “Te igh he propanol gi, th aroner wl bet proporioal band Lower ails we proprio band hes esti), ge “rou o spp the rnge of PB he the propria cml ends 19 fino ke 4 ow conte. At o lad cendton. the ever i 0. When Force ln cs pone proces hen ecole oat changes. wich [in sce ort deve fmf 0 ate A poprional controle # cise ha a permanent steady sate enor wich called the oft. The ‘Maenip betwee popes guano epic in Fi 3.19. ‘ere ain tesa ao Sd aed when he as oe Bet test fhe permanent redler te operating pit of cold ‘rable mien + od change iinficied upn he pres is a a of bane ‘Socuted wth proporona center, Larger garde of dstace will Ince te ft an alr rpeton band wil incest the silo 1 Popa onl ame on-itcalcontol ppcion (he Come of prance sich peso ate Ti eel ane evar) hich can alert sendy te erin te vet of sree Frporonl con acto reid pi espns tough ts mami rope canstl be moved rough atonal cool components The stp apse of « Prone fo ilfeet ale of Ks shown nthe Fig 320. lesbos doping eles and niin te ere when Ky Frseaid Now et wae nak at ig. 321 Fr = 100, syn bcos ly osilitn, and fit isles deel 20. renter ananng at he a° ro rnin a AEC eis the ole ut EMT, eng £370) den Conroy, Se pat °C fxanle 7 Figee £3710), ao a pepe st pel acts PB inch se “Tey a Conas 08 ‘Pla ie enol shown a Fig, 3.2 isan example of seeping Pro pon contol onan = Kyle =n whee andy nl eveland valve postion respetve ‘and yar evel and valve postion aie dsurbancereypesvely. when eve ieee, Roa goes up. Subsequently,» [y= 5 ~ ylt—tl dees 18, valve css, “Vn evel decrees, dees, lost comes down, ene, yeenes andvave ops na Nm reerm cmoremen RAED Coemrovean venive ror) Pi ange = 1992-1912- 48°C Fatlrange= 300-0 = 240°C ro= io0=20% Fee iree,= For sic. e, - O@—1512) “G06 ene. P= 3661-1633) = 20% ‘Sett-operating proportional controler Seren coma ashe eer ata Be en clemet obi forte messrg met ell No aueey ont is edd ie lena sec i feral I eel nacre op ope ‘Earned _Avciroperting rope convoeio pete avalve pnd Incr resre ply m5 = 28 N= Oe and Ky ~ 006 cr’ Ne Frnt he now ponton ale when pressieon charge ide esto 28Ni sate pon Kom) = [05-006 28-25) y= B62 oa, vale has loved ee the pes, Woon valve is plied teow sid, ign changes abd valve wil pen to sedi the presse Example 19 Aselopenting proprio onal as P= 50% 100% change inp = 150° deviation in temperte wo change in opt 1 vale deviation ‘eisobervd that com! veh devi em om lps. smi he eresqeding deviation of contol varie ape ‘harmust have case th change vle poston. (Sem vase deviation = 50% chang in inp :0Pshangsin inp = 00% clang in cup} cm fare deviston 0S emsalve devision comeponing 0 SOS cole opt wold because "25% chang nip and 29% Change np oped 150 = 375°C 35.2 Integral Mode ( Controltr) his mode, the at f cone oe is ropa oh tea ntl caled eset coer AS nga he er poe. the ‘eg acon wilemne tae otc mip varatetochane ned ‘ots be enor et! iat nto te mapa of Ee, {itso finn ofthe duro f ero “The govern equtan of Fontsgain 0 Reset time pune & JE ae+ Be 5, inte eter apt isthe contol cup tne # ih he come opt ant 2 tere wih mre opt HES O89 thy st neerectander apt pong Fermin er peng "ig che hose ate mpl oat nou charts andy 1:80) sous ore ors ost pt wi ‘tm Conor cap ed he matimum permite cont cu 10%. “onal made conlle with rst ee of mins implies ma + Here = 0 ou eda lof oor when it we ey * Ham oa itn rr eee at + Unite oer contotrs, ing contles do ot prodice ofr may be exe in changmin or keno ‘ 2710? see! oth 783200) Reere tetas made ea Fp 0 et cnwotarmipnn cap ct Fire 3.24 depict he espns fpr yal mde of ent an ene