The document discusses several useful features of the DeltaV PID controller including PID form, structure, integral dead band, set point filtering and limits, cascade features, gain scheduling, non-linear gain, output characterization, anti-reset windup limits, and adaptive control. It provides examples of how these features can be used to improve control performance and achieve better business results. The presenter is available for further questions.
New DeltaV Module Templates to Easily Configure, View, and Trend Advanced Pre...Emerson Exchange
Advanced pressure diagnostics use statistical process monitoring to characterize process variation and detect abnormal conditions such as plugged impulse lines, furnace flame instability, or distillation column flooding. New DeltaV diagnostics module templates, including control modules, operator faceplates, and process history view ease configuration and use of advanced diagnostics.
Presented by Emerson's Tom Wallace and Erik Mathiason at 2011 Emerson Exchange in Nashville.
Control Loop Foundation - Batch And Continous ProcessesEmerson Exchange
This presentation, by Emerson's Terry Blevins and Mark Nixon, is a guide for engineers, managers, technicians, and others that are new to process control or experienced control engineers who are unfamiliar with multi-loop control techniques.
Their book is available in the ISA Bookstore at: http://emrsn.co/1E
Utilizing DeltaV Advanced Control Innovations to Improve Control PerformanceEmerson Exchange
Many functions of the DeltaV system are unique in the process industry. In this presentation we explore and discuss innovative features of the DeltaV PID and embedded Advanced Control products that can be applied to improve control performance. In particular, PID options are addressed that enhance cascade and override applications and allow effective single loop control using a sampled or wireless measurement. Application examples are used to illustrate how MPC can be easily added and commissioned online with no changes in the existing control strategy. Also, continuous data analytics is used an example that illustrates how future tools will enable improvements to be made in plant operations.
New DeltaV Module Templates to Easily Configure, View, and Trend Advanced Pre...Emerson Exchange
Advanced pressure diagnostics use statistical process monitoring to characterize process variation and detect abnormal conditions such as plugged impulse lines, furnace flame instability, or distillation column flooding. New DeltaV diagnostics module templates, including control modules, operator faceplates, and process history view ease configuration and use of advanced diagnostics.
Presented by Emerson's Tom Wallace and Erik Mathiason at 2011 Emerson Exchange in Nashville.
Control Loop Foundation - Batch And Continous ProcessesEmerson Exchange
This presentation, by Emerson's Terry Blevins and Mark Nixon, is a guide for engineers, managers, technicians, and others that are new to process control or experienced control engineers who are unfamiliar with multi-loop control techniques.
Their book is available in the ISA Bookstore at: http://emrsn.co/1E
Utilizing DeltaV Advanced Control Innovations to Improve Control PerformanceEmerson Exchange
Many functions of the DeltaV system are unique in the process industry. In this presentation we explore and discuss innovative features of the DeltaV PID and embedded Advanced Control products that can be applied to improve control performance. In particular, PID options are addressed that enhance cascade and override applications and allow effective single loop control using a sampled or wireless measurement. Application examples are used to illustrate how MPC can be easily added and commissioned online with no changes in the existing control strategy. Also, continuous data analytics is used an example that illustrates how future tools will enable improvements to be made in plant operations.
At Emerson Exchange 2009, Martin Berutti presents on the business benefits, requirements, and steps for building a Virtual DeltaV system with a virtual plant and I/O.
A reference guide to DeltaV DCS controls and operation. This easy, intuitive, and interoperable Distributed
Control System (DCS) harnesses predictive
technologies to connect your people, processes, and
production.
Practical Distributed Control Systems (DCS) for Engineers and TechniciansLiving Online
This workshop will cover the practical applications of the modern Distributed Control System (DCS). Whilst all control systems are distributed to a certain extent today and there is a definite merging of the concepts of a DCS, Programmable Logic Controller (PLC) and SCADA and despite the rapid growth in the use of PLC’s and SCADA systems, some of the advantages of a DCS can still be said to be Integrity and Engineering time.
