CALCULATION

FIC 21 (Liquid Flow Plant)

∆MV = 5%
PVi = 1.25 m3/h = 1.25/6 x 100 = 20.83 %
PVf = 1.63 m3/h = 1.63/6 x 100 = 27.17 %
∆PV = 6.34 %
10 %
a) = 0.57 %/mm
17.5 𝑚𝑚

60 𝑠
b) = 1.295 s/mm
46.5 𝑚𝑚

Td = 1 mm x 1.295 s/mm = 1.295 s

Tc = 2.5 mm x 1.295 s/mm = 3.2375 s
∆𝑃𝑉 6.34 %
RR = ÷ ∆𝑀𝑉 = ÷ 5 = 0.39 s-1
∆𝑡 3.2375 𝑠

REFORMULATED TANGENT
1 1
Td = (∆PV) (b/a)[ − ]
tan 𝛽 tan 𝜃
1.295 1 1
= 6.34 ( )[ − ] = 1.96 s
0.57 tan 68 tan 75
1
Tc = (∆PV) (b/a)[ ]
tan 𝜃
1.295 1
= 6.34 ( )[ ] = 3.86 s
0.57 tan 75
TYPE OF TC
1. Tangent
T100% - Td = Tc
= 3.2375 s

2. Tangent & Point

Tc = T63.2% - Td
PV63.2% = 20.83 + 0.63 (6.34)
= 24.84
Tc = 1 mm x 1.295 s

3. 2 points
Tc = T28.3
PV28.3 = 20.83 + 0.283 (6.34)
= 22.624
Tc = 0.5 mm x 1.295s
= 0.6475 s

PI MODE = FLOW
Td = 1.295s Tc = 3.2373s RR = 0.39 s-1 𝜇 = Td/Tc = 0.4
1. Ziegler Nichols
P = 111.1 RR Td
= 111.1 (0.39) (1.295) = 56.111%
Kc = 100/P = 100/56.111 = 1.78
I = 3.33 Td
= 3.33 (1.295) = 4.31235 s

2. Cohen – Coon
100
P = 𝜇 RR Td
1+ 11
100
= 0.4 (0.39)(0.4) = 48.733%
1+ 11
Kc = 100/P = 100/48.733 = 2.05
𝜇
1+ 11
I = 11𝜇 Td
1+ 5
0.4
1+ 11
= 11(0.4) (1.295) = 2.38 s
1+ 5
3. Chien, Hrones & Reswick (CHR) –no overshoot & minimum response time; Performance
test – Set point.
P = 286 RR Td
= 286 (0.39) (1.295) = 144.44%
Kc = 100/P = 100/144.44 = 0.69
I = 1.2 Td = 1.2 (1.295) = 1.554 s

4. Chien, Hrones & Reswick (CHR) -20% overshoot & minimum response time;
Performance test – Set point
P = 167 RR Td
= 167 (0.39) (1.295) = 84.34%
Kc = 100/P = 100/84.34 = 1.185
I = Td = (1.295) s

5. Chien, Hrones & Reswick (CHR) -No overshoot & minimum response time;
Performance test – Disturbance in load variable
P = 167 RR Td
= 167 (0.39) (1.295) = 84.34%
Kc = 100/P = 100/84.34 = 1.185
I = 4 Td = 4 x (1.295) s = 5.18 s

6. Chien, Hrones & Reswick (CHR) -20% overshoot & minimum response time;
Performance test – Disturbance in load variable
P = 167 RR Td
= 167 (0.39) (1.295) = 84.34%
Kc = 100/P = 100/84.34 = 1.185
I = 4 Td = 4 x (1.295) s = 5.18 s

7. Takahashi – minimum control area; Performance test – Disturbance in load variable

P = 110 RR Td
= 110 (0.39) (1.295) = 55.56%
Kc = 100/P = 100/55.56 = 1.8
I = 3.3 Td = 3.3 x (1.295) s = 4.27 s
LIC 11 (Boiler Drum – Heat Exchanger PCTS)
∆MV = 10%
∆PV = (61.995 – 7.435) % = 7.435%
10 %
a) = 0.57 %/mm
17.5 𝑚𝑚