cote ape Freprtoal onal mac ox devon, king no isinton ote tire rod overwc theJevation eeap hers eget a> ‘tps concn acon properonal othe length of eh dre per Incpa contol are wed in plas whee the proces aot lee 2 ‘ns deviton and wher the ree bet specie oad changes (ances fine onl = Ne err a tndy ste Ne oft) 1 Slgssh spose at ih Reset tine) ‘+ Arsnal The eon lop edo osc (como op may Deco able ‘range.340_Animepl onmlr ed fr ompersconolin aang (0-250€ with act pot of 10°C AL er cro (f=) econ ape ic 20%, Reset we 0 TSeee pe enor I temperate jmp 0 ISOC, ‘ene econ ouput fe secon. sxe pe = top = 38=1t00 = 128 Baha I~ as9—0 I IR 4, consan, 2 tecouoler op ar S sso wal he P= (1) x1) 3) + 20> 20% ‘xangl341 An ipl conor esd fr vel ol wiht pi | {Revwstin aang of 1010 Sm The solr apr = apt Te onc 0.13% per second pe eee ere ie evel ang 35 ‘Skeute Be coavaller ouput afer ? cm sae no ens pat 10 = BaBS 100 = 86 Roh sto ‘The te of eng of snr oat okay tseer pena cai Pes an BH 2 cept fr usu wil nec pak fede ~KE OR - (0.15) (30%) (2) + 22 = 13% ‘ort Contos 73 ‘comparison among P 1, dD Controtrs ‘ie dep th crparn ofthe hee (Pn Dy nivel modes Table 31 Beni and debs? nd Decal mes ae Bete Dee ‘Aec tno send we be 1153 Derivative Mode (0 Controller) aaa Kno ae odepreicive modeastiptory moe. The sea natei pope te feo Dea Sn tno aan oes See le ocuecinecot in paren cme Str ee ae teoere hartge rae ey een tely a et a ee cenia carvers eoee eas reas cen i ieee “, mk ta 69 phe eae pico nH) der fo of exor in (8/866). ea ncn iy pcs ig dnd tn ‘anc oc ut Oe sre loop ted Dae ar hm i Speer op ee el yon a yt ee = ie hi + ean te sew eri ‘Se car oe + ecg wb ete mde cnt ne meta ey Pa cag oan + Dal hn ny oe Foe. ate en min a 7.825 Papen crate cone mode ad ae evo |= Rapes mnie vane 2 Concent + Spend yi sm egal | Prades oer 2 Canes iy Sova arate [ov id pew con rae |* Sate canes 1354 Composite Control Modes Individual otal mode, nt india pes, prove 1 bene ity comple sna eget Tat why eo nconoefnd ‘empesteconol mde enn ote neds of tial rarest. By Saoiany aru mode mistioesf nndunedes canbe clini Moss ‘Stow conbicdospplaet and complement cht. Tesora and lrmmonl sed combmaton ae PL, PD. and PD. 541. Propertionshintegral (9 Mode “Ths con! mde est fr omit of proprio an ingame ‘Thismode combines the uate fot coal ype (sabi and pe ‘ys stn teers ta ti ddvanages se compel ft “Te goveming equation of Poms PaO = yb, +B Kf nde en When tere enor (E, = he conte ouput PU emai fe ‘Webuvelonn 0 she ie at which he etserason as theme ature the proprio sm contutsacoeion andhe ina teint intenso dere the accralated ae ily. epee 8 the sin ofthe or and wher the ction is ist or reve. ora eonsan eor B= 1, (© 1K) nym Kye 4 BK JER KEK KE IP AE heh Sa jnoneintertonSine, conittion of tool tem opt (= ,) Kab ale hem scat rope cna pr in 7,8 1174 recon Cont! Prec nd Hees ten th sorb of proportions zine rept AF YO mi gy opt pe ote, or pet pr 8 net Tan cpt tn eopnse of PY contd mode 1 869 ETO ip ag, fat mn Theagltemof P¥cotl canes ssoupiocangs as ng 8th omer, snr The tn avenge ots re ha pe Reon (Ciladoue orp em and kes we of regal aco0 oer Fee re sr pee rene oP dea emee wafer, conceal ae a cote 227 Popanerimrsecten i ton) ‘The combiner fr tens in which lage ed change oF “Te proportional mode provides th sbi infin, whe ree ote) ‘mode provid the nessa acto © comin erection ut the one ‘bl is turd wo st por This ode cn be used in stems subjested lrg en requ lod changes. Bees of inet in, the proces mist hve eats hanes no to prevent silos induced Wy inte ‘vest. The sep sponse of Peon