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Measurement Systems
Version 2 EE IIT, Kharagpur 1
Lesson
6
Displacement and Speed
Measurement
Version 2 EE IIT, Kharagpur 2
Instructional Objectives
At the end of this lesson, the student should be able to
Introduction
Displacement and speed are two important parameters whose measurements are important in
many position and speed control schemes. Error free measurements of these two parameters are
necessary in order to achieve good control performance.
Displacement measurement can be of different types. The displacement may be in the range of
few μm to few cm. Moreover the measurement may be of contact type or noncontact type. Again
displacement to be measured can be linear or angular (rotary). Similar is the case for speed
measurement. Accordingly different measuring schemes are used for measurement of these two
parameters. In this lesson, we shall discuss about few such schemes.
Displacement Measurement
Broadly speaking, displacement measurement can be of two types: contact and noncontact types.
Besides the measurement principles can be classified into two categories: electrical sensing and
optical sensing. In electrical sensing, passive electrical sensors are used variation of either
inductance or capacitance with displacement is measured. On the other hand the optical method
mainly works on the principle of intensity variation of light with distance. Interferometric
technique is also used for measurement of very small displacement in order of nanometers. But
this technique is more suitable for laboratory purpose, not very useful for industrial applications.
Potentiometer
Potentiometers are simplest type of displacement sensors. They can be used for linear as well as
angular displacement measurement, as shown in Fig. 1. They are the resistive type of transducers
and the output voltage is proportional to the displacement and is given by:
x
eo = i E ,
xt
where xi is the input displacement, xt is the total displacement and E is the supply voltage.
θi
E xt
xi eo
eo
(a)
E
(b)
Fig. 1 Potentiometer
(a) Linear
(b) Rotary
Insulating
Form
Core
Displacement
X
(Measurand)
Ferromagnetic Core
vo
Secondary
Coil
Core
Primary
Coil
vref
Fig. 2(b) Series opposition connection of secondary windings.
Voltage
Level
Displacement x
Linear
Range
AC
Supply
vref
Inductance
Measuring
Circuit
Ferromagnetic
Target Object X
(Measurand)
Secondary
Coil
Core
Primary
Coil
vref
Resolver
Resolvers also work on the principle of mutual inductance variation and are widely used for
measurement of rotary motion. The basic construction is shown in Fig. 5. A resolver consists of
a rotor containing a primary coil and two stator windings (with equal number of turns) placed
perpendicular to each other. The rotor is directly attached to the object whose rotation is being
measured. If a.c. excitation of r.m.s voltage Vr is applied, then the induced voltages at two stator
coils are given by:
v01 = KVr cosθ
and v02 = KVr sin θ ; where K is a constant.
By measuring these two voltages the angular position can be uniquely determined, provided
(0 ≤ θ ≤ 900 ) . Phase sensitive detection is needed if we want to measure for angles in all the
four quadrants.
Synchros work widely as error detectors in position control systems. The principle of operation
of synchros is similar to that of resolvers. However it will not be discussed in the present lesson.
Rotor
AC
Supply
vref
Stator Output
vo1 = Kvref cos θ
Stator
Capacitance Sensors
The capacitance type sensor is a versatile one; it is available in different size and shape. It can
also measure very small displacement in micrometer range. Often the whole sensor is fabricated
in a silicon base and is integrated with the processing circuit to form a small chip. The basic
principle of a capacitance sensor is well known. But to understand the various modes of
operation, consider the capacitance formed by two parallel plates separated by a dielectric. The
capacitance between the plates is given by:
ε ε A
C= r 0 (1)
d
where A=Area of the plates
d= separation between the plates
ε r = relative permittivity of the dielectric
ε 0 = absolute permittivity in free space = 8.854 × 10 −12 F / m .
A capacitance sensor can be formed by either varying (i) the separation (d), or, (ii) the area (A),
or (iii) the permittivity ( ε r ). A displacement type sensor is normally based on the first two
(variable distance and variable area) principles, while the variable permittivity principle is used
for measurement of humidity, level, etc. Fig.6 Shows the basic constructions of variable gap and
variable area types of capacitance sensors mentioned above. Fig. 6(a) shows a variable distance
type sensor, where the gap between the fixed and moving plates changes. On the other hand, the
area of overlap between the fixed plate and moving plate changes in Fig. 6(b), maintaining the
gap constant. The variable area type sensor gives rise to linear variations of capacitance with the
input variable, while a variable separation type sensor follows inverse relationship.
(a) (b)
Fig.6 Capacitive type displacement Sensors:
a) variable separation type,
b) variable area type.
Capacitance sensors are also used for proximity detection. Such a typical scheme is shown in
Fig. 4. Capacitive proximity detectors are small in size, noncontact type and can detect presence
of metallic or insulating objects in the range of approximately 0-5cm. For detection of insulating
objects, the dielectric constant of the insulating object should be much larger than unity. Fig. 7
shows the construction of a proximity detector. Its measuring head consists of two electrodes,
one circular (B) and the other an annular shaped one (A); separated by a small dielectrical
spacing. When the target comes in the closed vicinity of the sensor head, the capacitance
between the plates A and B would change, which can be measured by comparing with a fixed
reference capacitor.
The measuring circuits for capacitance sensors are normally capacitive bridge type. But it should
be noted that, the variation of capacitance in a capacitance type sensor is generally very small
(few pF only, it can be even less than a pF in certain cases). These small changes in capacitor, in
presence of large stray capacitance existing in different parts of
Target
A B
Optical Sensors
Optical displacement sensors work on the basic principle that the intensity of light decreases with
distance. So if the source and detector are fixed, the amount of light reflected from a moving
surface will depend on the distance of the moving surface from the fixed ones. Measurement
using this principle requires proper calibration since the amount of light received depends upon
the reflectivity of the surface, intensity of the source etc. Yet it can provide a simple method for
displacement measurement. Optical fibers are often used to transmit light to and from the
measuring zone. Such a scheme with bundle fibers is shown in Fig. 8. It uses two bundle fibers,
one for transmitting light from the source and the other to the detector. Light reflected on the
receiving fiber bundle by the surface of the target object is carried to a photo detector. The light
source could be Laser or LED; photodiodes or phototransistors are used for detection.
Photodiode, Target
Phototransistor, Object
Position etc.
Measurement
Signal Photo-
Processor detector Receiving X
Fibers (Measurand)
Speed Measurement
The simplest way for speed measurement of a rotating body is to mount a tachogenerator on the
shaft and measure the voltage generated by it that is proportional to the speed. However this is a
contact type measurement. There are other methods also for noncontact type measurements.
The first method is an optical method shown in Fig. 9. An opaque disc with perforations or
transparent windows at regular interval is mounted on the shaft whose speed is to be measured.
A LED source is aligned on one side of the disc in such a way that its light can pass through the
transparent windows of the disc. As the disc rotates the light will alternately passed through the
transparent windows and blocked by the opaque sections. A photodetector fixed on the other
side of the disc detects the variation of light and the output of the detector after signal
conditioning would be a square wave (as shown) whose frequency is decided by the speed and
the number of holes (transparent windows) on the disc.
Output
t
LED
Light Source
Transparent
Windows
Photocell, Phototransistor,
or Photodiode
(Light Sensor)
Opaque Disk
Fig.10 shows another scheme for speed measurement. It is a variable reluctance type speed
sensor. A wheel with projected teethes made of a ferromagnetic material is mounted on the shaft
whose speed is to be measured. The static sensor consists of a permanent magnet and a search
coil mounted on the same assembly and fixed at a closed distance from the wheel. The flux
through the permanent magnet completes the path through the teeth of the wheel and cut the
search coil. As the wheel rotates there would be change in flux cut and a voltage will be induced
in the search coil. The variation of the flux can be expressed as:
φ (t ) = φo + φm sin ω t (2)
where ω is the angular speed of the wheel. Then the voltage induced in the coil is:
dφ
e = −N = − Nω φm cos ω t (3)
dt
where N is the number of turns in the search coil. So both the amplitude and frequency of the
induced voltage is dependent on the speed of rotation. This voltage is fed to a comparator circuit
that gives a square wave type voltage whose amplitude is constant, but frequency is proportional
to the speed. A frequency counter is used to count the number of square pulses during a fixed
interval and displays the speed.
d Yoke Permanent
magnet
Search
Coil
Terminals
Coil
The most popular type of speed sensor is the tachogenerator. The tachogenerator is mounted on
the shaft and the voltage induced that is proportional to the speed is measured. But there are
other noncontact methods also in which the speed signal is converted into frequency signal and
the frequency is measured. Two such techniques have been discussed in this lesson.
References
1. J.P. Bentley: Principles of Measurement Systems (3/e), Longman, U.K., 1995.
2. E.O. Doeblin: Measurement System Application and Design (4/e), Mcgraw-Hill,
Singapore, 1990.
3. L.K.Baxter: Capacitance Sensors Design and Applications, IEEE Press, New Jersey,
1997.
4. D. Patranabis: Sensors and Transducers (2/e), PHI, New Delhi, 2003.
5. C.W. de Silva: Control Sensors and Actuators, Prentice Hall, New Jersey, 1989.
Review Questions
1. What is the function of a Phase Sensitive Detector (PSD) in a LVDT circuit?
2. Discuss the construction and operating principle of a LVDT.
3. Distinguish between variable gap and variable area type capacitance displacement
sensors.
4. What are the advantages and limitations of optical displacement (position) sensors?
5. Name two method of noncontact type speed measurement. Explain with a schematic
diagram the principle of operation of any one of them.
6. An optical type speed sensor has a disc with 36 rectangular holes placed at regular
intervals on the periphery of the disc. The frequency of the photodetector output is 360
Hz. Find the speed of the shaft in rpm on which the disc is mounted.
Answer
6. 600 rpm.
Industry
In a general sense the term “Industry” is defined as follows.
Definition: Systematic Economic Activity that could be related to
Manufacture/Service/ Trade.
In this course, we shall be concerned with Manufacturing Industries only.
Automation
The word ‘Automation’ is derived from greek words “Auto”(self) and “Matos”
(moving). Automation therefore is the mechanism for systems that “move by itself”.
However, apart from this original sense of the word, automated systems also achieve
significantly superior performance than what is possible with manual systems, in terms
of power, precision and speed of operation.
Control
It is perhaps correct to expect that the learner for this course has already been exposed to
a course on Control Systems, which is typically introduced in the final or pre-final year
of an undergraduate course in Engineering in India. The word control is therefore
expected to be familiar and defined as under.
Point to Ponder: 2
A. Can you explain the above definition in the context of a common control system, such as
temperature control in an oven?
B. Is the definition applicable to open-loop as well as closed loop control?
It is important at this stage to understand some of the differences in the senses that these two
terms are generally interpreted in technical contexts and specifically in this course. These are
given below.
1. Automation Systems may include Control Systems but the reverse is not true. Control
Systems may be parts of Automation Systems.
2. The main function of control systems is to ensure that outputs follow the set points.
However, Automation Systems may have much more functionality, such as computing
set points for control systems, monitoring system performance, plant startup or shutdown,
job and equipment scheduling etc.
Automation Systems are essential for most modern industries. It is therefore important to
understand why they are so, before we study these in detail in this course.
Point to Ponder: 3
A. Can you give an example of an automated system, which contains a control system as a
part of it?
B. What are the other parts of the system?
Industrial IT
Control and Signal Communication
Processing and Networking
Simulation, Design,
Real-time Computing
Analysis, Optimization
Database
Fig. 1.1 Major areas of IT which are used in the context of Industrial Automation.
Point to Ponder: 4
A. Try to find an example automated system which uses at least one of the areas of
Industrial IT mentioned in Fig. 1.1 (Hint: Try using the internet)
Point to Ponder: 5
A. Can you give an example of an automated system, some of whose parts makes a
significant application of Industrial IT?
Apart from the above, there are some other distinguishing features of IT for the factory that
differentiate it with its more ubiquitous counterparts that are used in offices and other business.
A. Industrial information systems are generally reactive in the sense that they receive stimuli
from their universe of discourse and in turn produce responses that stimulate its environment.
Naturally, a crucial component of an industrial information system is its interface to the
world.
B. Most of industrial information systems have to be real-time. By that we mean that the
computation not only has to be correct, but also must be produced in time. An accurate result,
which is not timely may be less preferable than a less accurate result produced in time.
Therefore systems have to be designed with explicit considerations of meeting computing
time deadlines.
C. Many industrial information systems are considered mission-critical, in the sense that the
malfunctioning can bring about catastrophic consequences in terms of loss of human life or
property. Therefore extraordinary care must be exercised during their design to make them
flawless. In spite of that, elaborate mechanisms are often deployed to ensure that any
unforeseen circumstances can also be handled in a predictable manner. Fault-tolerance to
emergencies due to hardware and software faults must often be built in.
Point to Ponder: 6
A. Can you give an example of an automated system, which is reactive in the sense
mentioned above?
B. Can you give an example of an automated system, which is real-time in the sense
mentioned above
C. Can you give an example of an automated system, which is mission-critical in the sense
mentioned above
Point to Ponder: 7
A. With reference to Eq. (1), explain how the following automation systems improve
industrial profitability.
a. Automated Welding Robots for Cars
b. Automated PCB Assembly Machines
c. Distributed Control Systems for Petroleum Refineries
Fig. 1.3 A CNC Machine with an Automated Tool Changer and the Operator Console
with Display for Programming and Control of the Machine
Version 2 EE IIT, Kharagpur 7
Production Volume
Process
Market Planning,
Feedbacks Installation
Production,
Quality
Control
Economy of Scale
Definition: Reduction in cost per unit resulting from increased production, realized
through operational efficiencies. Economies of scale can be accomplished because as
production increases, the cost of producing each additional unit falls.
Economy of Scope
Definition : The situation that arises when the cost of being able manufacture multiple
products simultaneously proves more efficient than that of being able manufacture single
product at a time.
