Beruflich Dokumente
Kultur Dokumente
&
Process Control) Characteristics
Fall 1393
Bonab University
Instrumentation - Course Information
Department of Electrical Engineering
Instructor: Fariborz Rahimi
Lectures: 13-14:30pm (Sat), 8-10am (Sun*)
Evaluation:
• Assignments: 10%
• Quizzes: 5%
• Midterm 20%
• Final Exam 65%
References:
• “Measurement and Instrumentation. Theory and Application”, Alan S. Morris, Reza Langari, 2011
• “Instrumentation and Control Systems”, W. Bolton, Elsevier, 2004
• “Advanced Industrial Control Technology”, Peng Zhang, Elsevier, 2010
2
Instrumentation - Course Information
References:
1392سید علی سالمتی ,حمیدرضا تقی راد ”,مبانی اندازه گیری در سیستمهای ابزار دقیق“ ]• [1
سید علی اکبر صفوی – محمد رضوانی – ”- 1388اصول و روشهای کنترل صنعتی“ ]• [2
– 1379سید حجت سبز پوشان ”,اصول و اجزائ کنترل صنعتی“ ]• [3
3
Instrumentation– Course Contents & Summary
• Introduction [1-1, A-1&2]
• Definitions, Components, Characteristics (Sta-Dyn), Importance, Need/application of
instrumentation & control
• Measurement & Sensors
• Errors & key parameters [1-1, A-2&3]
• Sensors categories (variable resistors, transformers, capacitors…) [1-1, A-2&13]
• Conditioning systems (active-passive) [1-2, A-9&10]
• Calibrating Measurement systems [A-4]
• Measurement systems:
• Force/Torque, pressure [1-4, A-15 & 18]
• Displacement, Velocity, acceleration [1-5, A-19]
• Temperature [1-6, A-14]
• Basics of Control Technology [2-1]
• Open/closed loop control systems, Components of control loops, Principles/Performance of such
systems
• Industrial/Process Control [2-2,2-5]
• Function and terminology of process control systems, Control algorithms & tuning controllers,
proportional/integral/derivative (PID) control laws, PLC controllers (or Micro-controllers)
• Correction Elements (Actuators) [3-5]
4
Introduction
Introduction
• Instrumentation (usually in)
Automation field
• Process Control
• Industrial Control
• Components:
Data
Analysis
Sensor / Signal Amplifier Recorder
Transducer Conditioning
5
Introduction
Introduction
• The aim (application):
• Engineering Analyses (of a machine, system, process)
• A new product optimization
• Mathematical/ computer modeling
• Analyzing performance/safety
• Monitor
• Quality control, fault/failure detection (useful for
Parameter adjustment)
• Process Control (*)
• In a feedback loop such information is used for
automatic control
• Control in process industries refers to the regulation
of all aspects of the process (Precise control of level,
temperature, pressure and flow)
• Components of an instrumentation system: Sensor, Transducer, Transmitter, Actuator,
Controller, Interface
6
Introduction
Introduction
• Why process control is important?
Refining, combining, handling, manipulating inputs (raw) to
profitably produce end products is:
• Precise
• Demanding
• potentially hazardous process
Small changes in a process = a large impact on the end result.