Abnormal Situation Management and Intelligent Alarm Management is a very important DCS issue that provides significant advantages over PLC and SCADA systems.
Few DCSs do justice to the process in terms of controlling for superior performance – most of them merely do the basics and leave the rest to the operators. Operators tend to operate within their comfort zone; they don’t drive the process “like Vettel drives his Renault”. If more than one adverse condition developed at the same time and the system is too basic to act protectively, the operator would probably not be able to react adequately and risk a major deviation.
Not only is the process control functionality normally underdeveloped but on-line process and control system performance evaluation is rarely seen and alarm management is often badly done. Operators consequently have little feedback on their own performance and exceptional adverse conditions are often not handled as well as they should be. This workshop gives suggestions on dealing with these issues.
The losses in process performance due to the inadequately developed control functionality and the operator’s utilisation of the system are invisible in the conventional plant and process performance evaluation and reporting system; that is why it is so hard to make the case for eliminating these losses. Accounting for the invisible losses due to inferior control is not a simple matter, technically and managerially; so it is rarely attempted. A few suggestions are given in dealing with this.
Why are DCS generally so underutilised? Often because the vendor minimises the applications software development costs to be sure of winning the job, or because he does not know enough about the process or if it is a green-field situation, enough could not be known at commissioning time but no allowance was made to add the missing functionality during the ramp-up phase. Often the client does not have the technical skills in-house to realise the desired functionality is missing or to adequately specify the desired functionality.
This workshop examines all these issues and gives suggestions in dealing with them and whilst not being by any means exhaustive provides an excellent starting point for you in working with a DCS.
MORE INFORMATION: http://www.idc-online.com/content/practical-distributed-control-systems-dcs-engineers-technicians-2
Unlock full featured course with 250+ Video Lectures at 20% Discount for "Learn 5 PLC's in a Day" lifetime E-Learning course for 39 USD only: https://www.udemy.com/nfi-plc-online-leaning/?couponCode=slideshare2016
Enroll for Advanced Industrial Automation Training with PLC, HMI and Drive Combo with 300+ Video Lecture for 69.3 USD only: http://online.nfiautomation.org/catalog/1769?couponCode=LEARNING_MADE_EASY
Google Plus: https://plus.google.com/+RajvirSinghNFIAutomation
E-mail: nfiautomation@gmail.com
Greg teaches you about Auto Tuning and Adaptive Control of Nonlinear Processes that are self regulating. Recorded video available for viewing at: http://www.screencast.com/t/NDY1NTQx
Types of Controllers
Process control_ mechatronics engineering.
Control system is a combination of various elements connected as a unit to direct or regulate itself or any other system in order to provide a specific output is known as a Control system.
Components of a Control System
1.Controlled process: The part of the system which requires controlling is known as a controlled process.
2. Controller: The internal or external element of the system that controls the process is known as the controller.
3. Input: For every system to provide a specific result, some excitation signal must be provided. This signal is usually given through an external source. So, the externally provided signal for the desired operation is known as input.
TYPES OF DISTURBANCE:
1.an internal disturbance is generated within the system. 2.an external disturbance is generated outside the system and is an input.
Types of Control System:
1.Open loop control systems in this control system the
output is neither measured nor fed back for comparison
with the input.
2.Closed loop control systems in this control system the
actuating error signal, which is the difference between
the input signal and the feedback signal, is fed to the
controller so as to reduce the error and bring the output
of the system to a desired value.
PID
The PID control scheme is named after its three correcting terms, whose constitutes the manipulated variable (MV). The proportional, integral, and derivative terms are summed to calculate the output of the PID controller.
contents:
Ziegler-Nichols Closed-loop method.
Instrument Symbols.
continuous-mode controllers.
Proportional controller.
Derivative controller and another.
created by :Anaseem Alhanni.
