| |
| |
| Preface | |
| |
| |
| |
| Introduction | |
| |
| |
| |
| The Process Industries and Regulatory Control | |
| |
| |
| |
| P&I Diagrams | |
| |
| |
| |
| Regulatory Control Example | |
| |
| |
| |
| Control Loop | |
| |
| |
| |
| Example Process | |
| |
| |
| |
| Cascade Control | |
| |
| |
| |
| Summary | |
| |
| |
| Literature Cited | |
| |
| |
| |
| Gain or Sensitivity | |
| |
| |
| |
| Process Design Versus Process Control | |
| |
| |
| |
| What Do We by "Process Gain" | |
| |
| |
| |
| Linear Versus Nonlinear Processes | |
| |
| |
| |
| Operating Lines and Gains from Process Tests | |
| |
| |
| |
| Action | |
| |
| |
| |
| Impact of Process Nonlinearities on Tuning | |
| |
| |
| |
| Scheduled Tuning | |
| |
| |
| |
| Heat Transfer Processes | |
| |
| |
| |
| Vacuum Processes | |
| |
| |
| |
| Summary | |
| |
| |
| Literature Cited | |
| |
| |
| |
| Process Dynamics | |
| |
| |
| |
| First-Order Lag and Time Constant | |
| |
| |
| |
| Integrating Process | |
| |
| |
| |
| Self Regulated Versus Non-Self-Regulated Processes | |
| |
| |
| |
| Dead Time | |
| |
| |
| |
| Measurement Issues | |
| |
| |
| |
| Effect Dead Time on Loop Performance | |
| |
| |
| |
| Mixing | |
| |
| |
| |
| Process Models | |
| |
| |
| |
| Approximating Time Constants | |
| |
| |
| |
| Ultimate Gain and Ultimate Period | |
| |
| |
| |
| Damping | |
| |
| |
| |
| Simple Performance Measures | |
| |
| |
| |
| The Integral Criteria | |
| |
| |
| |
| Summary | |
| |
| |
| |
| Controller Modes and Mode Selection | |
| |
| |
| |
| Mode Characteristics | |
| |
| |
| |
| Options for Tuning coefficients | |
| |
| |
| |
| Computing the PID Control Equation | |
| |
| |
| |
| Mode Combinations | |
| |
| |
| |
| Flow Control | |
| |
| |
| |
| Level Control | |
| |
| |
| |
| Nonlinear Algorithms | |
| |
| |
| |
| Level-to-Flow Cascade | |
| |
| |
| |
| Summary | |
| |
| |
| |
| Proportional Mode | |
| |
| |
| |
| Control Equation | |
| |
| |
| |
| Regulators | |
| |
| |
| |
| The Proportional Band | |
| |
| |
| |
| Bumpless Transfer | |
| |
| |
| |
| Set-Point Changes | |
| |
| |
| |
| Disturbance or Load Changes | |
| |
| |
| |
| Proportional Control of Simple Models | |
| |
| |
| |
| Adjusting the Controller Gain | |
| |
| |
| |
| Tuning | |
| |
| |
| |
| Summary | |
| |
| |
| |
| Integral Mode | |
| |
| |
| |
| Control Equation | |
| |
| |
| |
| Open-Loop Behavior | |
| |
| |
| |
| Effect of Reset Time | |
| |
| |
| |
| PI Control of Simple Models | |
| |
| |
| |
| Tuning | |
| |
| |
| |
| Speed of Response | |
| |
| |
| |
| Avoiding Sloppy Tuning | |
| |
| |
| |
| Suppressing the Proportional Kick | |
| |
| |
| |
| Windup Protection | |
| |
| |
| |
| Summary | |
| |
| |
| Literature Cited | |
| |
| |
| |
| Derivative Mode | |
| |
| |
| |
| Control Equation | |
| |
| |
| |
| Incorporating Derivative into the Control Equation | |
| |
| |
| |
| PID Control Equations | |
| |
| |
| |
| Effect of Derivative Time | |
| |
| |
| |
| Getting the Most from Derivative | |
| |
| |
| |
| PID Control of Simple Models | |
| |
| |
| |
| Tuning | |
| |
| |
| |
| Summary | |
| |
| |
| |
| Tuning Methods | |
| |
| |
| |
| What Is a Tuning Method | |
| |
| |
| |
| Process Characterizations | |
| |
| |
| |
| Ziegler-Nichols Closed Loop Method | |
| |
| |
| |
| The Relay Method | |
| |
| |
| |
| Open-Loop Methods | |
| |
| |
| |
| Graphical Constructions and Nonlinear Regressio | |
| |
| |
| |
| Ziegler Nichols Open-Loop Method | |
| |
| |
| |
| The Lambda Method | |
| |
| |
| |
| IMC Method | |
| |
| |
| |
| Integral Criteria Method | |
| |
| |
| |
| Summary | |
| |
| |
| Literature Cited | |
| |
| |
| |
| Measurement Devices | |
| |
| |
| |
| Steady-State Behavior | |
| |
| |
| |
| Very Small Process Gain | |
| |
| |
| |
| Temperature Measurements | |
| |
| |
| |
| Filtering and Smoothing | |
| |
| |
| |
| Summary | |
| |
| |
| |
| Final Control Elements | |
| |
| |
| |
| Valves and Flow Systems | |
| |
| |
| |
| Valve Sizing | |
| |
| |
| |
| Inherent Valve Characteristics | |
| |
| |
| |
| Flow System Dominated by Control Valve | |
| |
| |
| |
| Flow System Dominated by Process | |
| |
| |
| |
| Valve Nonidealities | |
| |
| |
| |
| Valve Positioner | |
| |
| |
| |
| On-Off Control | |
| |
| |
| |
| Time Proportioning Control | |
| |
| |
| |
| Variable Speed Pumping | |
| |
| |
| |
| Summary | |
| |
| |
| Literature Cited | |
| |
| |
| |
| Process and Instrumentation Diagrams | |
| |
| |
| |
| Developing P&I Diagrams | |
| |
| |
| |
| P&I Diagram for a Chlorine Vaporizer | |
| |
| |
| |
| Simple PID Control Configuration | |
| |
| |
| |
| Temperature-to-Flow Cascade | |
| |
| |
| |
| Temperature-to-Flow-Ratio Cascade | |
| |
| |
| |
| Steam Heater with Control Valve on Steam | |
| |
| |
| |
| Steam Heater with Control Valve on Condensate | |
| |
| |
| |
| Liquid Bypass Arrangements | |
| |
| |
| |
| Summary | |
| |
| |
| Literature Cited | |
| |
| |
| |
| Loop Interaction | |
| |
| |
| |
| Multivariable Processes | |
| |
| |
| |
| Off-Gas System | |
| |
| |
| |
| Flow and Pressure Control | |
| |
| |
| |
| Gains and Sensitivities | |
| |
| |
| |
| Effect of Interaction on Loop Performance and Tuning | |
| |
| |
| |
| Dynamics | |
| |
| |
| |
| Addressing Interaction Problems | |
| |
| |
| |
| Summary | |
| |
| |
| Literature Cited | |
| |
| |
| Index | |