60 𝑠
b) = 1.33 s/mm
45 𝑚𝑚

Td = 2 mm x 1.33 s/mm = 2.66 s

Tc = 4 mm x 1.33 s/mm = 5.32 s
∆𝑃𝑉 7.435 %
RR = ÷ ∆𝑀𝑉 = ÷ 10 = 0.048 s-1
∆𝑡 29.993−14.663 𝑠

REFORMULATED TANGENT
1 1
Td = (∆PV) (b/a)[ − ]
tan 𝛽 tan 𝜃
1.33 1 1
= 7.435 ( )[ − ] = 7.63 s
0.57 tan 11 tan 12
1
Tc = (∆PV) (b/a)[ ]
tan 𝜃
1.33 1
= 7.435 ( )[ ] = 81.62 s
0.57 tan 12

TYPE of Tc
1. Tangent
T100% - Td = Tc
= 5.32 s

2. Tangent & Point

Tc = T63.2% - Td
 PV63.2% = 54.5 + 0.632 (7.435)
= 59.199
Tc = 1 mm x 1.33 s = 1.33 s

3. 2 points
Tc = T28.3
PV28.3 = 54.5 + 0.283 (7.435)
= 56.6
Tc = 0.5 mm x 1.33s
= 0.665 s

PI Mode = Flow
Td = 2.66s Tc = 5.32s RR = 0.048 s-1 𝜇 = Td/Tc = 0.5
1. Ziegler Nichols
P = 111.1 RR Td
= 111.1 (0.048) (2.66) = 14.2%
Kc = 100/P = 100/14.2 = 7.05
I = 3.33 Td
= 3.33 (2.66) = 8.86 s

2. Cohen – Coon
100
P = 𝜇 RR Td
1+
11
100
= 0.5 (0.048)(2.66) = 12.22%
1+ 11
Kc = 100/P = 100/12.22 = 8.2
𝜇
1+ 11
I = 11𝜇 Td
1+ 5
0.5
1+ 11
= 11(0.5) (2.66) = 4.41 s
1+ 5

3. Chien, Hrones & Reswick (CHR) –no overshoot & minimum response time; Performance
test – Set point.
P = 286 RR Td
= 286 (0.048) (2.66) = 36.52%
Kc = 100/P = 100/36.52 = 2.74
I = 1.2 Td = 1.2 (2.66) = 3.192 s
4. Chien, Hrones & Reswick (CHR) -20% overshoot & minimum response time;
Performance test – Set point
P = 167 RR Td
= 167 (0.048) (2.66) = 21.32%
Kc = 100/P = 100/21.32 = 4.7
I = Td = (2.66) s

5. Chien, Hrones & Reswick (CHR) -No overshoot & minimum response time;
Performance test – Disturbance in load variable
P = 167 RR Td
= 167 (0.048) (2.66) = 21.32%
Kc = 100/P = 100/21.32 = 4.7
I = 4 Td = 4 x (2.66) s = 10.64 s

6. Chien, Hrones & Reswick (CHR) -20% overshoot & minimum response time;
Performance test – Disturbance in load variable
P = 167 RR Td
= 167 (0.048) (2.66) = 21.32%
Kc = 100/P = 100/21.32 = 4.7
I = 4 Td = 4 x (2.66) s = 10.64 s

7. Takahashi – minimum control area; Performance test – Disturbance in load variable

P = 110 RR Td
= 110 (0.048) (2.66) = 14.045%
Kc = 100/P = 100/14.045 = 17.12
I = 3.3 Td = 3.3 x (2.66) s = 8.778 s
FOXBORO INSTRUMENTATION

Process Flow ∆MV ∆PV

MVi % 35 5% 31.1953 –
25.0703 =
6.125 %
MVf% 40

Time, (s) PV % RR (s)

0 25.0703 -

1 25.0703 0

2 25.0703 0

3 25.0703 0.2594

4 27.6641 0.4297

5 29.3672 0.2679

6 30.3437 0.1471

7 30.8379 0.0494

8 30.8379 0.0357

9 31.1953 0.0357
 10 31.1953 -

RR max = 0.4297 s
RR1 = (PV1 – PV-1) / 2∆h∆MV

= 25.0703 − 25.0703⁄2(1)(5) = 0

RR3 = (PV1 – PV-1) / 2∆h∆MV

= 27.6641 − 25.0703⁄2(1)(5) = 0.2594

Td = T1 - 2∆h [(PV1 – PVi) / PV1 – PV-1)]