University :Al- Balqa' Applied University (BAU).
At Emerson Exchange 2009, Martin Berutti presents on the business benefits, requirements, and steps for building a Virtual DeltaV system with a virtual plant and I/O.
A reference guide to DeltaV DCS controls and operation. This easy, intuitive, and interoperable Distributed
Control System (DCS) harnesses predictive
technologies to connect your people, processes, and
production.
Practical Distributed Control Systems (DCS) for Engineers and TechniciansLiving Online
This workshop will cover the practical applications of the modern Distributed Control System (DCS). Whilst all control systems are distributed to a certain extent today and there is a definite merging of the concepts of a DCS, Programmable Logic Controller (PLC) and SCADA and despite the rapid growth in the use of PLC’s and SCADA systems, some of the advantages of a DCS can still be said to be Integrity and Engineering time.
Abnormal Situation Management and Intelligent Alarm Management is a very important DCS issue that provides significant advantages over PLC and SCADA systems.
Few DCSs do justice to the process in terms of controlling for superior performance – most of them merely do the basics and leave the rest to the operators. Operators tend to operate within their comfort zone; they don’t drive the process “like Vettel drives his Renault”. If more than one adverse condition developed at the same time and the system is too basic to act protectively, the operator would probably not be able to react adequately and risk a major deviation.
Not only is the process control functionality normally underdeveloped but on-line process and control system performance evaluation is rarely seen and alarm management is often badly done. Operators consequently have little feedback on their own performance and exceptional adverse conditions are often not handled as well as they should be. This workshop gives suggestions on dealing with these issues.
The losses in process performance due to the inadequately developed control functionality and the operator’s utilisation of the system are invisible in the conventional plant and process performance evaluation and reporting system; that is why it is so hard to make the case for eliminating these losses. Accounting for the invisible losses due to inferior control is not a simple matter, technically and managerially; so it is rarely attempted. A few suggestions are given in dealing with this.
Why are DCS generally so underutilised? Often because the vendor minimises the applications software development costs to be sure of winning the job, or because he does not know enough about the process or if it is a green-field situation, enough could not be known at commissioning time but no allowance was made to add the missing functionality during the ramp-up phase. Often the client does not have the technical skills in-house to realise the desired functionality is missing or to adequately specify the desired functionality.
This workshop examines all these issues and gives suggestions in dealing with them and whilst not being by any means exhaustive provides an excellent starting point for you in working with a DCS.
MORE INFORMATION: http://www.idc-online.com/content/practical-distributed-control-systems-dcs-engineers-technicians-2
Unlock full featured course with 250+ Video Lectures at 20% Discount for "Learn 5 PLC's in a Day" lifetime E-Learning course for 39 USD only: https://www.udemy.com/nfi-plc-online-leaning/?couponCode=slideshare2016
Enroll for Advanced Industrial Automation Training with PLC, HMI and Drive Combo with 300+ Video Lecture for 69.3 USD only: http://online.nfiautomation.org/catalog/1769?couponCode=LEARNING_MADE_EASY
Google Plus: https://plus.google.com/+RajvirSinghNFIAutomation
E-mail: nfiautomation@gmail.com
Greg teaches you about Auto Tuning and Adaptive Control of Nonlinear Processes that are self regulating. Recorded video available for viewing at: http://www.screencast.com/t/NDY1NTQx
Types of Controllers
Process control_ mechatronics engineering.
Control system is a combination of various elements connected as a unit to direct or regulate itself or any other system in order to provide a specific output is known as a Control system.
Components of a Control System
1.Controlled process: The part of the system which requires controlling is known as a controlled process.
2. Controller: The internal or external element of the system that controls the process is known as the controller.
3. Input: For every system to provide a specific result, some excitation signal must be provided. This signal is usually given through an external source. So, the externally provided signal for the desired operation is known as input.
TYPES OF DISTURBANCE:
1.an internal disturbance is generated within the system. 2.an external disturbance is generated outside the system and is an input.
