Averaging (or equalizing) level control

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Averaging (or equalizing) level control Course PEF3006 Process Control Fall 2017 Averaging (or equalizing) level control By Finn Aakre Haugen (finn.haugen@usn.no) USN. PEF3006 Process Control. Haugen. 2017.

Buffer tank with a level control system 2 Buffer tank with a level control system Aim: Averageing (or equalizing, or attenuating) inflow variations so that the outflow becomes smoother than the inflow. USN. PEF3006 Process Control. Haugen. 2017.

USN. PEF3006 Process Control. Haugen. 2017. How to tune LC? We need a sluggish or soft or compliant LC so that the liquid volume (the level) can take up the inflow variations. Ziegler-Nichols is useless here since it gives fast or stiff control :-( But Skogestad is excellent, using Tc as tuning parameter :-) Kc = 1/(Ki*Tc) Ti = 2*Tc where Ki = -1/A is the integrator gain or normalized process step response. How to select Tc? ... USN. PEF3006 Process Control. Haugen. 2017.

Δhmax <= (Tc/A)*ΔFin 4 ... How to select Tc? As a start, assume P (proportional) level controller. It can be shown, from a mathematical model of the level control system, that Δhmax = (Tc/A)*ΔFin where Δhmax is corresponding maximum allowed level change (in steady state) after max inflow step change, ΔFin. With a PI controller with the same Tc: Δhmax <= (Tc/A)*ΔFin Solving this inequality for Tc gives Tc >= A* Δhmax/ΔFin => Specification of Tc in the PI settings: Tc = A* Δhmax/ΔFin USN. PEF3006 Process Control. Haugen. 2017.

Comparison of responses in level h 5 Comparison of responses in level h due to step change in inflow Fin, with P and with PI controllers: USN. PEF3006 Process Control. Haugen. 2017.

Example Assumptions: A = 2000 m2 ΔFin = 1 m3/s Δhmax = 0.5 m 6 Example Assumptions: A = 2000 m2 ΔFin = 1 m3/s Δhmax = 0.5 m Resulting Tc: Tc = A* Δhmax/ΔFin = 2000*(-0.5)/(-1) = 1000 s PI settings: Kc = 1/(Ki*Tc) = -A/Tc = -2000 m2 / 1000 s = 2.0 (m3/s)/m Ti = 2*Tc = 2*1000 s = 2000 s USN. PEF3006 Process Control. Haugen. 2017.

USN. PEF3006 Process Control. Haugen. 2017. Simulation! USN. PEF3006 Process Control. Haugen. 2017.