PID control for process safety.pdf

PIPING AND
INSTRUMENTATION
DIAGRAM (P&ID)

Detailed graphical representation of a process including the
hardware and software (i.e piping, equipment, and
instrumentation) necessary to design, construct and operate
the facility. Common synonyms for P&IDs include
Engineering Flow Diagram (EFD), Utility Flow Diagram
(UFD) and Mechanical Flow Diagram (MFD).
The Piping & Instrumentation Diagram (P&ID)
Sometimes also known as Process & Instrumentation Diagram

Basic Loop
Process
Sensing Element
Measuring
Element
Transmit
Element
Control Element
Final Control
Element
Transmitter

Basic Loop
Transmitter
Controller
Orifice
(Flow Sensor)
Set point
Fluid Fluid

SENSORS (Sensing Element)
A device, such as a photoelectric cell, that receives and responds to a
signal or stimulus.
A device, usually electronic, which detects a variable quantity and
measures and converts the measurement into a signal to be recorded
elsewhere.
A sensor is a device that measures a physical quantity and converts it
into a signal which can be read by an observer or by an instrument.
For example, a mercury thermometer converts the measured temperature
into expansion and contraction of a liquid which can be read on a
calibrated glass tube. A thermocouple converts temperature to an output
voltage which can be read by a voltmeter.
For accuracy, all sensors need to be calibrated against known standards.

Temperature Sensor
A thermocouple is a junction between two different metals that produces a
voltage related to a temperature difference. Thermocouples are a widely used
type of temperature sensor and can also be used to convert heat into electric
power.
1. Thermocouple

Temperature Sensor
2. Resistance Temperature Detector (RTD)
Resistance Temperature Detectors (RTD), as the name implies, are sensors
used to measure temperature by correlating the resistance of the RTD
element with temperature.
Most RTD elements consist of a length of fine coiled wire wrapped around
a ceramic or glass core. The element is usually quite fragile, so it is often
placed inside a sheathed probe to protect it.
The RTD element is made from a pure material whose resistance at various
temperatures has been documented. The material has a predictable change
in resistance as the temperature changes; it is this predictable change that
is used to determine temperature.

Accuracy for Standard OMEGA RTDs
Temperature
°C
Ohms °C
-200 ±056 ±1.3
-100 ±0.32 ±0.8
0 ±0.12 ±0.3
100 ±0.30 ±0.8
200 ±0.48 ±1.3
300 ±0.64 ±1.8
400 ±0.79 ±2.3
500 ±0.93 ±2.8
600 ±1.06 ±3.3
650 ±1.13 ±3.6

Flow Sensor
1. Turbine Meter
In a turbine, the basic concept is that a meter is manufactured with a
known cross sectional area. A rotor is then istalled inside the meter
with its blades axial to the product flow. When the product passes the
rotor blades, they impart an angular velocity to the blades and
therefore to the rotor. This angular velocity is directly proportional to
the total volumetric flow rate.
Turbine meters are best suited to large, sustained flows as they are
susceptible to start/stop errors as well as errors caused by unsteady
flow states.

Flow Sensor
2. Magnetic Flow Meter
Measurement of slurries and of corrosive or abrasive or other difficult
fluids is easily made. There is no obstruction to fluid flow and pressure
drop is minimal.
The meters are unaffected by viscosity, density, temperature, pressure
and fluid turbulence.
Magnetic flow meters utilize the principle of Faraday’s Law of Induction;
similar principle of an electrical generator.
When an electrical conductor moves at right angle to a magnetic field, a
voltage is induced.

Flow Sensor
3. Orifice Meter

Flow Sensor
4. Venturi Meter
A device for measuring flow of
a fluid in terms of the drop in pressure when
the fluid flows into the constriction of
a Venturi tube.
A meter, developed by Clemens Herschel, for
measuring flow of water or other fluids through
closed conduits or pipes. It consists of a
venturi tube and one of several forms of flow
registering devices.