Types of Control System:
1.Open loop control systems in this control system the
output is neither measured nor fed back for comparison
with the input.
2.Closed loop control systems in this control system the
actuating error signal, which is the difference between
the input signal and the feedback signal, is fed to the
controller so as to reduce the error and bring the output
of the system to a desired value.
PID
The PID control scheme is named after its three correcting terms, whose constitutes the manipulated variable (MV). The proportional, integral, and derivative terms are summed to calculate the output of the PID controller.
contents:
Ziegler-Nichols Closed-loop method.
Instrument Symbols.
continuous-mode controllers.
Proportional controller.
Derivative controller and another.
created by :Anaseem Alhanni.
University :Al- Balqa' Applied University (BAU).
This is a recording of a workshop given at Emerson Exchange 2010. In the workshop information is provided on how MPC may be used to replace PID control to address difficult dynamics
CHARMED Upgrading the UT Pickle Separations to DeltaV v11Emerson Exchange
This presentation was given at Emerson Exchange 2010 and shows how the control system at the UT Pickle Separations unit was upgraded to DeltaV v11. Before and after pictures are included that show the new controllers, IO, and major changes made in the control room.
In this presentation we address the implementation of a scalar Kalman Filter for use in closed loop control of industrial process that is characterized by one manipulated input and one controlled parameter. A DeltaV linked composite is described that allows Kalman filtering to be used with the PID block in closed loop control. Also, information is provided on a DeltaV module that may be used to get more familiar with the Kalman filter in a test environment. The Kalman Filter composite and test module may be accessed through application exchange at the DeltaV Interactive Portal
Recovery from a process saturation condition benefits of using delta v pid_plusEmerson Exchange
The PIDPlus option of the PID function block in the DeltaV v11.3 allows improved recovery from a process saturation condition. In this workshop the technical basis for the change in the PID are presented. The impact this has on the time required to get to setpoint is examined and the improvement in response for the surge control will be demonstration using a synamic compressor simulation.
Emerson's Lee Neitzel and Chris Felt present OPC .NET 3.0. The presentation was updated from what was presented at the 2010 Emerson Exchange in San Antonio, Texas to reflect the name change from OPC Xi to OPC .NET 3.0.
A Quick and Easy Way to Connect to FOUNDATION fieldbus using Emerson’s USB Fi...Emerson Exchange
Presented by Emerson's Alan Dewey at the 2011 Emerson Exchange in Nashville, TN USA.
Abstract: Emerson has recently introduced a quick and easy way for users to connect directly to a FOUNDATION fieldbus segment with their portable laptop or notebook computer. Using Emerson's newly available USB Fieldbus Interface, users can easily connect their laptop or PC to a fieldbus network either in the field or on the bench. This enables users to experience the benefits of applications such as AMS Device Manager without having to use the control system. This workshop will highlight the capabilities of this useful new device and provide a live demonstration of how it can be used.
software tool voor systeem identificatie en optimalisatie van PID regelaars en geavanceerde regelkringen
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Maximizing the return on your control investment meet the experts sessions part2Emerson Exchange
The design and commissioning of the controls associated with a continuous or batch process directly impact plant operating efficiency and production quality and throughput. In this session we review techniques that may be used to identify control opportunities to reduce production costs, minimize variations in product quality and to maximize production within the limits set by market demand. Several common application examples from the process industry will be used to illustrate how plant production rate and product quality are directly influenced by process control variation and constraints in plant operation. Starting with an assessment of control loop utilization and automatic control performance, a step by step process is outlined that may be used to identifying and addressing areas where it is possible to justified the time and material costs required to improve control performance. In particular, information will be provided on how to quickly tune single loop control of self-regulating or integrating process and to recognize when variations in control loop performance are not associated with loop tuning. An overview will be provided of tools and techniques that may be used to achieve best control performance over a wide variety of operating conditions. Also, guidance will be provided on when it is possible to justify the cost associated with the installation and commissioning of multi-loop techniques such as feedforward control, ratio and override control. The steps required to commission multi-loop control strategies will be address along with common mistakes to avoid. Also, input will be provided on how to recognize when advanced control techniques such as Fuzzy logic or MPC are needed to achieve the desired control performance. At the end of this session a drawing will be held to give away 10 copies of “Control Loop Foundation – Batch and Continuous Processes”. Many of the ideas discussed in this session are addressed in this book.
