Flow control

INTRODUCTION. 2
The Prince : ........................................................................................... 3
II PRINCE SCHEME OF A CONTROL LOOP................... 4
III CONSTITUENT ELEMENTS OF A CONTROL LOOP........... 5
IV Choice of the regulator's direction of action: ............................................ 7

In the Role of actions in the closed loop .... 9

1 Role of proportional action (P).............................................................. 9
2 Role of Integral Action.............................................................................. 9
3 Role of the derived action................................................................................ 9

VI Methods of adjusting actions. 10

1 Method by successive approachess .......................................................... 10
Method requiring the identification of the process............................... 10
3 Ziegler and Nichols Method ................................................................... 10
VII Adjustment by successive approachess .............................................. 10
1 Proportional action adjustment........................................................... 11
2 Adjustment of the derived action........................................................................ 11
3 Adjustment of the integral action............................................................... 11

VIII Example of closed-loop flow regulation ..................... 12

Expected qualities of closed-loop regulatione .................... 14
I Stability. 14
Resolution method ................................................................................. 14
II Precision. 15
III Speed. 15
Conclusion. 16
References. 17
Bibliography ............................................................................................... 17
II Bibliography ............................................................................................. 17

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INTRODUCTION
The servitude of a physical quantity y(t) produced by a process
technological (t represents time) consists of trying to obtain y(t) equal to
ye(t) where ye(t) represents the setpoint that we have established, regardless of the
perturbations that may occur. These quantities may be electrical
(tension, current, power, ...), mechanical (force, speed, position, torque, ...),
thermal (temperature, gradient, ...), hydraulic (pressure, flow rate, level, ...)
optical (illumination, exposure, ...), chemical (concentration, ...). All
Physical grandeur resulting from a technological process can be controlled. It must
to be sensitive to any cause of change and to be able to bring about the
adequate correction, since an error is necessary to trigger a
correction.A particular case consists of defining a constant setpoint law. In this
case the word
serving becomes regulating, and serving becomes a regulation. Regulation is a
particular case of servitude.The quality or performance of a system

servitude is proportional to its ability to minimize this error.

The industry extensively uses control systems: whether to manage
the flow rate of a fluid in a pipe, the temperature of a product, the height
of a tank level...

In this mini project, we will try to elaborate without going too much into the
details, the components of a closed loop, the principle of operation of a
controlled system, the choice and role of actions, the tuning methods of
actions and a notion on stability, speed, accuracy and finally we will see
an example of flow control and simulation on Matlab.

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Chapter I

The Prince of Servitude:

Before being able to control y(t), it is necessary to be able to act on y(t) by modifying a

order magnitude x(t). For example, in the case of the oven, assuming
a gas oven, we can control the temperature by varying the
gas flow in the injectors through a small valve
motorized proportional.

To know a perfect mathematical model describing the

functioning of the process between the input x(t) and the output y(t). This
A mathematical model can be a differential equation, a function of
transfer or a vectorial representation.
It then seems quite simple to determine the control law x(t) allowing
to obtain y(t) = ye(t).
We could then consider controlling y(t) with a direct command.

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II OPEN LOOP CONTROL

Let's assume we know a perfect mathematical model describing the
operation of the process between the input x(t) and the output y(t). This
Mathematical model can be a differential equation, a function of
transfer or a vector-matrix representation.
It then seems quite simple to determine the control law x(t) allowing
to obtain y(t) = ye(t).
We could then consider controlling y(t) by direct command.
Besides the fact that the starting hypothesis is utopian (one cannot have a model
perfect mathematics), but above all this direct order could not
giver
satisfaction because y(t) depends not only on x(t) but is also sensitive to
other quantities that vary unpredictably and are called
perturbations.

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This is an open loop command that does not allow for adjustment.
precisely the output level and correct the effect of disturbances.

III CLOSED LOOP CONTROL

The general structure of a control system can be reduced to the diagram
functional below:

The chain consists of:

The sensor allows the conversion of the physical quantity y(t) into a voltage
of measurement
vs(t). It is imperative that the sensor be reliable, precise, fast, and insensitive to
the environment (no disturbance). A quality sensor is expensive, but we
cannot achieve good control with a bad sensor! One can
just assume that the sensor can be represented by a gain of
conversion :

vs(t) = .y(t)

The comparator must have the same qualities as the sensor, but it is
easier.
The command will be generated directly in electrical form by a generator.
of
function. But what does the voltage ve(t) represent?
It is very simple but very important: the voltage ve(t) is the voltage that would be
given in
output from the same sensor (rigorously the same as the one that was arranged
in the

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loop) subject to the physical command ye(t). So: ve(t) = .ye(t).