Economy of scope arises in several sectors of manufacturing, but perhaps the most
predominantly in electronic product manufacturing where complete product life cycle, from
conception to market, are executed in a matter of months, if not weeks. Therefore, to shrink the
time to market drastically use of automated tools is mandated in all phases of the product life
cycle. Additionally, since a wide variety of products need to be manufactured within the life
period of a factory, rapid programmability and reconfigurability of machines and processes
becomes a key requirement for commercial success. Such an automated production system also
enables the industry to exploit a much larger market and also protects itself against fluctuations
in demand for a given class of products. Indeed it is being driven by the economy of scope, and
Point to Ponder: 8
A. Can you give an example of an industry where economy of scope is more significant than
the economy of scale?
B. Can you give an example of an industry where economy of scale is more significant than
the economy of scope?
C. Can you give an example of an industry where both economy of scope, and economy of
scale are significant?
The above types of production systems are shown in Figure 1.6 categorized according to
volumes of production and variability in product types. In general, if the quantity of product is
more there is little variation in the product and more varieties of product is manufactured if the
quantity of product is lesser.
Job shop
Production
Variety
¾ Fixed Automation: It is used in high volume production with dedicated equipment, which
has a fixed set of operation and designed to be efficient for this set. Continuous flow and
Discrete Mass Production systems use this automation. e.g. Distillation Process,
Conveyors, Paint Shops, Transfer lines etc.
A process using mechanized machinery to perform fixed and repetitive operations in
order to produce a high volume of similar parts.
¾ Programmable Automation: It is used for a changeable sequence of operation and
configuration of the machines using electronic controls. However, non-trivial
programming effort may be needed to reprogram the machine or sequence of operations.
Investment on programmable equipment is less, as production process is not changed
frequently. It is typically used in Batch process where job variety is low and product
volume is medium to high, and sometimes in mass production also. e.g. in Steel Rolling
Mills, Paper Mills etc.
¾ Flexible Automation: It is used in Flexible Manufacturing Systems (FMS) which is
invariably computer controlled. Human operators give high-level commands in the form
of codes entered into computer identifying product and its location in the sequence and
the lower level changes are done automatically. Each production machine receives
settings/instructions from computer. These automatically loads/unloads required tools
and carries out their processing instructions. After processing, products are automatically
transferred to next machine. It is typically used in job shops and batch processes where
As can be seen from above, from Fixed Automation to CIM the scope and complexity of
automation systems are increasing. Degree of automation necessary for an individual
manufacturing facility depends on manufacturing and assembly specifications, labor conditions
and competitive pressure, labor cost and work requirements. One must remember that the
investment on automation must be justified by the consequent increase in profitability. To
exemplify, the appropriate contexts for Fixed and Flexible Automation are compared and
contrasted.
Point to Ponder: 9
A. During a technical visit to an industry how can you identify the type of automation
prevailing there from among the above types?
B. For what kind of a factory would you recommend computer integrated manufacturing
and why?
C. What kind of automation would you recommend for manufacturing
Lesson Summary
In this lesson we have dealt with the following topics:
A. Definition of Automation and its relations with fields of Automatic Control and
Information Technology: It is seen that both control and IT are used in automation
systems to realize one or more of its functionalities. Also, while Control Technology is
used for operation of the individual machines and equipment, IT is used for coordination,
management and optimized operation of overall plants.
B. The role played by Automation in realizing the basic goal of profitability of a
manufacturing industry: It is seen that Automation can increase profitability in multiple
ways by reducing labour, material and energy requirements, by improving quality as well
as productivity. It is also seen that Automation is not only essential to achieve Economy
of Scale, but also for Economy of Scope.
C. Types of Factories and Automation Systems that are appropriate for them: Factories have
been classified into four major categories based on the product volumes and product
variety. Similarly Automation Systems are also categorized into four types and their
appropriateness for the various categories of factories explained.
Exercises
A. Describe the role of Industrial Automation in ensuring overall profitability of a industrial
production system. Be specific and answer point wise. Give examples as appropriate.
B. State the main objectives of a modern industry (at least five) and explain the role of
automation in helping achieve these.
C. Explain with examples the terms “economy of scale” and “economy of scope”. How does
industrial automation help in achieving these? Cite examples.
D. Differentiate between a job shop and a flow shop with example what are their
‘process plant’ analogues? Give examples.
E. Run any internet search engine and type “History of Automation” to prepare a term paper
on the subject.
F. There are some aspects of automation that have not been treated in the lesson. Consult
references and prepare term papers on the impact of automation on
a. Environmental Appropriateness for Industries
b. Industrial Standardisation Certification such as ISO 9001
c. Industrial Safety
Point to Ponder: 1
A. Why does an automated system achieve superior performance compared to a manual
one?
Ans: Because such systems can have more precision, more energy and more speed of
operation than possible manually. Moreover using computing techniques, much more
sophisticated and efficient operational solutions can be derived and applied in real-time.
Ans: This is the rule. Only few exceptions exist. How many of the millions of industrial
products could be made manually?
Point to Ponder: 2
A. Can you explain the above definition in the context of a common control system, such as
temperature control in an oven?
Ans: Yes
Point to Ponder: 3
C. Can you give an example of an automated system, which contains a control system as a
part of it?
Point to Ponder: 4
Try to find an example automated system which uses at least one of the areas of Industrial IT
mentioned in Fig. 1.2. (Hint: Try using the internet)
Ans: Distributed Control Systems (DCS) used in many large Continuous-Flow processes
such as Petroleum Refining and Integrated Steel Plants use almost all components of
Industrial IT
Point to Ponder: 5
A. Can you give an example of an automated system, some of whose parts makes a
significant application of Industrial IT?
Ans: Distributed Control Systems (DCS) used in many large Continuous-Flow processes
such as Petroleum Refining and Integrated Steel Plants use almost all components of
Industrial IT
B. Can you give an example of an automated system, none of whose parts makes a
significant application of Industrial IT?
Ans: An automated conveyor system used in many large Discrete Manufacturing Plants such
as bottled Beverage Plants use no components of Industrial IT.
Point to Ponder: 6
A. Can you give an example of an automated system, which is reactive in the sense
mentioned above?
Ans: Any feedback controller, such as an industrial PID controller is reactive since it
interacts with sensors and actuators.
B. Can you give an example of an automated system, which is real-time in the sense
mentioned above
Ans: Any feedback controller, such as an industrial PID controller is real-time, since it has to
compute its output within one sampling time.
C. Can you give an example of an automated system, which is mission-critical in the sense
mentioned above
Point to Ponder: 7
A. With reference to Eq. (1), explain how the following automation systems improve
industrial profitability.
d. Automated Welding Robots for Cars
e. Automated PCB Assembly Machines
f. Distributed Control Systems for Petroleum Refineries
Ans: Some of the factors that lead to profitability in each case, are mentioned.
a. Automated Welding Robots for Cars
Increased production rate, Uniform and accurate welding, Operator safety.
b. Automated PCB Assembly Machines
Increased production rate, Uniform and accurate placement and soldering
c. Distributed Control Systems for Petroleum Refineries
Energy efficiency, Improved product quality
Point to Ponder: 8
A. You give an example of an industry where economy of scope is more significant than the
economy of scale?
Ans: One such example would a job shop which manufactures custom machine parts by
machining according to customer drawings. Another example would be a factory to
manufacture Personal Computer components
B. Can you give an example of an industry where economy of scale is more significant than
the economy of scope?
Ans: One such example would be a Power plant. Another one would be a Steel Plant.
Point to Ponder: 9
A. During a technical visit to an industry how can you identify the type of automation
prevailing there from among the above types?
B. For what kind of a factory would you recommend computer integrated manufacturing
and why?
Ans: For large systems producing sophisticated and expensive products in large volumes
having many subunits to be integrated in complex ways.
In Fig. 2.1 a sensor system is shown decomposed into three of its major functional components,
along with the medium in which the measurement takes place. These are described below.
Version 2 EE IIT, Kharagpur 3
A. The physical medium refers to the object where a physical phenomenon is taking place
and we are interested in the measurement of some physical variable associated with the
phenomenon. Thus, for example, the physical medium may stand for the hotga in a
furnace in the case of temperature measurement or the fluid in a pipe section in the case
of measurement of liquid flow rate.
B. The sensing element is affected by the phenomenon in the physical medium either
through direct or physical contact or through indirect interaction of the phenomenon in
the medium with some component of the sensing element. Again, considering the case of
temperature measurement, one may use a thermocouple probe as the sensing element that
often comes in physical contact with the hot object such as the flue gas out of a boiler-
furnace or an optical pyrometer which compares the brightness of a hot body in the
furnace with that of a lamp from a distance through some window and does not come in
direct contact with the furnace. In the more common case where the sensing element
comes in contact with the medium, often some physical or chemical property of the
sensor changes in response to the measurement variable. This change then becomes a
measure of the physical variable of interest. A typical example is the change in resistivity
due to heat in a resistance thermometer wire. Alternatively, in some other sensors a signal
is directly generated in the sensing element, as is the case of a thermocouple that
generates a voltage in response to a difference in temperature between its two ends.
C. The signal-conditioning element serves the function of altering the nature of the signal
generated by the sensing element. Since the method of converting the nature of the signal
generated in the sensor to another suitable signal form (usually electrical) depends
essentially on the sensor, individual signal conditioning modules are characteristic of a
group of sensing elements. As an example consider a resistance Temperature Detector
(RTD) whose output response is a change in its resistance due to change in temperature
of its environment. This change in resistance can easily be converted to a voltage signal
by incorporating the RTD in one arm of a Wheatstone's bridge. The bridge therefore
serves as a signal-conditioning module. Signal conditioning modules are also used for
special purpose functions relating to specific sensors but not related to variable
conversion such as `ambient referencing' of thermocouples. These typically involve
analog electronic circuits that finally produce electrical signals in the form of voltage or
current in specific ranges.
D. The signal processing element is used to process the signal generated by the first stage
for a variety of purposes such as, filtering (to remove noise), diagnostics (to assess the
health of the sensor), linearisation (to obtain an output which is linearly related with the
physical measurand etc. Signal processing systems are therefore usually more general
purpose in nature.
E. The target signal-handling element may perform a variety of functions depending on the
target application. It may therefore contain data/signal display modules, recording
or/storage modules, or simply a feedback to a process control system. Examples include a
temperature chart recorder, an instrumentation tape recorder, a digital display or an
Analog to Digital Converter (ADC) followed by an interface to a process control
computer.
While the above description fits in most cases, it may be possible to discover some variations in
some cases. The above separation into subsystems is not only from a functional point of view,
Modern sensors often have the additional capability of digital communication using serial,
parallel or network communication protocols. Such sensors are called “smart” and contain
embedded digital electronic processing systems.
Point to Ponder: 1
A. Draw the functional block diagram of a typical sensor system
B. Consider a strain-gage weigh bridge. Explore and identify the subsystems of the bridge
and categorise these subsystems into the above mentioned classes of elements mentioned
above.
In Fig.2.2 an actuator system is shown decomposed into its major functional components, The
salient points about the structure are described below.
A. The electronic signal-processing element accepts the command from the control system
in electrical form. The command is processed in various ways. For example it may be
filtered to avoid applying input signals of certain frequencies that may cause resonance.
Many actuators are themselves closed feedback controlled units for precision of the
actuation operation. Therefore the electronic signal-processing unit often contains the
control system for the actuator itself.
Point to Ponder: 2
A. Draw the functional block diagram of an actuator system
B. Consider an electro-hydraulic servo-valve actuator. Explore and identify the subsystems
of the actuator and categorise these subsystems into the above-mentioned classes of
elements mentioned above.
Continuous Control
This is also often termed as Automatic Control, Process Control, Feedback Control etc. Here the
controller objective is to provide such inputs to the plant such that the output y(t) follows the
input r(t) as closely as possible, in value and over time. The structure of the common control
loop with its constituent elements, namely the Controller, the Actuator, the Sensor and the
Process itself is shown. In addition the signals that exist at various points of the
+ e Controller uA Actuator
uP Plant
r (t) GP(s) y(t)
GC(s) GA(s)
Command/ Output
reference/
Setpoint
ds
+ Sensor
GS(s)
+
system are also marked. These include the command (alternatively termed the set point or the
reference signal), the exogenous inputs (disturbances, noise).
The difficulties in achieving the performance objective is mainly due to the unavoidable
disturbances due to load variation and other external factors, as well as sensor noise, the
complexity, possible instability, uncertainty and variability in the plant dynamics, as well as
limitations in actuator capabilities.
Most industrial control loop command signals are piecewise constant signals that indicate
desirable levels of process variables, such as temperature, pressure, flow, level etc., which ensure
the quality of the product in Continuous Processes. In some cases, such as in case of motion
control for machining, the command signal may be continuously varying according to the
dimensions of the product. Therefore, here deviation of the output from the command signal
results in degradation of product quality. It is for this reason that the choice of the feedback
signals, that of the controller algorithm (such as, P, PI pr PID), the choice of the control loop
structure (normal feedback loop, cascade loop or feedforward) as well as choice of the controller
gains is extremely important for industrial machines and processes. Typically the control
configurations are well known for a given class of process, however, the choice of controller
gains have to be made from time to time, since the plant operating characteristics changes with
time. This is generally called controller tuning.
A single physical device may act as the controller for one or more control loops (single-
loop/multi-loop controller). Today, many loop controllers supplement typical control laws such
as PID control by offering adaptive control and fuzzy logic algorithms to enhance controller
response and operation. PID and startup self-tuning are among the most important features.
Among other desired and commonly found characteristics are, ability to communicate upward
with supervisory systems, as well as on peer-to-peer networks (such as Fieldbus or DeviceNet),
support for manual control in the event of a failure in the automation. Software is an important
factor in loop controllers. Set-up, monitoring and auto-tuning and alarm software for loop
controllers is now a common feature. The controllers also accept direct interfacing of process
sensors and signals. Choice of inputs includes various types of thermocouples, RTDs, voltage to
10 V dc, or current to 20 mA. While most sophisticated controllers today are electronic,
Point to Ponder: 3
A. Draw the block diagram of a typical industrial control system
B. Consider a motor driven position control system, as commonly found in CNC Machine
drives. Identify the main feedback sensors in the system. Identify the major sources of
disturbance. How is such a drive different from that of an automated conveyor system?
Point to Ponder: 4
A. State the major aspect in which sequence/logic control systems differ from analog control
systems
B. Describe an industrial system that employs discrete sensors and discrete actuators.
♦ Set point computation: Set points for important process variables are computed
depending on factors such as nature of the product, production volume, mode of
processing. This function has a lot of impact on production volume, energy and quality
and efficiency.