Variations in:
• Proportions, temperature, flow, turbulence, and many other factors
must be carefully and consistently controlled to produce the
desired end product with a minimum of raw materials/energy
Instrumentation Systems
&
Sensors
8
Measurement
Instrumentation Systems
&
Sensors
May
• Measured numerical value ≠ true value of the variable
Measurem
ent System
Input: Output:
Errors in measurement: True value of a variable Measured value of a variable
• Unavoidable (but can be reduced) -Temperature of a liquid -The value for temperature,
• Error , Repeatability -Pressure, speed, flow,… Pressure, speed, flow,…
Error Sources:
1. Gross errors ()خطای عمده
• Mistake (wrong summation of couple values)
• Distraction (23.2 32.2)
• Misuse of instruments
2. Systematic errors ()روشمند
• Observational/personal errors
• Parallax error: Angle of observing a scale ( mirror)
• Interpolation error: pointer stays between the divisions of the scale (observer has to estimate)
9
Measurement
2. Systematic errors
• Instrumentation errors
• Due to inherent shortcomings in the instrument
• Due to positioning/levelness
• Due to loading effects of the instrument
• Environmental errors
• due to conditions external to the measuring device (effects of temperature, pressure, humidity, dust or of
external electrostatic or magnetic field)
3. Random/Residual errors ()تصادفی
due to a multitude of small factors which change or fluctuate from one measurement to another. The happenings
or disturbances about which we are unaware are lumped together averaging and statistical methods help
Error Categories:
• Linear (reading is related to true value in a Linear way)
• Zero shift error
• Non-Linear (don’t follow a general trend, affect repeatability)
• Hysteresis, dead-zone errors
10
Measurement
• Error combination
𝑒𝑐 = 𝑒𝑡 2 + 𝑒𝑠𝑐 2 + 𝑒𝑎2 + 𝑒𝑅2 (Root Mean Square, RMS)
• Calibration: Calibration is the process of comparing the output of a measurement system against
standards of known accuracy
Output quantity Qo
• Key parameters in an instrumentation system: Allowable
deviation
1. Sensitivity
11
Measurement
12
Measurement
• Active: the quantity being measured simply modulates the magnitude of some
external power source
13
Measurement
• Deflection type: the value of the quantity being measured is displayed in terms
of the amount of movement of a pointer (pressure gauge)
• Null-type (dead-weight gauge): weights are put on top of the piston until the
downward force balances the fluid pressure. (Pressure measurement in terms of
weight)
• A general rule: null-type instruments
more accurate than deflection types
14
Measurement
• Digital: output varies in discrete steps and so can only have a finite number of
values (needed for Microprocessor/computer)
15
Measurement
16
Measurement
17
Measurement
• Example: A pressure gauge, measurement range of 0–10 bar has a quoted inaccuracy of
±1.0% f.s. (±1% of full-scale reading).
• (a) What is the maximum measurement error expected for this instrument?
• (b) What is the likely measurement error expressed as a percentage of the output reading if this
pressure gauge is measuring a pressure of 1 bar?
• Solution:
• (a) 1.0% of the full-scale reading: maximum likely error is 1.0% ± 10 bar = 0.1 bar
• (b) The maximum measurement error is a constant value related to the full-scale reading of
the instrument. Thus, when measuring a pressure of 1 bar, the maximum possible error of
0.1 bar is 10% of the measurement value
18
Measurement
• Precision/Repeatability/Reproducibility
• Tolerance
• Tolerance (closely related to accuracy): the maximum error that is to be expected in some
value. (not, strictly speaking, a static characteristic of measuring instruments, but the
accuracy of some instruments is sometimes quoted as a tolerance value)
• Describes the maximum deviation of a manufactured component from some specified value
Example: A packet of resistors gives the nominal resistance value as 1000 Ohm and the
manufacturing tolerance as ±5%. If one resistor is chosen at random from the packet, what is
the minimum and maximum resistance value that this particular resistor is likely to have?