The CX 2000 from Yokogawa is the next generation in process control. It combines recording, control and networking into a single, compact device ready to run on your process or OEM equipment. It delivers "Out of the box, ready to go" real-time and historical process monitoring. CX controls your process using internal PID loops and/or external controllers. One or more CXs link your process to the networked world with built-in Ethernet, web server, e-mail and FTP functions.
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New Kids on the I/O Block - Transferring Process Control Knowledge to Millenn...Jim Cahill
Presented at 2014 Emerson Exchange conference by Danaca Jordan and Jim Cahill.
As retirement rates accelerate in Western nations, efficiently transferring knowledge and lessons learned to new instrumentation and automation professionals grows in importance. Given generational differences in learning styles and limited spare time to develop training, what are some effective ways to accomplish this? A Boomer and a Millennial collaborate to share practical methods to take back with you.
A Unified PID Control Methodology to Meet Plant ObjectivesJim Cahill
Presented at the AIChE 2013 Spring Meeting and 9th Global Congress on Process Safety meeting by Greg McMillan, CDI Process & Industrial and Hector Torres, Eastman Chemical
Social Media and Collaboration in Automation and ManufacturingJim Cahill
Presented at the ARC Industry Forum in Orlando, Florida. The presentation highlights the important of surfacing expertise to make it findable and expanding your social network connections.
Social Media for Process Automation - Why?Jim Cahill
Some reasons process automation suppliers may want to consider the use of social media in their business efforts. Presented by Jim Cahill at the 2011 Valve Manufacturers Association Market Outlook Workshop (http://jimc.me/p5uOFC)
Foundation Fieldbus - Control in the FieldJim Cahill
Presented by Emerson's Travis Hesketh at the 2011 General Assembly in Mumbai, India on March 9-10.
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Wireless Measurement and Control - AIChE New OrleansJim Cahill
Wireless Measurement and Control - Opportunities for Diagnostics Process Metrics Inferential Measurements and Eliminating Oscillations
Presented by Greg McMillan on March 15, 2011.
Split Range Control - Greg McMillan DeminarJim Cahill
Presented March 9, 2011 by Greg McMillan as on-line demo/seminar. Video recording available at: http://www.screencast.com/users/JimCahill/folders/Public
PID Control of Runaway Processes - Greg McMillan DeminarJim Cahill
On-line demo / seminar presented by ModelingAndControl.com's Greg McMillan on August 25, 2010.
Recorded version of presentation will be available post live session at: http://www.screencast.com/users/JimCahill/folders/Deminars
PID Control of True Integrating Processes - Greg McMillan DeminarJim Cahill
Presented August 11, 2010 by Greg McMillan as on-line demo/seminar. Video recording available at: http://www.screencast.com/users/JimCahill/folders/Public
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Interesting and Useful Features of the DeltaV PID Controller
1. Interesting and Useful Features of the
DeltaV PID Controller
James Beall
Principal Process Control Consultant
Emerson Process Management
2. Introduction
Provide additional information on useful features of
the DeltaV PID and related function blocks.
Discuss some common PID function block
parameters where the default values can cause poor
control.
Provide examples of the use of these features.