♦ Performance Monitoring / Diagnostics: Process variables are monitored to check for
possible system component failure, control loop detuning, actuator saturation, process
parameter change etc. The results are displayed and possibly archived for subsequent
analysis.
♦ Start up / Shut down / Emergency Operations : Special discrete and continuous control
modes are initiated to carry out the intended operation, either in response to operator
commands or in response to diagnostic events such as detected failure modes.
♦ Control Reconfiguration / Tuning: Structural or Parametric redesign of control loops are
carried out, either in response to operator commands or in response to diagnostic events
such as detected failure modes. Control reconfigurations may also be necessary to
accommodate variation of feedback or energy input e.g. gas fired to oil fired.
♦ Operator Interface: Graphical interfaces for supervisory operators are provided, for
manual supervision and intervention.
Naturally, these systems are dependent on specific application processes, in contrast with
automatic control algorithms, which are usually generic (e.g. PID). Computationally these are a
mixture of hard and soft real time algorithms. These are also often very expensive and based on
proprietary knowledge of automating specific classes of industrial plants.
Point to Ponder: 5
A. State three major functions of a Supervisory Control System
B. Consider the motor driven automatic position control system, as commonly found in CNC
Machine drives. Explore and find out from where such systems get their set points during
machining. Identify some of the other functionalities
Typically, the algorithms make use of Resource Optimisation Technology and are non-real-time
although they may be using production data on-line.
Point to Ponder: 6
A. State three major functions of a Production Control System
B. Explore and find out concrete activities for production control under at least two of the
above major functions in any typical factory such as a Power Plans or a Steel Plant.
Level 4
Enterprise
Industrial
IT Productio
Level 3
n
Control
Level 2 Supervisory
Control
Level 1
Automati
Industrial Auto c
Control
Level 0
Sensors
Actuator
s
Process /
The spatial scale increases as the level is increased e.g. at lowest level a sensor works in a
single loop, but there exists many sensors in an automation system which will be visible as the
level is increased. The lowest level is faster in the time scale and the higher levels are slower.
The aggregation of information over some time interval is taken at higher levels.
All the above layers are connected by various types of communication systems. For example the
sensors and actuators may be connected to the automatic controllers using a point-to-point digital
communication, while the automatic controllers themselves may be connected with the
supervisory and production control systems using computer networks. Some of these networks
may be proprietary. Over the last decade, with emergence of embedded electronics and
computing, standards for low level network standards (CANBus, Fieldbus etc.) for
communication with low level devices, such as sensors and actuators are also emerging.
Point to Ponder: 7
A. Draw the Automation Pyramid and identify the Layers
B. Give examples of the above major functional layers in any typical factor. .
Platforms: The above levels of controls shall be achieved through programmable controllers
PLCs, micro-processor based systems as well as PCs / Work stations, as required.
Each of the automation systems of the PL-TCM shall be subdivided in accordance with the
functional requirements and shall cover the open loop and closed loop control functions of the
different sections of the line and the mill.
Modes of Operation: The systems shall basically have two modes of operation. In the semi-
automatic mode the set point values shall be entered manually for different sections of the line
through VDU and the processors shall transmit these values to the controls in proper time
sequence. In fully automatic mode the process control system shall calculate all set point values
through mathematical models and transfer the same to the subordinate systems over data link.
The functions to be performed by the basic level automation shall cover but not be limited to
the following.
Functionality at Basic Level: The Basic Level shall cover control of all equipment, sequencing,
interlocking micro-tracking of strip for specific functions, dedicated technological functions,
storage of rolling schedules and look-up tables, fault and event logging etc. Some of these are
mentioned below.
♦ All interlocking and sequencing control of the machinery such as for entry and exit
handling of strips, shear control etc. Interlocking, sequencing, switching controls of the
machines. This shall also cover automatic coil handling at the entry and exit sides,
automatic sequencial operation of welding/rewelding machine and strip threading
sequence control as well as for acid regeneration plant.
♦ Calculation of coil diameter and width at the entry pay-off reels.
♦ Position control of coil ears for centrally placing of coils on the mandrels.
♦ Generation of master speed references for the line depending on operator's input and line
conditions and down loading to drive control systems.
♦ Speed synchronising control of the drives, as required.
♦ Strip tenstion, position and catenary control through control of related drives and
machinery.
Supervisory Functions at Basic Level: Centralised supervisory and monitoring control system
shall be provided under basic level automation with dedicated processors and MMI. All
necessary signals shall be acquired through drive control system as well as directly from the
sensors/instruments as, required. The system shall be capable of carrying out the following
fuctions.
♦ Coil strip tracking inside the process line/unit by sensing punched holes at weld seams.
♦ Primary Data Input (PDI) of coils at entry to PL-TCM with provision for down loading
of data from production control level.
♦ Generation of all operating set points for the mill using PDI data, mill model, roll
force model, power model, strip thickness control model, shape/profile control model
with thermal strip flatness control as well as for other sections of the line.
♦ Learning (Adaptive) control using actual data and the mathematical model for set-up
calculations.
♦ Storage of position setting values of levellers, side trimmer. Input of strip flaw data
manually through inspection panel at the inline inspection facility after side trimmer.
♦ Processing of actual data on rolling operation, generation of reports logs and sending
data to production control level.
Information System Functions: The information system shall generally comply with the
following features.
♦ Data of importance shall be available with the concerned personnel in the form of logs
and reports.
♦ Output of logs and reports at preset times or on occurance of certain events.
♦ It shall be possible to change the data items and log formats without undue interference
to the system.
Man Machine Interface: The visualisation system for both the automation levels shall be
through man-machine interface (MMI) for the control and operation of the complete line. The
system shall display the following screens, with facilities for hard copy print out.
♦ Process mimics for the complete line using various screens with status information of
all important in-line drives as well as the references and actual values of important
parameters.
♦ Dynamic information’s in form of bar graph for indication of reference and actual values
of important parameters.
♦ Screens providing trends of the important process variables.
♦ Acquisition of actual parameters (averaging/maximum/minimum) for the complete line,
on coil to coil basis through weld seam tracking or TCM exit shear cut for the generation
of logs on process/parameters and production.
Standards: The programmable controllers and other micro processor based equipment offered
shall generally be designed/structured, manufactured and tested in accordance with the
guidelines laid down in IEC-1131 (Part 2) apart from the industry standards being adopted by the
respective manufactures.
♦ In each of the two automation levels, all the controllers of a system shall be connected
as a node over suitable data bus forming a LAN system using standardised hardware
and software.
♦ The LAN system shall be in line with ISO-Open system Interconnect.
♦ All drive level automation equipment shall be suitably linked with the basic level for
effective data/signal exchange between the two levels. However, all the emergency
and safety signals shall be directly hardwired to the respective controllers.
♦ Similarly, the LAN systems for the basic level and process control level shall be
suitably linked through suitable bridge/interface for effective data/signal exchange.
Provision shall also be made for interfacing suitably the process control level with the
production level automation system specified in item .
Data and Visualisation: The following specifications would apply in respect of data security,
validity and its proper visualisation.
♦ All the operator interfaces comprising colour VDU and keyboard as MMI for interacting
with the respective system and located at strategic locations, shall be connected to the
corresponding LAN system.
♦ Keylock/password shall be provided to prevent unauthorised entry.
♦ Entry validity and plansibility check shall also be incorporated.
♦ An Engineer's console comprising of necessary processor, color VDU, keyboard/mouse
and a printer unit shall be provided for the automation systems. The console shall have
necessary hardware and software of communicating with the LAN and shall have access
to the complete system. Basic functions of this console shall be off-line data base
configuration, programme development, documentation etc.
Application Software: The application software shall be through functional block type software
modules as well as high level language based software modules. The software shall be user
friendly and provided with help functions etc. Only one type of programming language shall be
used for the complete system. However, ladder type programming language may be used for
simple logical functions. Only industrially debugged and tested software shall be provided.
Point to Ponder: 8
A. State three major functions of Supervisory Control mentioned in the lesson that have also
been mentioned in the Automation System for the PL-TCM.
B. State three major figures of merit for an Automation System mentioned in the appendix
PL-TCM.
Point to Ponder: 1
Draw the functional block diagram of a typical sensor system
Consider a strain-gage weigh bridge. Explore and identify the subsystems of the bridge and
categorise these subsystems into the above mentioned classes of elements mentioned above
Ans: A strain gage weighbridge contains the weighing platform and pillar, which senses the
weight and produces a proportional strain (sensing element 1). This strain is sensed by a
strain-gage which produces a proportional change in resistance (sensing element 2). The gage
is incorporated into a Wheatstone’s bridge circuit (Signal conditioning) which generates a
proportional unbalanced voltage.
Point to Ponder: 2
A. Draw the functional block diagram of an actuator system
Ans: An electrohydraulic servo valve is driven by current through a solenoid, which moves
the spool of the valve, by applying a voltage across it. The voltage is derived by an
electronic controller (electronic signal processing element), which gives a voltage input that
is amplified by a servo amplifier (electronic power amplification element). The force due to
the current produces motion of the spool (variable conversion element), which is converted to
pressure (non electrical power conversion element) within the servo valve and applied to the
final control element. Miscellaneous elements, such hydraulic system auxiliaries, indicators
etc. are also present
Point to Ponder: 3
A. Draw the block diagram of a typical industrial control system
B. Consider a motor driven position control system, as commonly found in CNC Machine
drives. Identify the main feedback sensors in the system. Identify the major sources of
disturbance. How is such a drive different from that of an automated conveyor system?
Point to Ponder: 4
State the major aspect in which sequence/logic control systems differ from analog control
systems
Ans: The two major aspects in which they differ is in the nature of sensor inputs and the actuator
outputs. These are discrete elements in the case of logic Control (on-off, low-high-medium etc.)
and continuous valued in case of analog control. Similarly for actuator output (motor start/stop).
The controller outputs are generally functions of inputs and feedback.
Describe an industrial system that employs discrete sensors and discrete actuators.
Ans: There are many such systems. For example a diecasting process is shown below. This
process example is dealt with further in other lessons.
Industrial Example
The die stamping process is shown in figure below. This process consists of a metal stamping die
fixed to the end of a piston. The piston is extended to stamp a work piece and retracted to allow
the work piece to be removed. The process has 2 actuators: an up solenoid and a down solenoid,
which respectively control the hydraulics for the extension and retraction of the stamping piston
and die. The process also has 2 sensors: an upper limit switch that indicates when the piston is
fully retracted and a lower limit switch that indicates when the piston is fully extended. Lastly,
the process has a master switch which is used to start the process and to shut it down.
Upper
limit
switch
Up
Sole-
noid
Down Die Lower
Solenoid limit
switch
The control computer for the process has 3 inputs (2 from the limit sensors and 1 from the master
switch) and controls 2 outputs (1 to each actuator solenoid).
Point to Ponder: 5
A. State three major functions of a Supervisory Control System
Ans: A separate processor is used to manage the above supervisory control aspects.
Point to Ponder: 6
A. State three major functions of a Production Control System
B. Explore and find out concrete activities for production control under at least two of the
above major functions in any typical factory such as a Power Plants or a Steel Plant.
Point to Ponder: 7
A. Draw the Automation Pyramid and identify the Layers
B. Give examples of the above major functional layers in any typical factory.
Ans: The answer to this question is given in detail in the appendix for a section of a large
rolling mill.
Point to Ponder: 8
A. State three major functions of Supervisory Control mentioned in the lesson that have also
been mentioned in the Automation System for the PL-TCM.
Ans: The answer to this question is given in detail in the appendix for a section of a large
rolling mill. In brief three major functions are :
♦ Centralised switching and start up
♦ Monitoring and display of measured values
♦ Comprehensive diagnostic functions
B. State three major figures of merit for an Automation System mentioned in the appendix
PL-TCM.
Introduction
One of the most frequent tasks that an Engineer involved in the design, commissioning, testing,
purchasing, operation or maintenance related to industrial processes, is to interpret
manufacturer’s specifications for their own purpose. It is therefore of paramount importance that
one understands the basic form of an instrument specification and at least the generic elements in
it that appear in almost all instrument specifications.
Different blocks of a measurement system have been discussed in lesson-2. The combined
performance of all the blocks is described in the specifications. Specifications of an instrument
are provided by different manufacturers in different wrap and quoting different terms, which
sometimes may cause confusion. Moreover, there are several application specific issues. Still,
broadly speaking, these specifications can be classified into three categories: (i) static
characteristics, (b) dynamic characteristics and (iii) random characteristics.
1. Static Characteristics
Static characteristics refer to the characteristics of the system when the input is either held
constant or varying very slowly. The items that can be classified under the heading static
characteristics are mainly:
Sensitivity
It can be defined as the ratio of the incremental output and the incremental input. While defining
the sensitivity, we assume that the input-output characteristic of the instrument is approximately
linear in that range. Thus if the sensitivity of a thermocouple is denoted as 10 μ V / 0C , it
indicates the sensitivity in the linear range of the thermocouple voltage vs. temperature
characteristics. Similarly sensitivity of a spring balance can be expressed as 25 mm/kg (say),
indicating additional load of 1 kg will cause additional displacement of the spring by 25mm.
Linearity
Linearity is actually a measure of nonlinearity of the instrument. When we talk about sensitivity,
we assume that the input/output characteristic of the instrument to be approximately linear. But
in practice, it is normally nonlinear, as shown in Fig.1. The linearity is defined as the maximum
deviation from the linear characteristics as a percentage of the full scale output. Thus,
ΔO
Linearity = (1)
Omax − Omin
Output Output
OMAX OMAX
ΔΟ1
H
ΔΟ2
OMIN OMIN
IMIN IMAX Input IMIN IMAX Input
Hysteresis
Hysteresis exists not only in magnetic circuits, but in instruments also. For example, the
deflection of a diaphragm type pressure gage may be different for the same pressure, but one for
increasing and other for decreasing, as shown in Fig.2. The hysteresis is expressed as the
maximum hysteresis as a full scale reading, i.e., referring fig.2,
H
Hysteresis = X 100. (2)
Omax − Omin
Resolution
In some instruments, the output increases in discrete steps, for continuous increase in the input,
as shown in Fig.3. It may be because of the finite graduations in the meter scale; or the
ΔΙ
Fig. 3 Resolution
Accuracy
Accuracy indicates the closeness of the measured value with the actual or true value, and is
expressed in the form of the maximum error (= measured value – true value) as a percentage of
full scale reading. Thus, if the accuracy of a temperature indicator, with a full scale range of 0-
500 oC is specified as ± 0.5%, it indicates that the measured value will always be within ± 2.5 oC
of the true value, if measured through a standard instrument during the process of calibration.