odin als Ks show in Fig 328 Fors constr yas A eee, damping dese. 98m norma tre aro an FEO epee wf PY yea th oy of he cml Be tlre kel epetanS muy, Seed ommend pence ant nen ony aft pom © he epee Seema Even te some cuter a the eo of F sute (wegen) Vl Example 112 Fors temperate ‘saton 1 ag, E = ees pe ie ‘r= ont a he om FL mi = KE RAS Ea 292g 29091290 9 236 SV wick compan 8" ont wt lors 10Y. py ove ‘pat 6EC Pome up ate Li) 8 = gooey «assur ico) SV ® te fagsages Aston sebsocn he et meet cae mires 3 ge ave deviation conte = Res rte" Rept ; ro amet sly ites 2F above Be a a ee aoe wl vale devin 2 min. rs — caeerareey 3 ich oat ene Fos RAE) Bk fede agian it Tore Ean A, Ate et ep a ‘ws fm 4 pa 40 a Dee ese 90 pr Coral out ‘ang 10 ue ps pena Sevan, Ret ate oe pet olson pata rb SO Cc ene op cif it, wea pene ek oes Hp sate Paap pr 109) Renin leona tp ue emo cut chang 0 100% gn ps presat s pe ‘ay Canaan 77 ioe 2 nas Wen rie» 80 pa Po gly Kok JE A+R = 2 10% PBK Kt Ay Pe 2same24 5 xanga 245 AP cone ise cst emp na CSTH, The {empertaelaCSTH vars fe 20-20°C Teco a co ele get from faly-open to llyclne ste when the press wes fm 1S peiso3 pa A tempera vriston a 10°C wound the po of 10FC hangs he presare Spal of vale by 12 95 Upon err change by 5°, he fontolvalrepaily sedate mia Cale 0, and Asie tbe ‘ale was SOs openend te temperate wate ita egy, Asan ‘ster “erpenturevrition of 20°C ot of wl ange of 20°C the peng of ‘np roving 10% coer, 0 PD= 22100 10m x100--5% Bg 100 = "a= PB FF = 1% and K,~ 10-1, when enor an conrller ape tothe in Ben Sr 06g opin connie £05 BE S= 3 “os with, he amo ug i SER tei cnt wep este sia conta op say fa 9 ps do pain een ‘tr me oie fem weg aca edn me _resue siglo cop fom 6 pit 3 psi. whch igen 8 "Terre 71min or Kept pr ne Nien rh 8 Sx 294 30 9-K, 6, -K, K [Et 3 39 0b xS ab Kast = 1 ean78 Process Conta Pine ar Aopestons In tems of pects, 3 ps coresgnds to coal oa (a= 50% 1025-10251 8K, > 1 Repestinin 3542 Propertionel-Derivatve (PO) Mode In PD contlers with proportions pls-dxvive contol atin, he mani, Ina saabeea frmthe akon ote Pand Deon leery, ‘The governing equation of PD conle: P= Ky By tk, KE I> Ky Ey ky Ky GE* roy ‘This made cana linn the ole cased by propel contr, bt ita dle frequen oad changes a longa the ft ori cepuble. Fora Feary changing cv te svete otpat wl bed iva effete mnpba of wish wil depend up Kan he ta change oft. To Stik higher sls of ate of chang of errand, wil sla eet up ‘The PD enol in aay ates the coneive ation ht has oe fora pur ate of change of ero ‘igre 329 lst the acon of» PD conulle with he help 2 hyp heal enor cure. Fit respon recuse ofthe derivative action and ee thc onpr vanes proportional Higher he at of eno higher wil be te sep (Change Ts alo shows the fit evar fom the proportional mode (even * | Pope ss) e220 reve te and PO coin ange 316 hn doind chek cage te alain of sol i coal Tet acl oar chang of 0m THE ern ope oe nog a i sep chang of tbvedbya gata cnge a Sciam Dots By and eee sate ‘Senos ideo iin tn wh re pene do ro poral acto, imate (eeaple3 17 Theemorconein Fle. £3.17 lsaptioso PD conte wit Roc iek Osean y= 2%. Draw gph of he reuting consoles pH a ERT) Ervin te ‘sheen ‘Av = 0st insantanoos change of 25% (KK poe by he ero ‘ico doratie stn BBeween 1 se, whe E,~ band = 1 "PAO =Kymt © KK, m+ Py b(yas+ 25020 (0) = 279% ‘Net om 3s, here change ine, Desi oibson woul ‘ro ing hispid (13 5) P= $x 1 +0 20=25% ‘So, the up rps by 2.5% and ay a 25% During 3-4 5066241 Io up drops by 25% (2528 = 22) and then varies ie = Pine 34-9 Sx OSE 1A to rcees ot Pi rs NE ree2sr