Note – “BOL” is DeltaV Books on Line (the
embedded, electronic DeltaV documentation)
3. Topics
PID Form
PID Structure
Integral Dead Band
SP Filter/Rate of
Change
SP Limits
Cascade Features
Gain Scheduler
Non-linear Gain
Output
Characterization (to
Valve)
Anti-Reset Windup
Limits
Adaptive Control
Simulated Loops
4. PID “Form”
Three Common PID Forms
– Parallel Form
– Standard, aka ISA Form,
– Series, aka Classical Form.
DeltaV has Choices
– Standard
– Series
(default)
5. PID “Form” - PID Function Block
DeltaV default is “Standard”
Note that if you choose “Nonlinear Gain” in
FRSPID_OPTS then the FORM becomes
“Standard” – More on this later
FORM None Selects equation form (series or standard). If
Use Nonlinear Gain Modification is
selected in FRSIPID_OPTS, the form
automatically becomes standard,
regardless of the configured selection of
FORM.
6. Standard Form of the PID Equation
+
-
SP
+ PROCESS
PV
Error = SP - PV OUTPUT = P + I + D
P
I
D
SDT
sR
T
1
C
K
7. Classical Form of the PID Equation
PROCESS
PV+
-
SP
OUTPUT
+
Error
+
+
P
I
D
SDT
sR
T
1
C
K
8. PID “Form” Choice
Prior system experience
Personal Preference - Standard (RS3, etc) or
Series (Provox, etc.)
Series is identical to Standard form if
Derivative action is NOT used
Can impact conversion of tuning constants
from previous control system
9. Convert Series (Classical) to Standard
Series is identical to Standard form if Derivative
action is NOT used
TR should be time/rep & same time units as TD
Be sure to convert to your tuning constant units
after form conversion
TR Classical * TD Classical
( TR Classical + TD Classical )
KC Standard = KC Series *
TR Classical + TD Classical
TR Classical
TR SeriesTR Standard =
0
TD Standard =
+ TD Classical
0
0
TR Series * TD Series
( TR Series + TD Series )
TR Series + TD Series
TR Series
+ TD Series
*
11. PID Function Block “Structure” Parameter
SP Change on Reactor feed tank level: PI on
error, D on PV
Controller Output – Flow to reactor
SP
12. PID Function Block “Structure” Parameter
SP Change on Reactor feed tank level: I on
error, PD on PV
Controller Output – Flow to reactor
SP
13. PID Structure – 2 Degrees of Freedom
BETA - determines the degree of proportional action
that will be applied to SP changes.
– Range = 0-1
– BETA=0 means no proportional action is applied to SP change.
– BETA=1 means full proportional action is applied to SP change.
GAMMA - determines the degree of derivative
action that will be applied to SP changes.
– Range = 0-1
– GAMMA=0 means no derivative action applied to SP change.
– GAMMA=1 means full derivative action is applied to SP change.
15. Integral Dead Band
IDEADBAND - When the error gets within
IDEADBAND, the integral action stops. The
proportional and derivative action continue.
Same Engineering Units as PV Scale
May be used to reduce the movement of the
controller output when the error is less than
the “IDEADBAND”. For example on a level
controller that feeds the downstream unit.
I haven’t found much use for this!
16. Set Point - Filter/Rate of Change
SP_FTIME - Time constant (seconds) of the first order SP
filter. The Set Point Filter applies in AUTO, CAS and
RCAS (not specified in BOL).
SP_RATE_DN - Ramp rate at which downward setpoint
changes are acted on in Auto mode, in PV units per
second. If the ramp rate is set to 0.0, then the setpoint is
used immediately. For control blocks, rate limiting applies
only in Auto (not CAS or RCAS).
SP_RATE_UP - Ramp rate at which upward setpoint
changes are acted on in Auto mode, in PV units per
second. If the ramp rate is set to 0.0, then the setpoint is
used immediately. For control blocks, rate limiting applies
only in Auto (not CAS or RCAS).
17. Set Point Limits
SP_HI_LIM- The highest SP value (EU’s)
allowed.
SP_LO_LIM - The lowest SP value (EU’s)
allowed.