But if it indicates a reading of 250 oC, the error will also be ± 2.5 oC, i.e. ± 1% of the reading.
Thus it is always better to choose a scale of measurement where the input is near full-scale value.
But the true value is always difficult to get. We use standard calibrated instruments in the
laboratory for measuring true value if the variable.
Precision
Precision indicates the repeatability or reproducibility of an instrument (but does not indicate
accuracy). If an instrument is used to measure the same input, but at different instants, spread
2. Dynamic Characteristics
Dynamic characteristics refer to the performance of the instrument when the input variable is
changing rapidly with time. For example, human eye cannot detect any event whose duration is
more than one-tenth of a second; thus the dynamic performance of human eye cannot be said to
be very satisfactory. The dynamic performance of an instrument is normally expressed by a
differential equation relating the input and output quantities. It is always convenient to express
the input-output dynamic characteristics in form of a linear differential equation. So, often a
nonlinear mathematical model is linearised and expressed in the form:
d n x0 d n −1 x 0 dx 0 d m xi d m −1 xi dx
an n
+ a n −1 n −1
+ ⋅ ⋅ ⋅ ⋅ + a1 + a x
0 0 = b m m
+ b m −1 m −1
+ ⋅ ⋅ ⋅ ⋅ +b1 i + b0 xi
dt dt dt dt dt dt
(6)
where xi and x 0 are the input and the output variables respectively. The above expression can
also be expressed in terms of a transfer function, as:
x ( s ) bm s m + bm −1 s m −1 ⋅ ⋅ ⋅ +b1 s + b0
G ( s) = 0 = (7)
xi ( s ) a n s n + bn −1 s n −1 ⋅ ⋅ ⋅ + a1 s + a 0
Normally m<n an n is called the order of the system. Commonly available sensor characteristics
can usually be approximated as either zero-th order, first order or second order dynamics. Here
are few such examples:
Potentiometer
Displacement sensors using potentiometric principle (Fig.4) have no energy storing elements.
The output voltage eo can be related with the input displacement xi by an algebraic equation:
e ( s) E
eo (t ) xt = Exi (t ); or , o = = constant (8)
xi ( s ) x t
where xt is the total length of the potentiometer and E is the excitation voltage.. So, it can be
termed as a zeroth order system.
Seismic Sensor
Seismic sensors (Fig.6.) are commonly used for vibration or acceleration measurement of
foundations. The transfer function between the input displacement xi and output displacement
xo can be expressed as:
xo ( s) Ms 2
= (10)
xi ( s) Ms 2 + Bs + K
where: M = mass of the seismic body
B = damping constant
K= spring constant
From the above transfer function, it can be easily concluded that the seismic sensor is a second
order system.
eo
- +
xo
M
E xt
K B
xi eo
Tf xi
Normalised response 1 Mp
2%
ts
0 time
Fig. 7 Step response of a dynamic system
Peak Overshoot (Mp): It is the maximum value minus the steady state value, normally expressed
in terms of percentage.
Settling Time (ts): It is the time taken to attain the response within ± 2% of the steady state
value.
Rise time (tr): It is the time required for the response to rise from 10% to 90% of its final value.
G(s)
1
0.707
Bandwidth
The plots showing variations of amplitude ratios and phase angle with frequency are called the
magnitude and phase plots of the frequency response. Typical amplitude vs. frequency
characteristics of a piezoelectric accelerometer is shown in Fig.9.
3. Random Characteristics
If repeated readings of the same quantity of the measurand are taken by the same instrument,
under same ambient conditions, they are bound to differ from each other. This is often due to
some inherent sources of errors of the instrument that vary randomly and at any point of time it is
very difficult to exactly say, what would be its value. For example, the characteristics of
resistance and diode elements of an electronic circuit are random, due to two sources of noises:
thermal noise and flicker noise. To characterize these behaviors, statistical terminologies are
Exercise
1. Followings are the excerpts from the specifications of a laser displacement sensor:
(a) Measurement range: ± 10mm
(b) Measurement point: 40mm
(c) Resolution: 3 μ m
(d) Linearity: 1% Full Scale
(e) Response time: 0.15ms
(f) Linear output: 4-20mA
Answers
1. (ii) 8mA, (iii) ± 0.1mm, (iv) 0.8 mA/mm.
2. 9.77mv.
3. ± 0.2kPa.
1. Introduction
The word temper was used in the seventeenth century to describe the quality of steel. It seems,
after the invention of crude from of thermometer, the word temperature was coined to describe
the degree of hotness or coolness of a material body. It was the beginning of seventeenth century
when the thermometer – a temperature measuring instrument was first developed. Galileo Galilei
is credited with the construction of first thermometer, although a Dutch scientist Drebbel also
made similar instrument independently. The principle was simple. A bulb containing air with
long vertical tube was inverted and dipped into a basin of water or coloured liquid. With the
change in temperature of the bulb, the gas inside expanded or contracted, thus changing the level
of the liquid column inside the vertical tube. A major drawback of the instrument was that it was
sensitive not only to variation of temperature, but also to atmospheric pressure variation.
The purpose of early thermometers was to measure the variation of atmospheric or body
temperatures. With the advancement of science and technology, now we require temperature
measurement over a wide range and different atmospheric conditions, and that too with high
accuracy and precision. To cater these varied requirements, temperature sensors based on
different principles have been developed. They can be broadly classified in the following groups:
1. Liquid and gas thermometer
2. Bimetallic strip
3. Resistance thermometers (RTD and Thermistors)
4. Thermocouple
Version 2 EE IIT, Kharagpur 3
5. Junction semiconductor sensor
6. Radiation pyrometer
Within the limited scope of this course, we shall discuss few of the above mentioned temperature
sensors, that are useful for measurement in industrial environment.
2. Resistance Thermometers
It is well known that resistance of metallic conductors increases with temperature, while that of
semiconductors generally decreases with temperature. Resistance thermometers employing
metallic conductors for temperature measurement are called Resistance Temperature Detector
(RTD), and those employing semiconductors are termed as Thermistors. RTDs are more rugged
and have more or less linear characteristics over a wide temperature range. On the other hand
Thermistors have high temperature sensitivity, but nonlinear characteristics.
Copper, Nickel and Platinum are mostly used as RTD materials. The range of temperature
measurement is decided by the region, where the resistance-temperature characteristics are
approximately linear. The resistance versus temperature characteristics of these materials is
shown in fig.1, with to as 0oC. Platinum has a linear range of operation upto 650oC, while the
useful range for Copper and Nickel are 120oC and 300oC respectively.
4 Nickel
Rt/R0
3 Copper
2 Platinum
1
0 200 400 600
Temperature (ºC)
Construction
For industrial use, bare metal wires cannot be used for temperature measurement. They must be
protected from mechanical hazards such as material decomposition, tearing and other physical
damages. The salient features of construction of an industrial RTD are as follows:
• The resistance wire is often put in a stainless steel well for protection against mechanical
hazards. This is also useful from the point of view of maintenance, since a defective
sensor can be replaced by a good one while the plant is in operation.
• Heat conducting but electrical insulating materials like mica is placed in between the well
and the resistance material.
• The resistance wire should be carefully wound over mica sheet so that no strain is
developed due to length expansion of the wire.
Resistance wire
Mica
Ceramic powder
Signal conditioning
The resistance variation of the RTD can be measured by a bridge, or directly by volt-ampere
method. But the major constraint is the contribution of the lead wires in the overall resistance
measured. Since the length of the lead wire may vary, this may give a false reading in the
temperature to be measured. There must be some method for compensation so that the effect of
lead wires is resistance measured is eliminated. This can be achieved by using either a three wire
RTD, or a four wire RTD. Both the schemes of measurement are shown in fig. 3. In three wire
method one additional dummy wire taken from the resistance element and connected in a bridge
(fig. 3(a)) so that the two lead wires are connected to two adjacent arms of the bridge, thus
canceling each other’s effect. In fig. 3(b) the four wire method of measurement is shown. It is
similar to a four terminal resistance and two terminals are used for injecting current, while two
others are for measuring voltage.
V
c
d
b c
a a, b, c: lead wires
RX
Fig. 3(b) Four wire RTD
a, b, c: lead wires
Fig. 3(a) Three wire RTD
Version 2 EE IIT, Kharagpur 6
Thermistor
Thermistors are semiconductor type resistance thermometers. They have very high sensitivity but
highly nonlinear characteristics. This can be understood from the fact that for a typical 2000 Ω
the resistance change at 25oC is 80Ω/oC, whereas for a 2000 Ω platinum RTD the change in
resistance at 25oC is 7Ω/oC. Thermistors can be of two types: (a) Negative temperature co-
efficient (NTC) thermistors and (b) Positive temperature co-efficient (PTC) thermistors. Their
resistance-temperature characteristics are shown in fig. 4(a) and 4(b) respectively.
The NTC thermistors, whose characteristics are shown in fig. 4(a) is more common. Essentially,
they are made from oxides of iron, manganese, magnesium etc. Their characteristics can be
expressed as:
1 1
β( − )
R T = R 0e T T0
(3)
where,
RT is the resistance at temperature T (K)
R0 is the resistance at temperature T0 (K)
T0 is the reference temperature, normally 25oC
β is a constant, its value is decided by the characteristics of the material, the nominal
value is taken as 4000.
From (3), the resistance temperature co-efficient can be obtained as:
1 dR T β
αT = =− 2 (4)
R T dT T
It is clear from the above expression that the negative sign of α T indicates the negative
resistance-temperature characteristics of the NTC thermistor.
Resistance
Resistance
TR
Temperature Temperature
Fig. 4(a) Characteristics of a NTC Fig. 4(b) Characteristics of a PTC
thermistor thermistor
Useful range of themistors is normally -100 to +300oC. A single thermistor is not suitable for the
whole range of measurement. Moreover, existing thermistors are not interchangeable. There is a
marked spread in nominal resistance and the temperature coefficient between two thermistors of
same type. So, if a defective thermistor is to be replaced by a new thermistor similar type, a fresh
Version 2 EE IIT, Kharagpur 7
calibration has to be carried out before use. Commercially available thermistors have nominal
values of 1K, 2K, 10K, 20K, 100K etc. The nominal values indicate the resistance value at 25oC.
Thermistors are available in different forms: bead type, rod type disc type etc. The small size of
the sensing element makes it suitable for measurement of temperature at a point. The time
constant is also very small due to the small thermal mass involved.
The nonlinear negative temperature characteristics also give rise to error due to self-heating
effect. When current is flowing through the thermistor, the heat generated due to the I 2 R -loss
may increase the temperature of the resistance element, which may further decrease the
resistance and increase the current further. This effect, if not tackled properly, may damage the
thermistor permanently. Essentially, the current flowing should be restricted below the specified
value to prevent this damage. Alternatively, the thermistor may be excited by a constant current
source.
The nonlinear characteristics of thermistors often creates problem for temperature measurement,
and it is often desired to linearise the thermistor characteristics. This can be done by adding one
fixed resistance parallel to the thermistor. The resistance temperature characteristics of the
equivalent resistance would be more linear, but at the cost of sensitivity.
The Positive Temperature Coefficient (PTC) thermistor have limited use and they are
particularly used for protection of motor and transformer widings. As shown in fig. 4(b), they
have low and relatively constant resistance below a threshold temperature TR, beyond which the
resistance increases rapidly. The PTC thermistors are made from compound of barium, lead and
strontium titanate.
3. Thermocouple
Thomas Johan Seeback discovered in 1821 that thermal energy can produce electric current.
When two conductors made from dissimilar metals are connected forming two common
junctions and the two junctions are exposed to two different temperatures, a net thermal emf is
produced, the actual value being dependent on the materials used and the temperature difference
between hot and cold junctions. The thermoelectric emf generated, in fact is due to the
combination of two effects: Peltier effect and Thomson effect. A typical thermocouple junction is
shown in fig. 5. The emf generated can be approximately expressed by the relationship:
where T1 and T2 are hot and cold junction temperatures in K. C1 and C2 are constants depending
upon the materials. For Copper/ Constantan thermocouple, C1=62.1 and C2=0.045.
T1 T2
(hot junction) (cold junction)
B B
e0
Fig. 5 A typical thermocouple
Thermocouples are extensively used for measurement of temperature in industrial situations. The
major reasons behind their popularity are: (i) they are rugged and readings are consistent, (ii)
they can measure over a wide range of temperature, and (iii) their characteristics are almost
linear with an accuracy of about ± 0.05%. However, the major shortcoming of thermocouples is
low sensitivity compared to other temperature measuring devices (e.g. RTD, Thermistor).
Thermocouple Materials
Theoretically, any pair of dissimilar materials can be used as a thermocouple. But in practice,
only few materials have found applications for temperature measurement. The choice of
materials is influenced by several factors, namely, sensitivity, stability in calibration, inertness in
the operating atmosphere and reproducibility (i.e. the thermocouple can be replaced by a similar
one without any recalibration). Table-I shows the common types of thermocouples, their types,
composition, range, sensitivity etc. The upper range of the thermocouple is normally dependent
on the atmosphere whre it has been put. For example, the upper range of Chromel/ Alumel
thermocouple can be increased in oxidizing atmosphere, while the upper range of Iron/
Constantan thermocouple can be increased in reducing atmosphere.
Laws of Thermocouple
The Peltier and Thompson effects explain the basic principles of thermoelectric emf generation.
But they are not sufficient for providing a suitable measuring technique at actual measuring
situations. For this purpose, we have three laws of thermoelectric circuits that provide us useful
practical tips for measurement of temperature. These laws are known as law of homogeneous
circuit, law of intermediate metals and law of intermediate temperatures. These laws can be
explained using fig. 6.