TRANSMITTER
Transmitter is a transducer* that responds to a measurement variable
and converts that input into a standardized transmission signal.
*Transducer is a device that receives output signal from sensors.
Pressure Transmitter
Differential Pressure
Transmitter
Pressure Level
Transmitter

CONTROLLER
Controller is a device which monitors and affects the operational conditions of a
given dynamical system. The operational conditions are typically referred to as
output variables of the system which can be affected by adjusting
certain input variables
Indicating Controller Recording Controller

FINAL CONTROL ELEMENT
Final Control Element is a device that directly controls the value of manipulated
variable of control loop. Final control element may be control valves, pumps,
heaters, etc.
Pump Control Valve Heater

PART I
-Instrumentation
Symbology-

Instrumentation Symbology
Instruments that are field mounted
-Instruments that are mounted on process plant (i.e sensor
that mounted on pipeline or process equipments.
Field
mounted on
pipeline

Instruments that are board mounted
-Instruments that are mounted on control board.

Instruments that are board mounted (invisible).
-Instruments that are mounted behind a control panel board.

Instruments that are functioned in Distributed Control System (DCS)
- A distributed control system (DCS) refers to a control
system usually of a manufacturing system, process or any kind
of dynamic system, in which the controller elements are not central
in location (like the brain) but are distributed throughout the system
with each component sub-system controlled by one or more
controllers. The entire system of controllers is connected by
networks for communication and monitoring.

 FC Flow Controller PT Pressure Transmitter
 FE Flow Element PTD Pressure Transducer
 FI Flow Indicator
 FT Flow Transmitter LC Level Controller
 FS Flow Switch LG Level Gauge
 FIC Flow Indicating Controller LR Level Recorder
 FCV Flow Control Valve LT Level Transmitter
 FRC Flow Recording Controller LS Level Switch
LIC Level Indicating Controller
 PC Pressure Controller LCV Level Control Valve
 PG Pressure Gauge LRC Level Recording Controller
 PI Pressure Indicator
 PR Pressure Recorder TE Temperature Element
 PS Pressure Switch TI Temperature Indicator
 PIC Pressure Indicating Controller TR Temperature Recorder
 PCV Pressure Control Valve TS Temperature Switch
 PRC Pressure Recording ControllerTC Temperature Controller
 PDI Pressure Differential Indicator TT Temperature Transmitter
 PDR Pressure Differential Recorder
 PDS Pressure Differential Switch
 PDT Pressure Differential Transmitter

PID control for process safety.pdf

Signal Lines Symbology

With using these following symbols;
Complete control loop for LCV 101
Principal of P&ID
Example 1
V-100
LCV 101
LV 100
LC
LC
LT

With using these following
symbology;
Draw control loop to show that PRV-
100 will be activated to relief pressure
when the pressure in the V-100 is
higher than desired value.
Example 2
V-100
PT Where PT is locally
mounted
Where PIC is function in DCS
PRV-100
PT
PIC
PIC
PE Where PE is locally
mounted on V-100
PE

Exercise 1
TK-100
(pH adjustment tank)
TK-101
(acid feed tank)
The diagram shows pH
adjustment; part of waste water
treatment process. With using
above symbols, draw control
loop where the process need is:
The process shall maintained at
pH 6. When the process liquid
states below pH 6, CV-102 will
be opened to dosing NaOH to
the tank TK-100. When the
process liquid states above pH
6, CV-101 will be operated to
dosing HCl.
TK-102
(base feed tank)
CV-101
CV-102
pHE 2 pHT 2
pHIC
2
pHE 1 pHT 1
pHIC
1

Answer 1
TK-100
TK-101
(acid feed tank)
treatment process. With using
above symbols, draw control
loop where the process need is:
The process shall maintained at
pH 6. When the process liquid
states below pH 6, CV-102 will
be opened to dosing NaOH in
the base feed tank. When the
process liquid states above pH
6, CV-101 will be operated to
dosing HCl in the acid fed tank.
TK-102
(base feed tank)
CV-101
CV-102
pHTE
2
pHT 2
pHIC
2
pHE 1 pHT 1
pHIC
1
pHE 1
pHT 1
pHIC
1
pHE 2
pHT 2
pHIC
2

Exercise 2
V-100
PCV-100
PCV-101
LT 1
TK-100
LIC 1
FC
FC
Where LT 1 and LIC 1 to control
PCV-100 (failure close);
PCV-100 close when level
reached L 3
PCV-100 open when level
below L3
L1
L2
L3
LT 2 LIC 2
PCV-101 (failure close);
PCV-101 close when level
reached L5
PCV-101 open when level
below L5
L4
L5