CONTROL_OPTS – allow you to specify if SP
Limits to be obeyed in “CAS and RCAS”
Can use “Output Limits” of Master loop in
cascade pair to limit SP to Slave loop ONLY
in CAS and RCAS
18. Cascade Features
Master Loop aka Primary Loop
FC
3-5
FT
3-5
LT
3-2
LC
3-2 RSP
Column
Bottoms
Tray 6
Slave Loop aka Secondary Loop
19. Cascade Features
Mode tracking and bumpless transfers are
automatically provided through the BKCAL
feature
Limited conditions in the Slave loop are taken
care of through the BKCAL feature
Prevent reset windup with external reset by
selecting “Dynamic Reset Limit” in
FRSIPID_OPTS on the Master loop
“Use PV for BKCAL_OUT” in CONTROL_OPTS
should be selected on Slave loop for use with
Dynamic Reset Limit in Master
20. Enabling PID External Reset
Utilized most often
in the primary loop
of a cascade
Compensates for
“unexpected” slow
secondary loop
response
21. Gain Scheduler
Proves up to 3 regions of different PID tuning
parameters based on a selected state variable
(output, PV, error, or “other”)
Provides a smooth transition between regions
Create PID module using Module Templates:
Analog Control/PID_GAINSCHED
OR, add function to existing PID module
– Expose Gain, Reset and Rate parameters on PID
function block
– Copy all function blocks from template except the
PID FB and link as needed.
25. FRSIPID_OPTS: Non-linear Gain
Modifies the proportional
Gain as a function of the
error (PV-SP)
Can be used to make
the tuning more
aggressive as the PV is
farther from the set point
Can create the “error
squared” PID function
26. FRSIPID_OPTS: Non-linear Gain
The PID “Gain” is multiplied by “KNL” which has a value between 0
and 1 as a function of the error (SP-PV).
e
NL_GAP NL_HYST
NL_TBAND
Knl=NL_MINMOD
Knl
Knl=1
= PV-SP
28. FRSIPID_OPTS: Non-linear Gain
The PID “Gain” is multiplied by “KNL” which has a
value between 0 and 1 as a function of the error
I typically set NL_HYST = 0
Be aware that using this feature on an integrating
process, like levels, can cause oscillations at the
reduced gain. For these applications, the reset time
should be based on “Gain*MINMOD” which will result
in a larger reset time to prevent oscillations.
To provide non-linear “tuning” on integrating
processes (like level), consider using the Gain
Scheduler (so you can change gain and reset)
29. FRSIPID_OPTS: Non-linear Gain “Error2
”
“Error squared” PID function – error*abs(error)
Proportional = error*abs(error)*gain
= error* (abs(error)*gain)
Proportional = error*(Modified Gain)
Modified Gain = abs(error)*Gain
Error
Modified
Gain
Non-linear Gain
Settings for E2
Activate NL Gain
NL_MINMOD = 0
NL_GAP = 0
NL_TBAND = 100%
of PV Span (EU’s)
NL_HYST = 0
30. Output Characterization to Valve
Use a “Signal Characterizer” function block to
change valve characteristics
– Note the best solution is to change valve trim to
proper characteristic
SGCR
•Characterizes IN_1 to OUT_1
•Reverse Char. IN_2 to OUT_2
31. Output Characterization to Valve
See Books On Line for rules for
the X and Y curves
Set “SWAP_2” = TRUE to
provide a “reverse”
characterization for the BKCAL
signal (The answer in V9.3 and
later is “Change X by Y axis on
IN-2”.)
BOL: The SWAP_2 parameter swaps the X and Y axes used for
OUT_2. When the SWAP_2 parameter is True, IN_2 references the
CURVE_Y values and OUT_2 references the CURVE_X values. In
addition, the IN_2 units change to Y_UNITS and the OUT_2 units
change to X_UNITS.