The first law can be explained using fig. 6(a). It says that the net thermo-emf generated is
dependent on the materials and the temperatures of two junctions only, not on any intermediate
temperature.
According to the second law, if a third material is introduced at any point (thus forming two
additional junctions) it will not have any effect, if these two additional junctions remain at the
same temperatures (fig. 6(b)). This law makes it possible to insert a measuring device without
altering the thermo-emf.
T1 T2 T1 T2
+ - B + - B
B B
e
T6 T7 T11 T12
(a)
A A A
T2 T3 T3
T1 + - T2 + - T1 + -
B e1 B B e2 B B e3 B
e3 = e1 + e2
(c)
The third law is related to the calibration of the thermocouple. It says, if a thermocouple
produces emf e1, when its junctions are at T1 and T2, and e2 when its junctions are at T2 and T3;
then it will generate emf e1+e2 when the junction temperatures are at T1 and T3 (fig. 6(c)).
The third law is particularly important from the point of view of reference junction
compensation. The calibration chart of a thermocouple is prepared taking the cold or reference
junction temperature as 0oC. But in actual measuring situation, seldom the reference junction
temperature is kept at that temperature, it is normally kept at ambient temperature. The third law
helps us to compute the actual temperature using the calibration chart. This can be explained
from the following example.
Example-1
The following table has been prepared from the calibration chart of iron-constantan
thermocouple, with reference temperature at 0oC.
Suppose, the temperature of the hot junction is measured with a iron-constantan thermocouple,
with the reference junction temperature at 30oC. If the voltage measured is 9.64mv, find the
actual temperature of the hot junction.
Solution
Referring fig. 6(c), for this problem, T1 is the unknown temperature, T2= 30oC, T3= 0oC. The
voltages are e1=9.64mv (measured) and e2= 1.56mv (from chart). Therefore, e3= e1+e2=
11.20mv. Hence, from the calibration chart, the actual hot junction temperature is T1 = 208oC.
A more accurate method for reference junction temperature compensation is shown in fig. 8.
Here a thermistor, or a RTD is used to measure the ambient temperature and compensate the
error through a bridge circuit. The bridge circuit is balanced at 0oC. When the ambient
temperature goes above 0oC, the emf generated in the thermocouple is reduced; at the same time
bridge unbalanced voltage is added to it in order to maintain the overall voltage at the same
value.
R2
R1
-
Hot +
junction Cold
junction
Offset adjust
RP
R To amplifier
Hot Cold
junction junction
Fig. 8 Compensation scheme using wheatstone bridge
As referred to Fig.8, the cold junction compensation is normally kept along with the signal
conditioning circuits, away from the measuring point. This may require use of long
thermocouple wires to the compensation circuit. In order to reduce the length of costly
thermocouple wires (platinum in some case) low-cost compensating wires are normally used in
between the thermocouple and the compensation circuit. These wires are so selected that their
temperature emf characteristics match closely to those of the thermocouple wires around the
ambient temperature.
4. Conclusion
Temperature is the most important process variable that requires continuous measurement and
monitoring in a process industry. Among the different types of temperature transducers, the most
commonly used ones are RTDs and thermocouples. Their popularity is mainly due to their
ruggedness, repeatability and wide range of operation. Bare RTDs and thermocouples are rarely
used in practice; instead, they are put in protective metallic sheaths. The signal conditioning
circuits should be properly designed, so as to avoid the errors due to lead wires in RTDs and
variation of cold junction temperatures in thermocouples. There are several cases where the
temperature to be measured is more than 2000oC, the conventional measuring techniques fail to
measure the high temperature. Instead, the measurement is carried out from a distance. Radiation
pyrometers are used in these situations. However, its principle of operation has not been included
in this lesson.
Review Exercise
1. Name the materials commonly used for RTDs. Which one has the most linear
characteristics?
2. What do you mean by lead wire compensation of RTD. How can they be achieved?
3. PT-100 is a Platinum RTD whose resistance at 0oC is 100Ω. If the resistance
4. temperature co-efficient of Platinum is 3.91X 10 −3 /oC, then find its resistance at 100oC.
5. What is the difference between a NTC thermistor and a PTC thermistor?
6. A thermistor is more suitable for measurement of temperature within a small range-
justify.
Version 2 EE IIT, Kharagpur 13
7. Name three types thermocouples and their suitable temperature range.
8. State and explain the laws of thermocouple.
9. What do you mean by cold junction compensation of a thermocouple? Suggest two
methods for compensation.
10. A thermocouple has a linear sensitivity of 30µv/oC, calibrated at a cold junction
temperature of 0oC. It is used measure an unknown temperature with the cold junction
temperature of 30oC. Find the actual hot junction temperature if the emf generated is 3.0
mv.
Answers
1. Platinum, Copper, Nickel; Platinum.
3. 139 Ω .
9. 130oC.
1. Introduction
In this lesson, we will discuss different methods for measurement of pressure and force. Elastic
elements, namely diaphragms and Bourdon tubes are mainly used for pressure measurement. On
the other hand, strain gages are commonly used for measurement of force. The constructions and
principles of operation of different elastic elements for pressure measurement have been
discussed in the next section. This is followed by principle of strain gage and measurement of
force using strain gages.
2. Pressure Measurement
Measurement of pressure inside a pipeline or a container in an industrial environment is a
challenging task, keeping in mind that pressure may be very high, or very low (vacuum); the
medium may be liquid, or gaseous. We will not discuss the vacuum pressure measuring
techniques; rather try to concentrate on measurement techniques of pressure higher than the
atmospheric. They are mainly carried out by using elastic elements: diaphragms, bellows and
Bourdon tubes. These elastic elements change their shape with applied pressure and the change
of shape can be measured using suitable deflection transducers. Their basic constructions and
principle of operation are explained below.
2.1 Diaphragms
Diaphragms may be of three types: Thin plate, Membrane and Corrugated diaphragm. This
classification is based on the applied pressure and the corresponding displacements. Thin plate
(fig. 1(a)) is made by machining a solid block and making a circular cross sectional area with
smaller thickness in the middle. It is used for measurement of relatively higher pressure. In a
membrane the sensing section is glued in between two solid blocks as shown in fig. 1(b). The
thickness is smaller; as a result, when pressure is applied on one side, the displacement is larger.
The sensitivity can be further enhanced in a corrugated diaphragm (fig. 1(c)), and a large
deflection can be obtained for a small change in pressure; however at the cost of linearity. The
materials used are Bronze, Brass, and Stainless steel. In recent times, Silicon has been
extensively used the diaphragm material in MEMS (Micro Electro Mechanical Systems) pressure
sensor. Further, the natural frequency of a diaphragm can be expressed as:
Version 2 EE IIT, Kharagpur 3
1 k
fn = (1)
2π meq
where meq = equivalent mass, and
k= elastic constant of the diaphragm.
The operating frequency of the pressure to be measured must be less than the natural frequency
of the diaphragm.
When pressure is applied to a diaphragm, it deflates and the maximum deflection at the centre
( y0 ) can measured using a displacement transducer. For a Thin plate, the maximum deflection
y0 is small ( y0 < 0.3 t ) and referring fig. 2, a linear relationship between p and y0 exists as:
3 (1 − ν 2 ) 4
y0 = p R (2)
16 Et 3
where, E= Modulus of elasticity of the diaphragm material, and
ν = Poisson’s ratio.
However, the allowable pressure should be less than:
2
⎛t ⎞
pmax = 1.5 ⎜ ⎟ σ max (3)
⎝R⎠
where, σ max is the safe allowable stress of the material.
For a membrane, the deflection is larger, and the relationship between p and y0 is nonlinear and
can be expressed as (for ν = 0.3):
E t3 3
p = 3.58 4 y0 (4)
R
2.2 Bellows
Bellows (fig. 3) are made with a number of convolutions from a soft material and one end of it is
fixed, wherein air can go through a port. The other end of the bellows is free to move. The
displacement of the free end increases with the number of convolutions used. Number of
convolutions varies between 5 to 20. Often an external spring is used opposing the movement of
the bellows; as a result a linear relationship can be obtained from the equation:
pA=kx (5)
where, A is the area of the bellows,
k is the spring constant and
x is the displacement of the bellows.
Phosphor Bronze, Brass, Beryllium Copper, Stainless Steel are normally used as the materials for
bellows. Bellows are manufactured either by (i) turning from a solid block of metal, or (ii)
soldering or welding stamped annular rings, or (iii) rolling (pressing) a tube.
3. Measurement of Force
The most popular method for measuring force is using strain gage. We measure the strain
developed due to force using strain gages; and by multiplying the strain with the effective cross
sectional area and Young’s modulus of the material, we can obtain force. Load cells and Proving
rings are two common methods for force measurement using strain gages. We will first discuss
the principle of strain gage and then go for the force measuring techniques.
πd 2 πd
Now, for a circular cross section, A = ; from which, ΔA = Δd . Alternatively,
4 2
ΔA Δd
=2
A d
Hence,
ΔR Δl Δd Δ ρ
= −2 + (7)
R l d ρ
Now, the Poisson’s Ratio is defined as:
Δd
lateral strain d
υ =− =−
longitudinal strain Δl
l
The Poisson’s Ratio is the property of the material, and does not depend on the dimension. So,
(6) can be rewritten as:
ΔR Δl Δρ
= (1 + 2υ ) +
R l ρ
Hence,
Version 2 EE IIT, Kharagpur 7
ΔR Δρ
R = 1 + 2υ + ρ
Δl Δl
l l
The last term in the right hand side of the above expression, represents the change in resistivity
of the material due to applied strain that occurs due to the piezo-resistance property of the
material. In fact, all the elements in the right hand side of the above equation are independent of
the geometry of the wire, subjected to strain, but rather depend on the material property of the
wire. Due to this reason, a term Gage Factor is used to characterize the performance of a strain
gage. The Gage Factor is defined as:
ΔR Δρ
R ρ
G := = 1 + 2υ + (8)
Δl Δl
l l
For normal metals the Poisson’s ratio υ varies in the range:
0.3 ≤ υ ≤ 0.6 ,
while the piezo-resistance coefficient varies in the range:
Δρ
ρ
0.2 ≤ ≤ 0.6 .
Δl
l
Thus, the Gage Factor of metallic strain gages varies in the range 1.8 to 2.6. However, the
semiconductor type strain gages have a very large Gage Factor, in the range of 100-150. This is
attained due to dominant piezo-resistance property of semiconductors. The commercially
available strain gages have certain fixed resistance values, such as, 120Ω, 350 Ω, 1000 Ω, etc.
The manufacturer also specifies the Gage Factor and the maximum gage current to avoid self-
heating (normally in the range 15 mA to 100 mA).
The choice of material for a metallic strain gage should depend on several factors. The material
should have low temperature coefficient of resistance. It should also have low coefficient for
thermal expansion. Judging from all these factors, only few alloys qualify for a commercial
metallic strain gage. They are:
Advance (55% Cu, 45% Ni): Gage Factor between 2.0 to 2.2
Nichrome (80% Ni, 20% Co): Gage Factor between 2.2 to 2.5
Apart from these two, Isoelastic -another trademarked alloy with Gage Factor around 3.5 is also
in use. Semiconductor type strain gages, though having large Gage Factor, find limited use,
because of their high sensitivity and nonlinear characteristics.
MEMS pressure sensors is now a days becoming increasingly popular for measurement of
pressure. It is made of a small silicon diagram with four piezo-resistive strain gages mounted on
it. It has an in-built signal conditioning circuits and delivers measurable output voltage
corresponding to the pressure applied. Low weight and small size of the sensor make it suitable
for measurement of pressure in specific applications.
On the other hand, load cells, Proving Rings and Cantilever Beams are used for force
measurement. Here strain gages mounted on the sensing elements measure strains, and the
unbalanced voltage of a strain gage bridge can be effectively calibrated in terms of force.
Another method of force measurement is using magnetostrictive transducers; but its principle of
operation is beyond the scope of this lesson.
Review Exercise
1. Which one of the elastic transducers: Bellows, Thin Plate and Corrugated Diaphragm,
can be used for measurement of high pressure?
2. Bellows are commonly used in conjunction with a spring. Why?
3. Explain the construction and principle of operation of a Bourdon tube pressure gage.
4. Define gage factor of strain gage. What are the strain gage materials normally used?
Which one of them is having maximum gage factor?
5. What is a strain gage rosette?
6. A 120 Ω strain gage of Gage Factor 2.0 is subjected to a positive strain of 1× 10−6 . Find
the change in resistance.
7. How the effect of temperature variation can be compensated in a strain gage bridge?
Answer
Q6. 0.24 mΩ (increase).
1. Introduction
Accurate measurement of flow rate of liquids and gases is an essential requirement for
maintaining the quality of industrial processes. In fact, most of the industrial control loops
control the flow rates of incoming liquids or gases in order to achieve the control objective. As a
result, accurate measurement of flow rate is very important.
Needless to say that there could be diverse requirements of flow measurement, depending upon
the situation. It could be volumetric or mass flow rate, the medium could be gas or liquid, the
measurement could be intrusive or nonintrusive, and so on. As a result there are different types
of flow measuring techniques that are used in industries. The common types of flowmeters that
find industrial applications can be listed as below:
(a) Obstruction type (differential pressure or variable area) (b) Inferential (turbine type), (c)
Electromagnetic, (d) Positive displacement (integrating), (e) fluid dynamic (vortex shedding),
(f) Anemometer, (g) ultrasonic and (h) Mass flowmeter (Coriolis).
In this lesson, we would learn about the construction and principle of operation few types of
flowmeters.
Basic Principle
It is well know that flow can be of two types: viscous and turbulent. Whether a flow is viscous
or turbulent can be decided by the Reynold’s number RD. If RD > 2000, the flow is turbulent. In
the present case we will assume that the flow is turbulent, that is the normal case for practical
situations. We consider the fluid flow through a closed channel of variable cross section, as
1 Flow
p1 p2
v2
v1 z2
z1
If z1=z2, then
p1 v12 p v2
+ = 2+ 2 (2)
γ 2g γ 2g
From the above expression, we can infer that if there is an obstruction in the flow path that
causes the variation of the cross sectional area inside the closed flow channel, there would be
difference in static pressures at two points and by measuring the pressure difference, one can
obtain the flow rate using eqn. (3). However, this expression is valid for incompressible fluids
(i.e. liquids) only and the relationship between the volumetric flow rate and pressure difference is
nonlinear. A special signal conditioning circuit, called square rooting circuit is to be used for
getting a linear relationship.