20
Measurement
• Range or Span
• the minimum and maximum values of a quantity that the instrument is designed to measure
• Linearity
• desirable : output reading of be linearly proportional to
the quantity being measured
• Sensitivity of Measurement
• A measure of the change in instrument output that occurs when the quantity being
measured changes by a given amount
22
Measurement
• Threshold
• Input is increased gradually from zero, the input will have to reach a certain minimum level
before the change in the instrument output reading is of a large enough magnitude to be
detectable
• Manufacturer indicates it as:
• Absolute
• Percentage of full-scale readings
• Example: a car speedometer typically has a threshold of about 15 km/h (start to move)
• Resolution
• When an instrument is showing a particular output reading, there is a lower limit on the
magnitude of the change in the input measured quantity that produces an observable
change
• Manufacturer : (Absolute, Percentage full-scale)
• A car at 90 km/h, how finely its output scale is divided into subdivisions (say, 20km/h)
Resolution = 5km/h
23
Measurement
• Sensitivity to Disturbance
• All calibrations and specifications of an instrument are only valid under controlled
conditions of temperature, pressure, …
• Variations occur certain static instrument characteristics change, and the sensitivity to
disturbance is a measure of the magnitude of this change affect instrument:
• Zero shift (bias): zero reading is modified
a constant error (bathroom scale)
24
Measurement
• Sensitivity to Disturbance
• Example:
The following table shows output measurements of a voltmeter under two sets of
conditions:
(a) Use in an environment kept at 20oC which is the temperature that it was calibrated at
(b) Use in an environment at a temperature of 50oC
Voltage readings at calibration temperature Voltage readings at
of 20oC (assumed correct) temperature of 50oC
10.2 10.5
20.3 20.6
30.7 40.0
40.8 50.1
Determine the zero drift when it is used in the 50oC environment, assuming that the
measurement values when it was used in the 20oC environment are correct. Also calculate
the zero drift coefficient.
25
Measurement
• Sensitivity to Disturbance
• Solution:
Zero drift at the temperature of 50oC is the constant difference between the pairs of output
readings, that is, 0.3 volts.
• The zero drift coefficient is the magnitude of drift (0.3 volts) divided by the magnitude of the
temperature change causing the drift (30oC). Thus the zero drift coefficient is 0.3/30 = 0.01
volts/oC.
• Example-2:
• A spring balance is calibrated in an environment at a temperature of 20C and has the following
deflection/load characteristic:
Load (kg) 01 2 3
Deflection (mm) 0 20 40 60
• It is then used in an environment at a temperature of 30oC, and the following deflection/
• load characteristic is measured:
Load (kg) 01 2 3
Deflection (mm) 5 27 49 71
• Determine the zero drift and sensitivity drift per oC change in ambient temperature
26
Measurement
• Sensitivity to Disturbance
• Solution:
At 20oC, deflection/load characteristic is a straight line. Sensitivity = 20 mm/kg.
At 30oC, deflection/load characteristic is still a straight line. Sensitivity = 22 mm/kg.
Zero drift (bias) = 5 mm (the no-load deflection)
Sensitivity drift = 2 mm/kg
Zero drift/oC = 5/10 ¼ 0.5 mm/oC
Sensitivity drift/oC = 2/10 = 0.2 (mm/kg)/oC
27
Measurement
• Hysteresis Effects
1. the input measured quantity to the instrument is increased steadily from a negative value
Output: curve-A
2. the input variable is then decreased steadily
Output: curve-B
28
Measurement
• Dead-space
• the range of different input values over which
there is no change in output value
• System with Hyst. also dead space
• Some systems: no Hyst dead space
• Static characteristics: concerned only with the steady-state reading that the
instrument settles down to (e.g. accuracy)
• Dynamic characteristics: describe instrument behavior between the time a
measured quantity changes value and the time when the instrument output
attains a steady value in response
• Dynamic characteristics also: under specific conditions outside these
conditions: variation in Dyn. Char.
• In any linear, time-invariant measuring system:
30
Measurement
• Zero-Order Instrument:
• a0 ≠ 0
31
Measurement
• First-Order Instrument:
• a 0 & a1 ≠ 0
32
Measurement
• Example:
A balloon:
• temperature- and altitude-measuring instruments
• radio equipment that can transmit the output readings
• initially anchored to the ground with the instrument output readings in steady state
• altitude-measuring instrument is approximately zero order
• temperature transducer is first order with a time constant of 15 seconds
• temperature on the ground, T0, is 10oC
• temperature Tx at an altitude of x meters is given by the relation: Tx = T0 - 0.01x.
33
Measurement
• Solution:
a) temperature reported at general time t be Tr
_ _ _
x=5t
b) 5000m, t=1000
34
Measurement
Standard format
2nd order instrument
• Analytic solution: depends on ξ (damping ratio)
35
Measurement
A. No-damping = oscillation
B. Light damping = oscillatory
C. Critically damped (the most practical)
reduces osc. and overshoot
D. Damped
E. Over-damped