Answer 2
V-100
PRV-100
PRV-101
LT 1
TK-100
LIC 1
FC
FC Where LT 1 and LIC 1 to control
PRV-100 (failure close);
PRV-100 close when level
reached L 3
PRV-100 open when level
below L3
L1
L2
L3
LT 2 LIC 2
PRV-101 (failure close);
PRV-101 close when level
reached L5
PRV-101 open when level
below L5
L4
L5
LT 1
LIC 1
LT 2
LIC 2

PART II
-Instrumentation
Numbering-

Instrumentation Numbering
 XYY CZZLL
X represents a process variable to be measured.
(T=temperature, F=flow, P=pressure, L=level)
YY represents type of instruments.
C designates the instruments area within the plant.
ZZ designates the process unit number.
LL designates the loop number.

 LIC 10003
L = Level shall be measured.
IC = Indicating controller.
100 = Process unit no. 100 in the area of no. 1
03 = Loop number 3

 FRC 82516
F = Flow shall be measured.
RC = Recording controller
825 = Process unit no. 825 in the area of no. 8.
16 = Loop number 16

PIPING & INSTRUMENTATION
DIAGRAM
-PROCESS CONTROL VARIETY-

SCOPE:
Students will be able to know:-
 Type of Process Control Loop
 Definition and application of various type of
Process Control Loop

Type of Process Control Loop
 Feedback Control
 Feedforward Control
 Feedforward-plus-Feedback Control
 Ratio Control
 Split Range Control
 Cascade Control
 Differential Control

Feedback Control
•
One of the simplest process control schemes.
•
A feedback loop measures a process variable and sends the measurement to a
controller for comparison to set point. If the process variable is not at set point,
control action is taken to return the process variable to set point.
•
The advantage of this control scheme is that it is simple using single transmitter.
•
This control scheme does not take into consideration any of the other variables in
the process.
V-100
LCV-100
LC
V-100
Fluid in
Fluid out
LT
Y

Feedback Control (cont…)
•
Feedback loop are commonly used in the process control industry.
•
The advantage of a feedback loop is that directly controls the desired process
variable.
•
The disadvantage of feedback loops is that the process variable must leave set
point for action to be taken.
V-100
LCV-100
LC
V-100
Fluid in
Fluid out
LT
Y

Example 1
Figure below shows the liquid vessel for boiler system. This system has to
maximum desired temperature of 120 degree Celcius (L2) where the heater will be
cut off when the temperature reached desired temperature. Draw feedback control
loop for the system.
V-100
V 100
TC
Fluid in
Fluid out
TT

Feedforward Control
•
Feedforward loop is a control system that anticipates load disturbances and
controls them before they can impact the process variable.
•
For feedforward control to work, the user must have a mathematical
understanding of how the manipulated variables will impact the process variable.
LCV-100
FT
FC
Y
Steam
TI
Process variable need to be
controlled = Temperature
Fluid in
Fluid out

Feedforward Control (cont…)
•
An advantage of feedforward control is that error is prevented, rather than
corrected.
•
However, it is difficult to account for all possible load disturbances in a system
through feedforward control.
•
In general, feedforward system should be used in case where the controlled
variable has the potential of being a major load disturbance on the process
variable ultimately being controlled.
LCV-100
FT
FC
Y
Steam
TI
Process variable need to be
controlled = Temperature
Fluid in
Fluid out

Example 2
Figure below shows compressed gas vessel. Process variable that need to be
controlled is pressure where the vessel should maintain pressure at 60 psi. This
pressure controlled through the gas flow measurement into the vessel. By using
feedforward control system, draw the loop.
V-100
FT Process variable need to
be controlled = Pressure
FC
Y
PI

Exercise 1
Figure below shows the boiler system that used to supply hot steam to a
turbine. This system need to supply 100 psi hot steam to the turbine where
the PCV-100 will be opened when the pressure reached that desired
pressure. With using pressure control through temperature measurement
in the boiler, draw a feedforward loop control system.
BOILER
Process variable need to
Water Hot steam
PCV-100

Answer 1
Figure below shows the boiler system that used to supply hot steam to a turbine.
This system need to supply 100 psi hot steam to the turbine where the PCV-100 will
be opened when the pressure reached that desired pressure. With using pressure
control through temperature measurement in the boiler, draw a feedforward loop
control system.
BOILER
TT
TIC Y
Water Hot steam
PI