Orifice meter
Depending on the type of obstruction, we can have different types of flow meters. Most common
among them is the orifice type flowmeter, where an orifice plate is placed in the pipe line, as
shown in fig.2. If d1 and d2 are the diameters of the pipe line and the orifice opening, then the
flow rate can be obtained using eqn. (3) by measuring the pressure difference (p1-p2).
Flow profile
Orifice Plate Vena Contacta
Flow
d1 d2
p1 p2
Corrections
The flow expression obtained from eqn.(3) is not an accurate expression in the actual case, and
some correction factor, named as discharge co-efficient (Cd) has to be incorporated in (3), as
C A 2g
Q = v2 A2 = d 2 ( p1 − p2 ) (4)
1− β 4 γ
Cd is defined as the ratio of the actual flow and the ideal flow and is always less than one. There
are in fact two main reasons due to which the actual flow rate is less than the ideal one (obtained
from eqn. (3)). The first is that the assumption of frictionless flow is not always valid. The
amount of friction depends on the Reynold’s number (RD). The more important point is that, the
minimum flow area is not the orifice area A2, but is somewhat less and it occurs at a distance
from the orifice plate, known as the Vena Contracta, and we are taking a pressure tapping around
In fact Cd depends on β, as well as on RD. But it has been observed that for RD>104, the flow is
totally turbulent and Cd is independent on RD. In this range, the typical value of Cd for orifice
plate varies between 0.6 and 0.7.
Permanent
Pressure drop
The major disadvantage of using orifice plate is the permanent pressure drop that is normally
experienced in the orifice plate as shown in fig.3. The pressure drops significantly after the
orifice and can be recovered only partially. The magnitude of the permanent pressure drop is
around 40%, which is sometimes objectionable. It requires more pressure to pump the liquid.
This problem can be overcome by improving the design of the restrictions. Venturimeters and
flow nozzles are two such devices.
The construction of a venturimeter is shown in fig.4. Here it is so designed that the change in the
flow path is gradual. As a result, there is no permanent pressure drop in the flow path. The
discharge coefficient Cd varies between 0.95 and 0.98. The construction also provides high
mechanical strength for the meter. However, the major disadvantage is the high cost of the meter.
p2
p1
Fig. 4 Venturimeter
p1 p2
In general, few guidelines are to be followed for installation of obstruction type flowmeters.
Most important among them is that, no other obstruction or bending of the pipe line is not
allowed near the meter. Though this type of flowmeters are most popular in industries, their
accuracy is low for low flow rates. As a result, they are not recommended for low flow rate
measurement.
⎡ C A 2 g ( p1 − p2 ) ⎤
W =Y ⎢ d 2 ⎥ (5)
⎢⎣ 1 − β 4 v1 ⎥⎦
where,
v1= specific volume of the gas in m3/kgf
Pitot Tube
Pitot tube is widely used for velocity measurement in aircraft. Its basic principle can be
understood from fig. 6(a). If a blunt object is placed in the flow channel, the velocity of fluid at
the point just before it, will be zero. Then considering the fluid to be incompressible, from eqn.
(2), we have,
p1 v12 p v2
+ = 2+ 2
γ 2g γ 2g
Now v 2 = 0 .
Therefore,
v12 p − p1
= 2
2g γ
2g
or, v1 = ( p 2 − p1 ) (6)
γ
However, as mentioned earlier corrections are to be incorporated for compressible fluids. The
typical construction of a Pitot tube is shown in fig. 6(b).
Blunt object
PL V1
V2 = 0 p1 p2
Fig. 6(a) Pitot Tube: Basic Principle Fig. 6(b) Pitot Tube: Construction
Rotameter
The orificemeter, Venturimeter and flow nozzle work on the principle of constant area variable
pressure drop. Here the area of obstruction is constant, and the pressure drop changes with flow
rate. On the other hand Rotameter works as a constant pressure drop variable area meter. It can
be only be used in a vertical pipeline. Its accuracy is also less (2%) compared to other types of
flow meters. But the major advantages of rotameter are, it is simple in construction, ready to
install and the flow rate can be directly seen on a calibrated scale, without the help of any other
device, e.g. differential pressure sensor etc. Moreover, it is useful for a wide range of variation of
flow rates (10:1).
p1
Orifice area
Flow
Fig. 7 Basic construction of a rotameter.
Let us consider,
γ 1 = Specific weight of the float
γ 2 = specific weight of the fluid
v f = volume of the float
Af = Area of the float.
At = Area of the tube at equilibrium (corresponding to the dotted line)
From equation (4), for incompressible fluid, we have, for the orifice,
Cd A2 2g
Q= ( p1 − p2 ) (7)
A2 2 γ 2
1− ( )
A1
Now consider the free body diagram of the float, shown in fig. 8. Let,
W
Fd
Fu
Cd ( At − Af ) ⎡ 2g v f ⎤
Q= ⎢ (γ 1 − γ 2 ) ⎥ (8)
⎧ At − Af ⎫ ⎣⎢ γ 2 Af
2
⎦⎥
1− ⎨ ⎬
⎩ At ⎭
2
⎧ At − Af ⎫
The term within the third bracket in the above expression is constant. If ⎨ ⎬ << 1 , then,
⎩ At ⎭
we can have,
Q = K ( At − Af )
If the tube is made in such a way that At varies linearly with the displacement, one have a linear
relationship in the form,
Q = K1 + K 2 x (9)
that is, the scale of the tube can be graduated linearly in terms of flow rate. Otherwise, the
displacement of the float can be converted to electrical signal by using a LVDT or similar type of
displacement sensor. For large flow rate measurement, the rotameter is normally place in a
bypass line.
The major source of error in rotameter is due to the variation of density of the fluid. Besides, the
presence of viscous force may also provide an additional force to the float.
A typical construction of the float is shown in fig. 9. The top section of the float has a sharp edge
and several angular grooves. The fluid passing through these grooves, causes the rotation of the
float. The turbulence created in this process reduces the viscous force considerably.
From (8) the expression for volumetric flowrate can be written as:
2g v f
Q=K (γ − γ ) (10)
γ 2 Af 1 2
The performance of the flowmeter can be made almost independent of the variation of fluid
density, if we select the material of the float, such that, γ 1 >> γ 2 .
For measurement of mass flow rate (W), we can write,
W = γ 2Q = K K1 (γ 1 − γ 2 )γ 2 (11)
dW
The condition, = 0 , can be satisfied, if we select γ 1 = γ 2 . This can be achieved by using a
dγ 2
hollow float, or a plastic float.
Electromagnetic Flowmeter
Electromagnetic flowmeter is different from all other flowmeters due to its uniqueness on several
accounts. The advantages of this type of flowmeter can be summarized as:
1. It causes no obstruction to flow path.
2. It gives complete linear output in form of voltage.
3. The output is unaffected by changes in pressure, temperature and viscosity of the fluid.
4. Reverse flow can also be measured.
5. Flow velocity as low as 10-6m/sec can be measured.
Electrodes
e0 v
B
B
e0
v
Fig. 10 Electromagnetic Flowmeter
ωrR
α
Transmitter
d
Flow
Conclusion
In this lesson, we have learnt about various techniques of flow measurement in industrial
processes. It has been seen that most of the flow measurement techniques are based on the
principle of obstruction type flowmeter. Orifice meters and venture meters are the two most
popular types of transducers for flow measurement. However, they require, additional
differential pressure transducers for converting the differential pressure generated into
appropriate electrical signals and also square rooting devices in order to obtain a linear output
proportional to flowrate. Comparatively, electromagnetic flowmeter provides a direct method for
measurement of flowrate and gives a proportional voltage output with respect to flow. It also
does not provide any obstruction to the flow path; as a result, there is no pressure drop. But this
technique is suitable for conducting fluids only and cannot be used for gases. Moreover, often
the polarization property of water creates problems and calls for an involved signal conditioning
circuit.
There are few other types of flowmeters, whose principles of operations could not be discussed
here due to paucity of space. One of them is the ultrasonic flowmeter. This type of flowmeter is
also non-intrusive type, i.e., it does not provide any obstruction to the flow passage. But it is
quite costly, compared to other flowmeters. Positive displacement flowmeter is an integral type
of flowmeter, in the sense, that it measures total flow in a given amount of time, and finds wide
use in water meters, petrol pumps etc. Its construction is normally different from other types of
flowmeters, though turbine type flowmeter with a counter to count the number of revolutions can
also be used for this purpose.
Review Exercise
1. What is meant by discharge coefficient in an orifice type flowmeter?
2. Compare the advantages and disadvantages of an orifice meter and a venturimeter.
3. Can a rotameter be used in a horizontal pipe line? If not, explain why?
4. The magnetic field applied to an electromagnetic flowmeter is not constant, but time
varying. Why?
5. What are the flowmeters where the output is frequency varying with flow velocity?
6. What is the difference between a constant area variable pressure drop flowmeter and
a constant pressure drop variable area flowmeter?
7. The pressure drop across an orifice is measured for a particular flow rate. If the flow
rate is doubled, keeping all other parameters constant, what would happen to the
pressure drop?
a) It will remain the same.
b) It will also be doubled.
c) It will be halved.
d) It will increase four times.
Answer
Q5. Turbine type flowmeter and Vortex type flowmeter.
Q7. (d)
Q8. Less (refer eqn.(8)).
1. Introduction
Level, humidity and pH are three important process parameters and their measurement find wide
application in chemical and manufacturing industries. In this chapter we would provide a brief
overview of the different techniques adopted for measurement of liquid level and humidity. The
basic principle of pH measurement and the construction of pH electrodes are explained in section
4.
2. Level Measurement
There are several instances where we need to monitor the liquid level in vessels. In some cases
the problem is simple, we need to monitor the water level of a tank; a simple float type
mechanism will suffice. But in some cases, the vessel may be sealed and the liquid a combustible
one; as a result, the monitoring process becomes more complex. Depending upon the complexity
of the situation, there are different methods for measuring the liquid level, as can be summarized
as follows:
(a) Float type
(b) Hydrostatic differential pressure gage type
(c) Capacitance type
(d) Ultrasonic type
(e) Radiation technique.
Some of the techniques are elaborated in this section.
Radiation technique
Radioactive technique also finds applications in measurement of level in sealed containers.
Radioactive ray gets attenuated as it passes through a medium. The intensity of the radiation as it
passes a distance x through a medium is given by:
I ( x) = I 0 e−α x
where I0 is the incidental intensity and α is the absorption co-efficient of the medium. Thus if we
measure the intensity of the radiation, knowing I0 , and α, x can be determined. There are several
techniques which are in use. In one method, a float with a radioactive source inside is allowed to
move along a vertical path with the liquid level. A Geiger Muller Counter is placed at the bottom
of the tank along the vertical path and the intensity is measured. The basic scheme is shown in
Fig. 4.
The method used in a batch filling process of bottles, uses a source-detector assembly that can
slide along the two sides of the bottle, as shown in Fig. 5 . As soon as the source-detector
assembly passes through the liquid-air interface, there would be a large change in the signal
received by the detector. Radioactive methods, though simple in principle, find limited
applications, because of possible radiation hazards. However radioactive methods are routinely
used for level measurement of grains and granular solids.
Hygrometer
Many hygroscopic materials, such as wood, hair, paper, etc. are sensitive to humidity. Their
dimensions change with humidity. The change in dimension can be measured and calibrated in
terms of humidity.
Psychrometer
Psychrometric method for measurement of relative humidity is a popular method. Two bulbs are
used- dry bulb and wet bulb. The wet bulb is soaked in saturated water vapour and the dry bulb is
kept in the ambient condition. The temperature difference between the dry bulb and wet bulb is
used to obtain the relative humidity through a psychrometric chart. The whole process can also
be automated.
Infrared Technique
Water molecule present in any material absorb infrared wave at wavelengths 1.94µm, 2.95 µm
and 6.2µm. The degree of absorption of infrared light at any of these wavelengths may provide a
measure of moisture content in the material.
4. Measurement of pH
pH is a measure of hydrogen ion concentration in aqueous solution. It is an important parameter
to determine the quality of water. The pH value is expressed as:
1
pH =
log10 C
Where C is the concentration of H+ ions in a solution. In pure water, the concentration of H+
ions is 10-7 gm/ltr at 25o C. So the pH value is
1
pH = =7.
log10 10−7
The advantage of using pH scale is that the activities of all strong acids and bases can be brought
down to the scale of 0-14. The pH value of acidic solutions is in the range 0-7 and alkaline
solutions in the range 7-14.
Measuring Electrode
The measuring electrode is made of thin sodium ion selective glass. A potential is developed
across the two surfaces of this glass bulb, when dipped in aqueous solution. This potential is
sensitive to the H+ ion concentration, having a sensitivity of 59.2 mv/pH at 250C. Fig. 7 shows
the basic schematic of a measuring probe. The buffer solution inside the glass bulb has a constant
H+ ion concentration and provides electrical connection to the lead wire.
Reference Electrode
The basic purpose of a reference electrode is to provide continuity to the electrical circuit, since
the potential across a single half cell cannot be measured. With both the measuring and reference
cells dipped in the same solution, the potential is measured across the two lead wires. A
reference electrode should satisfy the following basic requirements:
(i) The potential developed should be independent of H+ ion concentration.
(ii) The potential developed should be independent of temperature
(iii) The potential developed should not change with time.
Considering all these requirements, two types of reference electrodes are commonly used: (i)
Calomel (Mercury-Mercurous Chloride) and (ii) Silver-Silver Chloride. The construction of a
Calomel reference electrode is shown in Fig. 8. The electrical connection is maintained through
the salt bridge.
Review Questions
1. How would you measure level of a liquid inside a sealed tank? Explain with a schematic
arrangement any one of the methods.
2. Name different techniques used for level measurement of a liquid. Explain the principle
of operation of hydrostatic differential pressure level gage.
3. Name few instances where measurement of humidity/ moisture finds important
applications in industry.
4. How the moisture content in solids can be measured? Give an example and show the
schematic arrangement.