Conversely, a given voltage ve(t) represents a physical setpoint.
ye(t) = ve(t) / .
The comparator must have the same qualities as the sensor, but it is more
easy.
The command will be generated directly in electrical form by a generator.
of
function. But what does the voltage ve(t) represent?
It is very simple but very important: the voltage ve(t) is the voltage that would be
given in
output from the same sensor (strictly the same as the one that has been placed)
in the
loop) subject to the physical command ye(t). So: ve(t) = .ye(t).
Conversely, a given voltage ve(t) represents a physical setpoint ye(t)
= ve(t) / .
Example: consider a speed control system of a train using a sensor of
speed of
gain = 0.1 V/(m/s). If we want to display a constant set speed of
30 m/s it
just set the voltage ve to 3 V.
The comparator provides a voltage called error signal: (t) = ve(t) - vs(t).
The
The corrector transforms this error signal into a control voltage v(t)
(that we
also called corrected error depending on whether we look upstream or downstream.
The power amplifier and the actuator simply allow for
to convert the
control voltage v(t) into an adapted physical control x(t)
process. This
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the amplifier-actuator assembly can also be subjected to some
perturbations without affecting the performance of the control system.

Example of closed-loop control command

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To adjust the level, one must act on the adjustment organ (the valve) accordingly.
the gap between the desired value and the actual value.

IV Problem caused by the loop:

We saw that the regulator should provide a voltage at its output
order

adequate by having a negligible error voltage at the input.

One might think that a voltage amplifier with a very high gain
would settle

the case. It is not so. Because if you put too much gain in the loop, it
becomes

unstable, and rather than having achieved a control system, we obtain a

oscillator: y(t)

increases then decreases periodically when the setpoint is constant!

Otherwise

it's worse than in open loop!

On the other hand, there is a system that allows to generate any.

tension

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constant output while having a zero voltage at the input: it is the integrator. In
effect

The integral of zero is a constant.

Unfortunately, the integrator significantly decreases performance.

dynamics of

loop system. We can achieve dynamic performances

acceptable

thanks to a derivative action that has a proactive effect on disturbances because

she

reacts not to the error signal but to its rate of change.

Thus, a P.I.D. controller (Proportional, Integral, and Derivative actions) provides

in

many applications of often satisfactory results.

Not only must the loop be stable, but it must also be well damped.
way that

each variation of the error signal (setpoint change or disturbance),

she

react without wavering. To do this, we are always obliged to adopt a gain of

loop

rather low, which is detrimental to speed and accuracy. Throughout

loop

if we increase the gain, we improve the velocity and accuracy, but we decrease

the depreciation and consequently y(t) returns to its value with more oscillations
or less

well amortized. Of course, if we exceed a gain value called 'gain'

critique

the loop oscillates continuously, and this loop can no longer be called a

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subjugation.

The performance of a control system will be evaluated by 3 qualities: the

the precision

velocity, and damping.

There is always a dilemma between the pair of qualities precision-velocity and

the

quality damping.

The Role of Actions in the Closed Loop

1 Role of proportional action (P)

The role of proportional action is to accelerate the measurement response.
which has the effect of reducing the gap between the measurement and the setpoint.

Role of the Integral Action

The role of the integral action is to eliminate the gap between the measurement and the

The output signal of the regulator in integrator only is proportional.

to the integral of the measured-setpoint deviation.

Full action is generally associated with proportional action.

3Role of derived action

The role of derivative action is to compensate for the effects of dead time.

of the process. It has a stabilizing effect but an excessive value can

cause instability.
Its role is identical regardless of the nature of the process. The output of
The derivative is proportional to the rate of change of the gap.

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VI Adjustment Methods for Actions

Before starting the adjustments of a control loop, it is necessary to
ensure that the direction of action of the regulator is correct.

1 Method by successive approaches

It involves modifying the regulator's actions and observing the effects.
on the recorded measurement, until obtaining the optimal response.
We set the proportional action, then the derived action and the integral.

Method requiring the identification of the process

If the parameters of the process are known, following a modeling of it
tuning transfer function, and if we have the structure of the
regulator. It is then possible to quickly calculate the parameters of
setting that can be refined following tests, in order to obtain the response
desired. This method requires a high-speed recorder. It
is preferably used in processes with high inertia.

3 Ziegler and Nichols Method

It requires observing the process response and knowledge.
of the regulator structure. It is a method that allows for the calculation of
actions, without the determination of the process parameters.

VII Adjustment by successive approaches

The process is first conducted manually to stabilize the measurement at
control point. Small variations on the valve allow for observation of the
natural reactions of the process, in order to outline the actions to be taken on the
regulator at the beginning of each adjustment.

The actions will be settled in the order P, D, I.

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The performance criteria chosen for regulation are a good response

amortized (exceeding 10 to 15%) with a maximum speed (time
minimum establishment.