Pocanatnesparopernivencae ot ERITH yyems-8 a= 178 ‘ter ¢ send he or eames 0 ane conti pat comes a wa ‘The eon up isdn Fig £317) rane 348 Forsniy Kn de Pand PD cooler espe free hw i E18 (0 85 5 a Pee) Err tne ster Pi By 6 tna Ath 10 S96 0 Ve Pocamac P= 6, Se wl Ky an d= 1 PoE NOG SB + Fe Ose << tee) as, ear ot Contotan her sco FAL as ec on oh cone Meu Segtytneanb ons ar wom Es) dca ropes Pad PD de xanplt 318 Eimer curve es ime 16 03 mina emai Sine Petia: Kyte and fr i03 min Py nO Fade conor Capek 2116.05 mm 10 in ben coterie) PD WD sate (Ce) PD cote: yr k ky Ee +r Pea 12 «Pha wo be up jmp 0 Rao=1< 05 min yyn 22062012 = 4+ 4, sang om out ss ey. a)= es at! = 05 min) arr 05 min = [the derive em conan of woul mt ‘eter and he uu rope 2 fo and emis Rl Po KE KK, [Edt Coe oupar when << 08 Pe 2x2ee2 «(09 x fara =are? Cone oapt t= 0.3 mins 225% y= Wa when OS <1 1 Ss aelo teeny fread 2-02 Comme napa 0 = _ Soe opt 8.786 att bein2 Pocus Cr nee etn (P10) Mose “rete pot el Se oor scence & peice OCS) ig See faci ad sb 0! i ae pace wae ef gg aa aay me three rps HONEA eg Se rr tro em I BEES a ite nied npg oso eee se nc mpi aes lA ee ee oe a exon spin at FOE SETS os nes tne sd amie trace Stemmons ef PD some PO™ Ky Ey ty Kee ky K JBM em ‘erp fet cots a si ton a 330 543 By combining lh a Le, L =I" | FAA apostate ge at nl ar tte te es ta meena ch tein a ‘iy Coan 18 ae Cai oF GT eI ole) ern Eom Eocleasn 0) ee snl va ene sn ih as wi seas K-05 cm 80% sxe Se ely cash of se pane oe me qin com ete “, poy ASEM OnE GER pesspeasfeareasticose From 0-1 B90 preweasjeaeasese = resria ests ‘as+= Oot is SO; an at = OF, xp Becomes 52.5% ‘Nib end Tc: =S8 79% aod the ig term as acme forias=si2% eB From % yas asftnaresias os ransu-nnesas (Pac 625% steep fn 58754 1 629% sth cod of ee ~ 61-25% ad he tg eas scum so2s% 5125 +252) rom 35s, we ae: rio {beara Leas rye eas 4781+ 478 ee 8 ep fo 61.238 10 6. 2 Oreproces Cont eps AEE es. and he eg Bas ecu 57% andthe mea ey yt 87% the end of $38 (hn Sars $628 29) Ferre Sa fy =e tcl ost Sethe eu fos is ‘ars 48250" Shae oars peCAATUITIN Tas rama esr og or ‘courier responds 10 mor defines the comer mode, wih «peter terrier tte eect eater tern) » Ermer ht fea eth Smyftcordayw contr oe “et epee ag ermte nee toe eS pe ete ee cee =sc5 a aor enna en Siete eee «Ec oo end ne cn oe ca Pe | ‘perccotnge ero Total comma + Heeb bantevetarcumraerent The coniteler output proporsional to rate of change ef sane epee Saremtinciciema eee ret + By combining various hone care Rorecemm get ata tia a ete dt ae earn TS 5) -9 S180 11 $6254 (49) Bry stats A $87 (54) ———— vrrcises —_ Feviow Questions oe tine optical dems tem on conte? 3 Gags este of sc to prc fet ental? ‘eer of Carsten 88 tapi ping aor ihe ep of x $f, lgue .t PD coto en nnenad endy romance Numereal Problems Si Ae ak us be grate sy 2K pet min, Wes TEAS ane yc enyennre 2K pt tA terpoton gets n cana ng peur ne af 1% set got Sesser cpm tpl ad eerie Fd ee laland ee npr ef be ak er mi 1 tl 2 3.2 Invoke ee! cate pling inf fi by eo eae ie cio cm lion oe a nen Sper ees re Coa ne ‘Beenie todo red Don Case Pa (are ested) ar oI Wit wold ee ew leven oh 1.3 Fre era cave sowa in Fi 333, lt gph of popu mg Season a ei fine y= 58-104 and PO rast Greve Tine 5.4 A pam PY sonal out of 1p tol Won et Fu ipl Os ten lng nt ts eit KT, 135. AP conte ind cool epee ina CSTHL Te een (Cott ues foe 1-210 The oa we ee int eo y= speach avn pes ilo Sh erste ace of 50% td et ont of PC as ‘aE of ae by 12 pk When he ee cae by 8° tt Sh ey che ter nae Cane 7. Ane at ine bu open nd empresa pt io