1. Identify the different building blocks of a measuring system and explain the function of
each block.
2. Design an unbalanced wheatstone bridge and determine its sensitivity and other
parameters.
3. Able to explain the advantage of using push-pull configuration in unbalanced a.c. and d.c.
bridges.
4. Define CMRR of an amplifier and explain its importance for amplifying differential
signal.
5. Compare the performances of single input amplifiers (inverting and non-inverting) in
terms of gain and input impedance.
6. Draw and derive the gain expression of a three-op.amp. instrumentation amplifier.
1. Introduction
It has been mentioned in Lesson-2 that a basic measurement system consists mainly of the three
blocks: sensing element, signal conditioning element and signal processing element, as shown in
fig.1. The sensing element converts the non-electrical signal (e.g. temperature) into electrical
signals (e.g. voltage, current, resistance, capacitance etc.). The job of the signal conditioning
element is to convert the variation of electrical signal into a voltage level suitable for further
processing. The next stage is the signal processing element. It takes the output of the signal
conditioning element and converts into a form more suitable for presentation and other uses
(display, recording, feedback control etc.). Analog-to-digital converters, linearization circuits etc.
fall under the category of signal processing circuits.
The success of the design of any measurement system depends heavily on the design and
performance of the signal conditioning circuits. Even a costly and accurate transducer may fail to
deliver good performance if the signal conditioning circuit is not designed properly. The
schematic arrangement and the selection of the passive and active elements in the circuit heavily
influence the overall performance of the system. Often these are decided by the electrical output
characteristics of the sensing element. Nowadays, many commercial sensors often have in-built
signal conditioning circuit. This arrangement can overcome the problem of incompatibility
between the sensing element and the signal conditioning circuit.
R1 = pR R2 = R(1+x)
e0
R4 = pR R3 = R
E
Fig. 2 Unbalanced D.C. bridge.
Then,
⎡ R (1 + x) R ⎤
e0 = ⎢ − ⎥E
⎣ pR + R (1 + x ) pR + R ⎦
px
= E (1)
( p + 1 + x )( p + 1)
From the above expression, several conclusions can be drawn. These are:
B. Maximum sensitivity of the bridge can be achieved for the arm ratio p=1.
C. Nonlinearity of the bridge decreases with increase in the arm ratio p, but the
sensitivity is also reduced.
e
This fact can be verified by plotting 0 vs. x for different p, as shown in fig. 3.
E
D. For unity arm ratio (p=1), and for small x, we can obtain an approximate linear
relationship as,
x
e0 = E . (3)
4
0.25
0.2
Unbalanced voltage (eo/E)
0.15 p=1
0.1 p = 10
0.05
p = 100
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
x
Fig. 3 Bridge characteristics for different arms ratio.
E. We have seen that the maximum sensitivity of the bridge is attained at the arm ratio
p=1. Instead of making all the values of R1, R2, R3, R4 equal under balanced
condition, it could also be achieved by selecting different values with R1= R2, R3 = R4
for x = 0. But this is not advisable, since the output impedance of the bridge will be
higher in the later case. So, from the requirement of low output impedance of a
signal-conditioning element, it is better to construct the basic bridge with all equal
resistances.
F. It may appear from the above discussions, that, there is no restriction on selection of
the bridge excitation voltage E. Moreover, since, more the excitation voltage, more is
the output voltage sensitivity, higher excitation voltage is preferred. But the
Version 2 EE IIT, Kharagpur 5
restriction comes from the allowable power dissipation of resistors. If we increase E,
there will be more power loss in a resistance element and if it exceeds the allowable
power dissipation limit, self heating will play an important role. In this case, the
temperature of the resistance element will increase, which again will change the
resistance and the power loss. Sometimes, this may lead to the permanent damage of
the sensor (as in case of a thermistor).
Push-pull Configuration
The characteristics of an unbalanced wheatstone bridge with single resistive element as one of
the arms can greatly be improved with a push-pull arrangement of the bridge, comprising of two
identical resistive elements in two adjacent arms: while the resistance of one sensor decreasing,
the resistance of the other sensor is increasing by the same amount, as shown in fig.4. The
unbalanced voltage can be obtained as:
⎡ R(1 + x) R⎤
e0 = ⎢ − ⎥E
⎣ R(1 + x) + R(1 − x) 2 R ⎦
⎡1 + x 1 ⎤
=⎢ − ⎥E
⎣ 2 2⎦
x
= E (4)
2
R1 = R(1-x) R2 = R(1+x)
e0
R4 = R R3 = R
E
Fig. 4 Unbalanced D.C. bridge with push pull configuration of resistance sensors.
Looking at the above expression, one can immediately appreciate the advantage of using push-
pull configuration. First of all, the nonlinearity in the bridge output can be eliminated
completely. Secondly, the sensitivity is doubled compared to a single sensor element bridge.
The same concept can also be applied to A.C. bridges with inductive or capacitive sensors. These
applications are elaborated below.
where w is the angular frequency of excitation, L is the nominal value of the inductance and
x = ΔL . Simplifying, we obtain,
L
e0 e0
R4 = R R3 = R R4 = R R3 = R
~ ~
E, ω E, ω
Fig. 5 Unbalanced A.C. bridge with push-pull configuration: (a) for inductive sensor, and
(b) for capacitive sensor.
x
e0 = E, (5)
2
which again shows the linear characteristics of the bridge.
For the capacitance sensor with the arrangement shown in fig. 5(b), we have:
Capacitance Amplifier
Here we would present another type of circuit configuration, suitable for push-pull type
capacitance sensor. The circuit can also be termed as a half bridge and a typical configuration
has been shown in fig.6. Here two identical voltage sources are connected in series, with their
common point grounded. This can be also achieved by using a center-tapped transformer. Two
sensing capacitors C1 and C2 are connected as shown in the fig. 5 and the unbalanced current
flows through an amplifier circuit with a feedback capacitor Cf . Now the current through the
capacitors are:
I 1 = V . jwC1 and I 2 = −V . jwC 2
Hence the unbalanced current:
I = I 1 + I 2 = V . jw(C1 − C 2 )
And the voltage output of the amplifier:
I C − C2
V0 = − =− 1 V (7)
jwC f Cf
As expected, a linear response can also be obtained by connecting a push-pull configuration of
capacitance in fig.6. The gain can be adjusted by varying Cf. However, this is an ideal circuit, for
a practical circuit, a high resistance has to be placed in parallel with Cf.
~
+ V0
V
C2
4. Amplifiers
An Amplifier is an integral part of any signal conditioning circuit. However, there are different
configurations of amplifiers, and depending of the type of the requirement, one should select the
proper configuration.
R1
- R1
+ -
e0 e0
ei +
Differential Amplifier
Differential amplifiers are useful for the cases, where both the input terminals are floating. These
amplifiers find wide applications in instrumentation. A typical differential amplifier with single
op.amp. configuration is shown in fig.8. Here, by applying superposition theorem, one can easily
obtain the contribution of each input and add them algebraically to obtain the output voltage as:
R4 R R
e0 = (1 + 2 ) e2 − 2 e1 (8)
R3 + R4 R1 R1
If we select
R4 R2
= , (9)
R3 R1
then, the output voltage becomes:
R
e0 = 2 (e2 − e1 ) (10)
R1
R2
R1
e1 -
R3 e0
e2 +
R4
However, this type of differential amplifier with single op. amp. configuration also suffers from
the limitation of finite input impedance. In fact, several criteria are used for judging the
Example -1
The unbalanced voltage of a resistance bridge is to be amplified 200 times using a differential
amplifier. The configuration is shown in fig. 9 with R= 1000Ω and x=2 x 10-3. Two amplifiers
are available: one with Ad =200 and CMRR= 80 dB and the other with Ad =200 and CMRR=
60dB. Find the values of V0 for both the cases and compute errors.
R R2 = R(1+x)
+10V v0
Amplifier
R R
Fig. 9
Solution
Referring to fig. 8, if we consider, the op. amp. to be an ideal one, then by selecting the
resistances, such that,
R4 R2
= ,
R3 R1
the effect of the common mode voltage can be eliminated completely, as is evident from eqn.
(10). But if the resistance values differ, due to the tolerance of the resistors, the common mode
voltage will cause error in the output voltage. The other alternative in the above example is to
apply +5 and –5V at the bridge supply terminals, instead of +10V and 0V.
Instrumentation Amplifier
Often we need to amplify a small differential voltage few hundred times in instrumentation
applications. A single stage differential amplifier, shown in fig.8 is not capable of performing
this job efficiently, because of several reasons. First of all, the input impedance is finite;
moreover, the achievable gain in this single stage amplifier is also limited due to gain bandwidth
product limitation as well as limitations due to offset current of the op. amp. Naturally, we need
to seek for an improved version of this amplifier.
A three op. amp. Instrumentation amplifier, shown in fig.10 is an ideal choice for achieving the
objective. The major properties are (i) high differential gain (adjustable up to 1000) (ii) infinite
input impedance, (iii) large CMRR (80 dB or more), and (iv) moderate bandwidth.
From fig. 10, it is apparent that, no current will be drown by the input stage of the op. amps.
(since inputs are fed to the non inverting input terminals). Thus the second property mentioned
above is achieved. Looking at the input stage, the same current I will flow through the
resistances R1 and R2. Using the properties of ideal op. amp., we can have:
e −e e −e e − e2
I = 1 i1 = i1 i 2 = i 2 (12)
R1 R2 R1
from which, we obtain,
ei1 + e1
- R4
I R1
ei1 R3
-
I R2 R3 e0
ei2 +
I R1
- R4
e2
ei2 +
There are many commercially available single chip instrumentation amplifiers in the market.
Their gains can be adjusted by connecting an external resistance, or by selecting the gains (50,
100 or 500) through jumper connections.
5. Concluding Remarks
Several issues have to be taken into consideration for the design of a signal conditioning circuit.
Linearity, sensitivity, loading effect, bandwidth, common mode rejection are the important issues
that affect the performance of the signal conditioning circuits. In this lesson, we have learnt
about different configurations of unbalanced D.C. and A.C bridges, those are suitable for
resistive, capacitive and inductive type transducers. Besides the characteristics of different types
of amplifiers using common operational amplifiers have also been discussed in details. However,
the actual design is dependent on the particular sensing element to be used and its characteristics.
Problems
1. A resistance temperature detector using copper as the detecting element has a resistance
of 100Ω at 0oC. The resistance temperature co-efficient of copper is 0.00427/oC at 0oC.
The sensing element is put in an unbalanced wheatstone bridge as in fig.2, the other arms
are fixed resistances of 100Ω each. Plot the unbalanced voltage vs. temperature for
temperature variation from 0oC to 100oC, if the excitation voltage is E = 2V. Are the
characteristics linear or nonlinear? Justify your answer.
2. Explain the advantage of using push-pull arrangement in a bridge circuit.
3. For what arm ratio the sensitivity of an unbalanced wheatstone bridge is maximum?
4. A noninverting amplifier provides higher input impedance to the measuring circuit
compared to an inverting amplifier- justify.
5. Define CMRR of an op. amp. Why is it important for designing a measurement system?
6. Design a differential amplifier of gain 10.
7. Discuss the main features of an instrumentation amplifier.
8. A differential amplifier circuit shown in fig. 8 has the resistances: R1 = 10K, R2 = 100K,
R3 = 11K and R4 = 100K. Assuming the op. amp. To be an ideal one, find the CMRR of
the amplifier.
9. A simple capacitance amplifier circuit is shown in fig. P1. C1 represents a capacitive
sensor whose nominal value is 50 pF. C2 is a fixed capacitor of 25 pf. Find the output
voltage if the sinusoidal excitation voltage 1V peak-to peak at frequency 1kHz. Assume
the op.amp. to be an ideal one.
C1
ei -
e0
+
Fig. P1.
Answers
1. For 100oC change in temperature is change in resistance for the RTD is 42.7Ω. So the
condition ΔR R << 1 is not satisfied. As a result the bridge output is highly nonlinear.
6. Refer fig.8. Any combination of resistances satisfying eqn.(9) and R2 R1 = 10 will do.
Typical values, R1 = 10 K and R2 = 100 K .
8. 40.83dB
9. 2
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Version 2 EE IIT, Kharagpur 15
Module
2
Measurement Systems
Version 2 EE IIT, Kharagpur 1
Lesson
10
Errors and Calibration
Version 2 EE IIT, Kharagpur 2
Instructional Objectives
At the end of this lesson, the student should be able to:
• Define error
• Classify different types of errors
• Define the terms: mean, variance and standard deviation
• Define the term limiting error for an instrument
• Estimate the least square straight line from a set of dispersed data
• Distinguish between the terms: single point calibration and two point calibration.
Introduction
Through measurement, we try to obtain the value of an unknown parameter. However this
measured value cannot be the actual or true value. If the measured value is very close to the true
value, we call it to be a very accurate measuring system. But before using the measured data for
further use, one must have some idea how accurate is the measured data. So error analysis is an
integral part of measurement. We should also have clear idea what are the sources of error, how
they can be reduced by properly designing the measurement methodology and also by repetitive
measurements. These issues have been dwelt upon in this lesson. Besides, for maintaining the
accuracy the readings of the measuring instrument are frequently to be compared and adjusted
with the reading of another standard instrument. This process is known as calibration. We will
also discuss about calibration in details.
Error Analysis
The term error in a measurement is defined as:
Error = Instrument reading – true reading. (1)
Error is often expressed in percentage as:
Instrument reading − true reading
% Error = X 100 (2)
true reading
The errors in instrument readings may be classified in to three categories as:
1. Gross errors
2. Systematic errors
3. Random Errors.
Gross errors arise due to human mistakes, such as, reading of the instrument value before it
reaches steady state, mistake of recording the measured data in calculating a derived measured,
etc. Parallax error in reading on an analog scale is also is also a source of gross error. Careful
reading and recording of the data can reduce the gross errors to a great extent.
Systematic errors are those that affect all the readings in a particular fashion. Zero error, and
bias of an instrument are examples of systematic errors. On the other hand, there are few errors,
Version 2 EE IIT, Kharagpur 3
the cause of which is not clearly known, and they affect the readings in a random way. This type
of errors is known as Random error. There is an important difference between the systematic
errors and random errors. In most of the case, the systematic errors can be corrected by
calibration, whereas the random errors can never be corrected, the can only be reduced by
averaging, or error limits can be estimated.