1 Proportional action adjustment

Stabilize the measurement at the operating point.
Set the regulator to P only, (Ti = max. or n = 0 and Td = 0).
Display a low gain Gr (Gr < 1).
Set the setpoint to the measurement, switch the regulator to automatic.
Carry out a setpoint step of 5 to 10%.
Observe the recording of the measurement signal evolution.

Adjustment of the derived action

The derivative action is justified only if the measure has a certain delay.
Maintain the value of the previously determined proportional action and
the minimal integral.
Display a weak derivative action (Td equal to a few seconds (tr/3)).
Set the setpoint to the measurement, switch the regulator to automatic.
Perform a set point step of 5 to 10%.

3 Adjustment of the integral action

Keep the values of the proportional and derived actions determined
previously.
Display a weak integral action.
For a first attempt, display Ti = a few minutes
Set the setpoint to the measurement, switch the regulator to automatic.
Set a target step of 5 to 10%.

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VIII Example of closed-loop flow regulation

Any flow regulation system must include a device
restricting the flow of liquid (for example, a diaphragm) to
measure a pressure difference proportional to the flow, and an extractor
of the square root to provide a linear signal. The action of the regulator depends
of the type of control valve used. If the valve is of the pneumatic type to
opening, so the regulator must be a reverse-action regulator, because a
an increase in flow must translate into a decrease in the quantity of liquid
admitted into the tank by the valve. In the case of a pneumatic valve at
closure, the action must, of course, be direct. The figure illustrates this case of
in general.

SP

PIC PT

Purge
Pressure vessel
Food

Air Conditioning

Typical flow regulation system

This type of control loop performs a corrective action after the effects
disturbing magnitudes have caused a discrepancy between the measurement and the
instruction.

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Chapter II

Quality of loop regulation

closed

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Expected qualities of closed-loop regulation

To define the overall objective of closed-loop regulation, the
qualitative criteria of the specifications are translated into criteria
quantitative. The most commonly required qualities in industry are the
stability, precision and speed.

I Stability
The primary role of a regulator is to ensure the stability of the process.
controlled in a closed loop because it directly concerns safety
The installation. The quality cannot be valid if the regulated process is unstable.

The essential quality for a regulated system and therefore required at all costs,

is stability. Indeed, an unstable system is characterized either by

oscillations of increasingly larger amplitude of the observed quantity, namely
by an irreversible negative or positive growth of the observed magnitude.
The essential advantage of a closed-loop control system is to be controlled in
permanence through a regulator set to advance the system towards a goal
very precise.

Resolution method
The closed-loop system is stable if for a critical frequency
wcon a C(j wc)H(jwc) <1

The closed-loop system is unstable if for a critical frequency

wcon a C(j wc)H(jwc>=1

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A unit feedback system with transfer function F(p) in loop

A closed loop is stable if its characteristic equation 1 + C(p)H(p) = 0 has only
zeros with negative real part.

II Precision
The precision of a system is defined based on the error between the magnitude.
of the input and the output magnitude. We will distinguish the static accuracy
which is characterized by the limit of the error at the end of an infinite time for a
input data, that is to say the permanent regime, and the dynamic precision that
takes into account the characteristics of the process evolution in steady state
transitory. It should be noted that this precision is theoretical and does not take into account either

the uncertainties of the magnitudes at stake, nor the precision of the instruments
used in the control loop. Static accuracy is one of the
most commonly used performance criteria for a control loop.

III Speed
The speed of a system is assessed by the time it takes for the measurement to enter.

in a range of ±5% of its final variation (between 95% and 105%). This time
is called the 5% response time. The regulated system is all the more
faster than the 5% response time is short.

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Conclusion
In this mini project, we attempted to study the flow regulation in
closed loop but unfortunately due to lack of documentation on the
Subject, we were only able to provide general information about loop regulation.
closed, which was invented to mitigate the failures of the open loop,
by bringing the output to the target. To improve the quality of the system.

The specifications of a regulation includes several objectives which are

sometimes contradictory, such as accuracy and speed. Indeed
it is difficult, if not impossible, to achieve very good accuracy and a very
great speed at the same time. An optimal adjustment of a regulation will be
always, the result of a search for the best balance between precision and
speed.

We can say that this research project has allowed us to better

understand closed-loop regulation that has very good qualities
interesting but attention must be paid to the phenomena that
provokes instability.

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References
I Bibliography
Analysis and regulation of industrial processes
P. Borne and Others
Edition 2
II Bibliography
Analog Regulation

R RHODE

Address:www.educnet.education.fr

08/04/2011

Automatic Control and Regulation

Patrick Prouvost

Address: www.ebook-land.net

10/11/2008

Control Loop
Address:www.generation5.fr

03/05/2011

Fundamental Instrumentation: Measuring Device and

PID Regulation
Address:www.canteach.candu.org/library/20070400.pdf

04/05/2011

Regulation

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Address:www.intersection.schneider-electric.fr

08/04/2011

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