Feedforward-plus-Feedback Control
• Because of the difficulty of accounting for every possible load disturbance in a
feedforward system, this system are often combined with feedback systems.
• Controller with summing functions are used in these combined systems to total
the input from both the feedforward loop and the feedback loop, and send a
unified signal to the final control element.
LCV-100
FT
FC
Y
Steam
TT
be controlled =
Temperature
Fluid in
Fluid out
TC


Example 3
Figure below shows compressed gas vessel. Process variable that need to be
controlled is pressure where the vessel should maintain pressure at 60 psi. By using
pressure controlled through both the gas flow measurement into the vessel and
vessel pressure itself, draw a feedforward-plus-feedback control loop system.
V-100
FT Process variable need to
FC
Y
PT

PIC

Exercise 2
Figure below shows the boiler system that used to supply hot steam to a
turbine. This system need to supply 100 psi hot steam to the turbine where
the PCV-100 will be opened when the pressure reached that desired
pressure. With using pressure control through temperature and pressure
measurement in the boiler, draw a feedforward-plus-feedback control loop
system.
BOILER
Water Hot steam

Answer 2
BOILER
TT
TIC
Y
Water Hot steam
PIC
Figure below shows the boiler system that used to supply hot steam to a turbine.
This system need to supply 100 psi hot steam to the turbine where the PCV-100 will
be opened when the pressure reached that desired pressure. With using pressure
control through temperature and pressure measurement in the boiler, draw a
feedforward-plus-feedback control loop system.
PT


Ratio Control
Ratio control is used to ensure that two or more flows are kept at
the same ratio even if the flows are changing.
Water Acid
2 part of water
1 part of acid
FT
FT
FF
FIC

Ratio Control (cont…)
Application: - Blending two or more flows to produce a mixture with
specified composition.
- Blending two or more flows to produce a mixture with
specified physical properties.
- Maintaining correct air and fuel mixture to combustion.
Water Acid
2 part of water
1 part of acid
FT
FT
FF
FIC

Ratio Control (Auto Adjusted)
- If the physical characteristic of the mixed flow is measured, a PID
controller can be used to manipulate the ratio value.
- For example, a measurement of the density, gasoline octane rating,
color, or other characteristic could be used to control that characteristic
by manipulating the ratio.
Water Acid
2 part of water
1 part of acid
FT
FT
FF
FIC
AIC
Remote Ratio
Adjustment
Remote Set Point
Physical Property
Measurement

Cascade Control
Cascade Control uses the output of the primary controller to
manipulate the set point of the secondary controller as if it were
the final control element.
Reasons for cascade control:
• Allow faster secondary controller to
handle disturbances in the
secondary loop.
●
Allow secondary controller to handle
non-linear valve and other final
control element problems.
●
Allow operator to directly control
secondary loop during certain
modes of operation (such as
startup).

Cascade Control (cont…)
Requirements for cascade control:
- Secondary loop process dynamics must
be at least four times as fast as primary
loop process dynamics.
- Secondary loop must have influence
over the primary loop.
- Secondary loop must be measured and
controllable.

Exercise 3
Figure below shows pH adjustment process where pH 6.5 need to be
maintained. pH in the tank is controlled by NaOH dosing to the tank. But
somehow, the flow of waste (pH 4.5) also need to considered where excess
flow of the waste shall make that pH in the tank will decrease. Draw a
cascade control loop system.
be controlled = pH
NaOH Tank
pH Adjustment Tank
Waste, pH 4.5
pH 6.5

Answer 3
Figure below shows pH adjustment process where pH 6.5 need to be
maintained. pH in the tank is controlled by NaOH dosing to the tank. But
somehow, the flow of waste (pH 4.5) also need to considered where excess
flow of the waste shall make that pH in the tank will decrease. Draw a
cascade control loop system.
be controlled = pH
pHT
FT
pHC
FC Y
NaOH Tank
pH Adjustment Tank
Waste, pH 4.5
pH 6.5

Split Range Control
FC
FT
Valve A
Valve B

Split Range Control
TK-100
TK-101
(acid feed tank)
treatment process.The process
shall maintained at pH 6. When
the process liquid states below
pH 6, CV-102 will be opened to
dosing NaOH to the tank TK-
100. When the process liquid
states above pH 6, CV-101 will
be operated to dosing HCl.
TK-102
(base feed tank)
CV-101
CV-102
pHT 1
pHIC

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