Industrial Control

Behzad Samadi
Department of Electrical Engineering
Amirkabir University of Technology

Winter 2009
Tehran, Iran

Behzad Samadi (Amirkabir University) Industrial Control 1 / 17

Pneumatic Systems
Electrical Analogy
Type of System Electrical Pneumatic
T-Variable i, current q, mass flow
A-Variable v , voltage p, pressure
Dissipator resistor orifice
Storage (A-Type) capacitor air tank
Storage (T-Type) inductor long pipe
Unidirectional diode check valve

Behzad Samadi (Amirkabir University) Industrial Control 2 / 17

Pneumatic Systems
Electrical Analogy
Type of System Electrical Pneumatic
T-Variable i, current q, mass flow
A-Variable v , voltage p, pressure
Dissipator resistor orifice
Storage (A-Type) capacitor air tank
Storage (T-Type) inductor long pipe
Unidirectional diode check valve

High pressure pneumatic systems are very nonlinear due to the compression of
air.
In this course, low pressure pneumatic systems and linear models around the
operating point are considered.
[Macia and Thaler, 2004, Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 2 / 17

Pneumatic Dissipator
Hagen - Poiseuille Law
8µL
∆p = q = Rf q
πr 4

∆p = pressure drop
q = mass flow rate
µ = dynamics viscosity
L = length of the pipe
r = radius

Behzad Samadi (Amirkabir University) Industrial Control 3 / 17

Pneumatic Dissipator
Hagen - Poiseuille Law
8µL
∆p = q = Rf q
πr 4

∆p = pressure drop
q = mass flow rate
µ = dynamics viscosity
L = length of the pipe
r = radius

Hagen (1839) - Poiseuille (1838-1840) Law corresponds to Ohm’s law for electrical
circuits (v = ρ AL i = Ri)
Describes slow viscous incompressible flow through a constant circular cross-section

Behzad Samadi (Amirkabir University) Industrial Control 3 / 17

Pneumatic Dissipator
Computation of the value of the gas flow resistance may be quite
time consuming.

[Ogata, 1997]
Behzad Samadi (Amirkabir University) Industrial Control 4 / 17
Pneumatic Dissipator
Computation of the value of the gas flow resistance may be quite
time consuming.
It can however be easily determined from the plot of ∆p versus q.

d(∆p)
Rf =
dq

[Ogata, 1997]
Behzad Samadi (Amirkabir University) Industrial Control 4 / 17
Pneumatic Capacitor

q p

Capacitance

dm
Cf =
dp

Cf = capacitance
m = mass of gas inside the tank
p = gas pressure

Behzad Samadi (Amirkabir University) Industrial Control 5 / 17

Pneumatic Capacitor

Ideal Gas Law

pV
= nR
T

p =gas pressure
V =volume of the gas
T =absolute temperature
n =number of moles of gas
R =universal gas constant

Behzad Samadi (Amirkabir University) Industrial Control 6 / 17

Pneumatic Capacitor

Ideal Gas Law

pV
= nR
T

p =gas pressure
V =volume of the gas
T =absolute temperature
n =number of moles of gas
R =universal gas constant

pV
m =nM = M
RT
M =molar mass
Behzad Samadi (Amirkabir University) Industrial Control 6 / 17
Pneumatic Capacitor

Ideal Gas Law

pV
= nR
T

p =gas pressure
V =volume of the gas Pneumatic Capacitor
T =absolute temperature dm V
Cf = = R
dp MT
n =number of moles of gas
R =universal gas constant Isothermal change is assumed.

pV
m =nM = M
RT
M =molar mass
Behzad Samadi (Amirkabir University) Industrial Control 6 / 17
Simple Air Tank
p
out
Orifice
Air Tank

p
in
Compressed
Air

Behzad Samadi (Amirkabir University) Industrial Control 7 / 17

Simple Air Tank
p
out
Orifice
Air Tank

p
in
Compressed
Air

dpout
pin =Rf Cf + pout
dt
pin =input pressure
pout =air tank pressure
Rf =orifice resistance
Cf =air tank capacity

Behzad Samadi (Amirkabir University) Industrial Control 7 / 17

Pneumatic Nozzle-flapper Amplifier

[Ogata, 1997]

Behzad Samadi (Amirkabir University) Industrial Control 8 / 17

Pneumatic Relay

In this course, it is assumed that Pneumatic Relay is a linear gain.

[Love, 2007]

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Check Valve

Pneumatic diode
[Parr, 1999]

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Bellows
Bellows actuator

[Parr, 1999]
Behzad Samadi (Amirkabir University) Industrial Control 11 / 17
Bellows
Bellows actuator

Bellows feedback

[Parr, 1999]
Behzad Samadi (Amirkabir University) Industrial Control 11 / 17
Pneumatic Proportional Controller

[Ogata, 1997]

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Pneumatic Proportional Controller

pb = K1 x

[Ogata, 1997]

Behzad Samadi (Amirkabir University) Industrial Control 13 / 17

Pneumatic Proportional Controller

pb = K1 x
pb = K2 z

[Ogata, 1997]

Behzad Samadi (Amirkabir University) Industrial Control 13 / 17

Pneumatic Proportional Controller

pb = K1 x
pb = K2 z
pc = K3 z

[Ogata, 1997]

Behzad Samadi (Amirkabir University) Industrial Control 13 / 17

Pneumatic Proportional Controller

pb = K1 x
pb = K2 z
pc = K3 z
K1 K3
pc = K2 x = Kx
[Ogata, 1997]

Behzad Samadi (Amirkabir University) Industrial Control 13 / 17

Pneumatic Proportional Controller

pb = K1 x
pb = K2 z b a
x= a+b e − a+b y
pc = K3 z
K1 K3
pc = K2 x = Kx
[Ogata, 1997]

Behzad Samadi (Amirkabir University) Industrial Control 13 / 17

Pneumatic Proportional Controller

pb = K1 x
pb = K2 z b a
x= a+b e − a+b y
pc = K3 z Apc = Ks y
K1 K3
pc = K2 x = Kx
[Ogata, 1997]

Behzad Samadi (Amirkabir University) Industrial Control 13 / 17

Pneumatic PD Controller

[Ogata, 1997]

Behzad Samadi (Amirkabir University) Industrial Control 14 / 17

Pneumatic PI Controller

[Ogata, 1997]

Behzad Samadi (Amirkabir University) Industrial Control 15 / 17

Pneumatic PID Controller

[Ogata, 1997]

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I/P Converter

[Parr, 1999]

Behzad Samadi (Amirkabir University) Industrial Control 17 / 17

 Ljung, L. and Glad, T. (1994).
Modeling of Dynamic Systems.
Prentice Hall PTR, 1 edition.
Love, J. (2007).
Process Automation Handbook: A Guide to Theory and Practice.
Springer, 1 edition.
Macia, N. F. and Thaler, G. J. (2004).
Modeling and Control of Dynamic Systems.
Delmar Learning.
Ogata, K. (1997).
Modern Control Engineering.
Prentice Hall, 3 edition.
Parr, A. (1999).
Hydraulics and Pneumatics: A Technicians and Engineers Guide.
Butterworth-Heinemann, 2 edition.

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