= 4 – 2(1) (29.3672 − 25.0703⁄29.3672 − 25.0703) = 2𝑠

Tc(tangent) = 2∆h [(PVf – PVi) / PV1 – PV-1)]

= 2(1) (31.1953 − 29.3672⁄29.3672 − 25.0703) = 0.85𝑠

General solution :
Tx = tn + (tn+1 – tn) [(PVx – PVn) / PVn+1 – PVn)]

1) Tangent & Point Method ( T 63.2%)

T63.2% = tn + (tn+1 – tn) [(PV63.2% – PVn) / PVn+1 – PVn)]

PV63.2% = PVi + 0.632(PVf – PVi)
= 23.0703 + 0.632 (31.1953 – 23.0703)
= 28.2053 % (in between 4-5 s)
 4 27.6641

X 28.2053

5 293672

29.3672 − 27.6641⁄ 28.2053 − 27.6641⁄

5−4 = 𝑋−4
X = 4.317 s
Tc 63.2% = 4.317 s – 2 s
= 2.317 s

2) 2 – Point Method

T28.3% = tn + (tn+1 – tn) [(PV28.3% – PVn) / PVn+1 – PVn)]

PV28.3% = PVi + 0.283(PVf – PVi)
= 23.0703 + 0.283(31.1953 – 23.0703)
= 25.37% (in between 3-4s)
3 25.0703

X 25.37

4 27.6641

(27.6641 – 25.0703) / (4-3) = (25.37 – 25.0703) /(X – 3)

X = 3.116 s
Tc 28.3% = 4.317 s – 3.116 s
= 1.802 s

PI Mode = Flow

Td =2s Tc = 0.85 s RR = 0.43 s-1 𝜇 = Td/Tc = 2.35

1. Ziegler Nichols
P = 111.1 RR Td
= 111.1 (0.43) (2) = 95.55%
Kc = 100/P = 100/95.55 = 1.05
I = 3.33 Td
= 3.33 (2) = 6.66 s

2. Cohen – Coon
100
P = 𝜇 RR Td
1+ 11
100
= 2.35 (0.43)(2) = 42.74%
1+ 11
Kc = 100/P = 100/42.74 = 2.35
𝜇
1+ 11
I = 11𝜇 Td
1+ 5
2.35
1+ 11
= 11(2.35) (2) = 1.31 s
1+ 5

3. Chien, Hrones & Reswick (CHR) –no overshoot & minimum response time; Performance
test – Set point.
P = 286 RR Td
= 286 (0.43) (2) = 245.96%
Kc = 100/P = 100/245.96 = 0.41
I = 1.2 Td = 1.2 (2) = 2.4 s

4. Chien, Hrones & Reswick (CHR) -20% overshoot & minimum response time;
Performance test – Set point
P = 167 RR Td
= 167 (0.43) (2) = 143.62%
Kc = 100/P = 100/143.62 = 0.69
I = Td = (2) s

5. Chien, Hrones & Reswick (CHR) -No overshoot & minimum response time;
Performance test – Disturbance in load variable
P = 167 RR Td
= 167 (0.43) (2) = 143.62%
Kc = 100/P = 100/143.62 = 0.69
I = 4 Td = 4 x (2) s = 8 s

6. Chien, Hrones & Reswick (CHR) -20% overshoot & minimum response time;
Performance test – Disturbance in load variable
 P = 167 RR Td
= 167 (0.43) (2) = 143.62%
Kc = 100/P = 100/143.62 = 0.69
I = 4 Td = 4 x (2) s = 8 s

7. Takahashi – minimum control area; Performance test – Disturbance in load variable

P = 110 RR Td
= 110 (0.43) (2) = 94.6%
Kc = 100/P = 100/94.6 = 1.06
I = 3.3 Td = 3.3 x (2) s = 6.6 s