32. Anti-Reset Windup Limits
Improves process recovery from saturated
conditions
On recovery from a saturated condition, when
the ARW_HI_LIM and ARW_LO_LIM are set
inside the OUT limits, the reset time will
automatically be decreased (faster) by 16X
until the OUT parameter comes back within
the the ARW limits or the control parameter
reaches setpoint.
34. Setting ARW Limits – Important!!!!!
•ARW limits are in Engineering Units
of the OUT_SCALE. The default is
0-100. If the OUT_SCALE is other
than 0-100, be sure to initially set
ARW limits to the OUT_SCALE
limits.
•For example, for the master loop of
cascaded loops, the OUT_SCALE is
0-25,000 lbs/hr. Set ARW_HI_LIM =
25,000 and ARW_LO_LIM = 0.
35. Setting ARW Limits – Important!!!!!
•If the ARW limits are “inside” the
OUT_HI_LIMIT and OUT_LO_LIM,
poor control can result.
•In early DeltaV releases (V6 and
before, I think), this feature did not
work. Thus, if you violated this rule,
it didn’t cause problems until you
upgraded to a later version!
36. Adaptive Control
Embedded Process Learning
– Automatic configuration for all PID control blocks
– Identifies process models (and thus tuning) from normal
day-to-day operator moves to loop
Adaptive Control
– Five regions of process learning
– Continuous update of tuning parameters for changing
process conditions
37. Adaptive ControlAdaptive Control
InSight monitors each control
block to detect changes to SP
(or OUT in manual), called a
Trigger Event.
InSight captures response data
and calculates a dynamic
process model for each Trigger
Event. Models are stored in a
database for use in loop
diagnostics and adaptive
tuning.
Users may modify default
values for SP or OUT move
size required for a Trigger
Event in the Learning Set-up
Display.
41. Simulated Loop in DeltaV
This is the training simulator. Assign
and download this module to a
controller. (Note the Fuzzy Logic
Controller and MPC simulations!)
This “graphic” is really a
special “detail” display
for this module
42. Business Results Achieved
These features can be used to significantly improved
the performance of PID control
The default ARW limits of 0-100 is a common
problems for the master loop in a cascade
arrangement. Correcting the ARW limits improves
control.
These features can be used to customize the
response of the PID controller to meet process
requirements
“Difficult” process dynamics can be handled
Bottom line – Better control performance = $$$$
43. Summary
DeltaV has many useful control features
Watch out for default parameters (ARW limits) that
don’t match your application
Better control performance = $$$$
44. Where To Get More Information
Short Course 10-1183 - Improving Control Performance with
DeltaV InSight, 90 min short course, 9/30 3:15, 10/2 8:00 am
Emerson Process Management Education Services
– DeltaV™ Advanced Control
Course: # 7201 - CEUs: 3.2
– DeltaV™ Operate Implementation I
Course: # 7009 - CEUs: 3.2
– EnTech - Process Dynamics, Control and Tuning Course: # 9030
CEUs: 2.8
Emerson Process Management, Advanced Automation Services
www2.emersonprocess.com/en-
US/brands/processautomation/consultingservices/Pages/Consulting
Services.aspx
James.Beall@Emerson.com , 903-235-7935
45. About the Presenter
James Beall is a Principal Process Control Consultant with
Emerson Process Management. He has over 27 years
experience in process control, including 8 years with Emerson
and 19 years with Eastman Chemical Company. He graduated
from Texas A&M University with Bachelor of Science degree in
Electrical Engineering. His areas of expertise include process
instrumentation, control strategy analysis and design, control
optimization, DCS configuration and maintenance, control valve
performance testing and Advanced Process Control. James is a
contributing author to Process/Industrial Instruments and
Control Handbook (5th Edition, G.K. McMillan, McGraw-Hill,
New York, 1999. He is a member of AIChE and is currently the
chairman of ISA Subcommittee 75.25, Control Valve
Performance Testing.