Systematic Errors
Systematic errors may arise due to different reasons. It may be due to the shortcomings of the
instrument or the sensor. An instrument may have a zero error, or its output may be varying in a
nonlinear fashion with the input, thus deviating from the ideal linear input/output relationship.
The amplifier inside the instrument may have input offset voltage and current which will
contribute to zero error. Different nonlinearities in the amplifier circuit will also cause error due
to nonlinearity. Besides, the systematic error can also be due to improper design of the
measuring scheme. It may arise due to the loading effect, improper selection of the sensor or the
filter cut off frequency. Systematic errors can be due to environmental effect also. The sensor
characteristics may change with temperature or other environmental conditions.
The major feature of systematic errors is that the sources of errors are recognisable and can be
reduced to a great extent by carefully designing the measuring system and selecting its
components. By placing the instrument in a controlled environment may also help in reduction of
systematic errors. They can be further reduced by proper and regular calibration of the
instrument.
Random Errors
It has been already mentioned that the causes of random errors are not exactly known, so they
cannot be eliminated. They can only be reduced and the error ranges can be estimated by using
some statistical operations. If we measure the same input variable a number of times, keeping all
other factors affecting the measurement same, the same measured value would not be repeated,
the consecutive reading would rather differ in a random way. But fortunately, the deviations of
the readings normally follow a particular distribution (mostly normal distribution) and we may
be able to reduce the error by taking a number of readings and averaging them out.
Few terms are often used to chararacterize the distribution of the measurement, namely,
_
1 n
Mean Value x = ∑ xi
n i =1
(3)
where n is the total number of readings and xi is the value of the individual readings. It can be
shown that the mean value is the most probable value of a set of readings, and that is why it has a
very important role in statistical error analysis. The deviation of the individual readings from the
mean value can be obtained as :
_
Deviation d i = xi − x (4)
We now want to have an idea about the deviation, i.e., whether the individual readings are far
away from the mean value or not. Unfortunately, the mean of deviation will not serve the
purpose, since,
1 n _ _
1 _
Mean of deviation = ∑ ( xi − x) = x − (n x) = 0
n i =1 n
Version 2 EE IIT, Kharagpur 4
So instead, variance or the mean square deviation is used as a measure of the deviation of the set
of readings. It is defined as:
1 n _
Variance V = ∑
n − 1 i =1
( xi − x )2 = σ 2 (5)
The term σ is denoted as standard deviation. It is to be noted that in the above expression, the
averaging is done over n-1 readings, instead of n readings. The above definition can be justified,
if one considers the fact that if it is averaged over n, the variance would become zero when n=1
and this may lead to some misinterpretation of the observed readings. On the other hand the
above definition is more consistent, since the variance is undefined if the number of reading is
one. However, for a large number of readings (n>30), one can safely approximate the variance
as,
1 n _
Variance V = ∑ ( xi − x) 2 = σ 2 (6)
n i =1
The term standard deviation is often used as a measure of uncertainty in a set of measurements.
Standard deviation is also used as a measure of quality of an instrument. It has been discussed in
Lesson-3 that precision, a measure of reproducibility is expressed in terms of standard deviation.
Propagation of Error
Quite often, a variable is estimated from the measurement of two parameters. A typical example
may be the estimation of power of a d.c circuit from the measurement of voltage and current in
the circuit. The question is that how to estimate the uncertainty in the estimated variable, if the
uncertainties in the measured parameters are known. The problem can be stated mathematically
as,
Let y = f ( x1 , x2 ,....., xn ) (7)
If the uncertainty (or deviation) in xi is known and is equal to Δxi , (i = 1,2,..n) , what is the
overall uncertainty in the term y?
Differentiating the above expression, and applying Taylor series expansion, we obtain,
∂f ∂f ∂f
Δy = Δx1 + Δx2 + ...... + Δxn (8)
∂x1 ∂x2 ∂xn
Since Δxi can be either +ve or –ve in sign, the maximum possible error is when all the errors are
positive and occurring simultaneously. The term absolute error is defined as,
∂f ∂f ∂f
Absolute error : Δy = Δx1 + Δx2 + ...... + Δxn (9)
∂x1 ∂x2 ∂xn
But this is a very unlikely phenomenon. In practice, x1 , x2 ,....., xn are independent and all errors
do not occur simultaneously. As a result, the above error estimation is very conservative. To
alleviate this problem, the cumulative error in y is defined in terms of the standard deviation.
Squaring equation (8), we obtain,
2 2
⎛ ∂f ⎞ ⎛ ∂f ⎞ ∂f ∂f
(Δy ) = ⎜⎜
2
⎟⎟ (Δx1 ) 2 + ⎜⎜ ⎟⎟ (Δx2 ) 2 + ...... + 2 .(Δx1Δx2 ) + ....... (10)
⎝ ∂x1 ⎠ ⎝ ∂x2 ⎠ ∂x1 ∂x2
If the variations of x1 , x2 ,..... are independent, positive value of one increment is equally likely to
be associated with the negative value of another increment, so that the some of all the cross
σ ( y ) = ⎢⎜⎜ ⎟⎟ σ ( x1 ) + ⎜⎜
2
⎟⎟ σ ( x2 ) + ......⎥ (12)
⎢⎣⎝ ∂x1 ⎠ ⎝ ∂x2 ⎠ ⎥⎦
Limiting Error
Limiting error is an important parameter used for specifying the accuracy of an instrument. The
limiting error (or guarantee error) is specified by the manufacturer to define the maximum limit
of the error that may occur in the instrument. Suppose the accuracy of a 0-100V voltmeter is
specified as 2% of the full scale range. This implies that the error is guaranteed to be within
± 2V for any reading. If the voltmeter reads 50V, then also the error is also within ± 2V. As a
2
result, the accuracy for this reading will be ×100 = 4% . If the overall performance of a
5
measuring system is dependent on the accuracy of several independent parameters, then the
limiting or guarantee error is decided by the absolute error as given in the expression in (9). For
example, if we are measuring the value of an unknown resistance element using a wheatstone
bridge whose known resistors have specified accuracies of 1%, 2% and 3% respectively, then,
R1 R2
Since Rx = , we have,
R3
R2 R RR
ΔRx = ΔR1 + 1 ΔR2 − 1 2 2 ΔR3
R3 R3 R3
ΔRx ΔR1 ΔR2 ΔR3
or, = + −
Rx R1 R2 R3
Then following the logic given to establish (9), the absolute error is computed by taking the
positive values only and the errors will add up; as a result the limiting error for the unknown
resistor will be 6%.
So the arithmetic mean is the central value in the least square sense. If we take another set of
readings, we shall reach at a different mean value. But if we take a large number of readings,
definitely we shall come very close to the actual value (or universal mean). So the question is,
how to determine the deviations of the different set of mean values obtained from the actual
value?
Now the standard deviation for the readings x1 , x2 ,..., xn is defined as:
1
⎡1 ⎤ 2
σ = ⎢ [V ( x1 ) + V ( x2 )..... + V ( xn )]⎥ , where n is large.
⎣n ⎦
Therefore,
_
1 σ2
V ( x ) = 2 ( n.σ 2 ) =
n n
Hence, the standard deviation of the mean,
_
σ
σ ( x) = (13)
n
_
which indicates that the precision can be increased, (i.e. σ ( x) reduced) by taking more number of
observations. But the improvement is slow due to the n factor.
Version 2 EE IIT, Kharagpur 7
Example: Suppose, a measuring instrument produces a random error whose standard deviation is
1%. How many measurements should be taken and averaged, in order to reduce the standard
deviation of the mean to <0.1%?
Solution: In this case,
σ 1
< 0. 1 ; ∴ n > = 10 ; or , n > 100.
n 0 .1
x
x x
x x
x x
0 x
Fig. 1 Least square straight line fitting.
∂Se n
and = − 2∑ xi ( yi − a0 − a1 xi ) = 0 (16)
∂a1 i =1
∑y i =1
i − a 0 .n − a 1 ∑ x i = 0 ,
i =1
n n n
∑x y −a ∑x −a ∑x
i =1
i i 0
i =1
i 1
i =1
2
i =0.
Solving, we obtain,
n n n
n∑ xi yi − ∑ xi ∑ yi
a1 = i =1
n
i =1
n
i =1
n∑ xi − (∑ xi ) 2
2
i =1 i =1
or,
1 n _ _
∑ i i .y
n i =1
x y − x
a1 = 2
(17)
1 n 2 _
∑i
n i =1
x − x
_ _
where x and y are the mean values of the experimental readings xi and yi respectively. Using
(14), we can have,
_ _
a0 = y − a1 x (18)
Output variable
Output variable
References
1. M.B.Stout: Basic Electrical Measurements, 2/e, Prentice Hall of India, New Delhi,
1981.
2. R.Pallas-Areny and J.G.Webster: Analog Signal Processing, John Wiley, NY, 1999.
3. R.B. Northrup: Introduction to Instrumentation and Measurements (2/e), CRC Press,
Boca Raton, 2005.
4. J.W. Dally, W.F. Riley and K.G. McConnell: Instrumentation for Engineering
Measurements (2/e), John Wiley & Sons, NY, 2003.
Review Questions
1. Define error. A temperature indicator reads 189.80C when the actual temperature is
195.50C. Find the percentage error in the reading.
2. Distinguish between gross error and systematic error. Write down two possible
sources of systematic error.
3. Explain the term limiting error. In a multiple range instrument it is always advisable
to take a reading where the indication is near the full scale: justify.
4. The most probable value of a set of dispersed data is the arithmetic mean: justify.
5. The resistance value at a temperature t of a metal wire, Rt is given by the expression,
R t =R 0 (1+αt) where, R 0 is the resistance at 0oC, and α is the resistance temperature
coefficient. The resistance values of the metal wire at different temperatures have
been tabulated as given below. Obtain the values of R 0 and α using least square
straight line fitting.
Temperature 20 40 60 80 100
(oC)
• Distinguish with examples the difference between sequential control and continuous
process control.
• Identify three special features of a process.
• Differentiate between manipulating variable and disturbance.
• Distinguish between a SISO system and MIMO system and give at least one example in
each case.
• Develop linearised mathematical models of simple systems.
• Give an example of a time delay system.
• Identify the parameters on which the time delay is dependent.
• Sketch the step response of a first order system with time delay.
• State and explain the significance of transfer function matrix.
1. Introduction
We often come across the term process indicating a set up or a plant that we want to control.
Thus by a process we may mean a unit of chemical plant (say, a distillation column), or a
manufacturing system (say, an assembly shop), or a food processing industry and so on. We may
want to automate the process; we may also like to control certain parameters of the system output
(say, level of a tank, pressure of steam etc.). Broadly speaking, there could be two types of
control; we might want to carry out. The first one is called sequential control, where the control
action is carried out in a sequence. A good example for this type of operation could be in an
automated car manufacturing system, where the assembly of parts is carried out in a sequence
(on a conveyor line). Here the control action is sequential in nature and works in a
preprogrammed open loop fashion (implying that there is no feedback of the output signal to the
controller). Programmable Logic Controller (PLC) is often used to carry out these operations.
But there are cases, where the control action needed is continuous in nature and precise control
of the output variable is required. Take for example, the drum level control of a boiler. Here, the
water level of the drum has to be maintained within a small band, in spite of variations of steam
flow rate, steam pressure etc. This type of control is sometimes called modulating control, as the
control variable is modulated to keep the process variable at a constant value. Feedback principle
is used for these types of control. Now onwards, we would concentrate on the control of these
types of processes. But in order to design a controller effectively, we must have a thorough
knowledge about the dynamics of the process. A mathematical model of the process dynamics
often helps us to understand the process behaviour under different operational conditions.
In this lesson, we would discuss the basic characteristics of this type of processes where
continuous control is used for controlling certain variables at the outputs.
In general a process may have several input variables and several output variables. But only one
or two (at most few) of the input variables are used to control the process. These inputs, used for
manipulating the process are called manipulating variables. The other inputs those are left
uncontrolled are called disturbances. Few outputs are measured and fed back for comparison
with the desired set values. The controller operates based on the error values and gives the
command for controlling the manipulating variables. The block diagram of such a closed loop
process can be drawn as shown in Fig. 1.
In order to understand the behavour of a process, let us take up a simple open loop process as
shown in Fig. 2. It is a tank containing certain liquid with an inflow line fitted with a valve V1
and an outflow line fitted with another valve V2. We want to maintain the level of the liquid in
the tank; so the measured output variable is the liquid level h. It is evident from Fig.2 that there
are two variables, which affect the measured output (henceforth we will call it only output) - the
liquid level. These are the throttling of the valves V1 and V2. The valve V1 is in the inlet line, and
it is used to vary the inflow rate, depending on the level of the tank. So we can call the inflow
rate as the manipulating variable. The outflow rate (or the throttling of the valve V2 ) also affect
the level of the tank, but that is decided by the demand, so not in our hand. We call it a
disturbance (or sometimes as load).
The major feature of this process is that it has a single input (manipulating variable) and a single
output (liquid level). So we call it a Single-Input-Single-Output (SISO) process. We would see
afterwards that there are Multiple-Input-Multiple-Output (MIMO) processes also.
Let Qi and Qo are the inflow rate and outflow rate (in m3/sec) of the tank, and H is the height of
the liquid level at any time instant. We assume that the cross sectional area of the tank be A. In a
steady state, both Qi and Qo are same, and the height H of the tank will be constant. But when
they are unequal, we can write,
dH
Qi − Qo = A (1)
dt
But the outflow rate Qo is dependent on the height of the tank. Considering the Valve V2 as an
orifice, we can write, (please refer eqn.(4) in Lesson 7 for details)
Cd A2 2g
Qo = ( P1 − P2 ) (2)
1− β 4 γ
We can also assume that the outlet pressure P2=0 (atmospheric pressure) and
P1 = ρ gH (3)
Considering that the opening of the orifice (valve V2 position) remains same throughout the
operation, equation (2) can be simplified as:
Qo = C H (4)
Where, C is a constant. So from equation (1) we can write that,
dH
Qi − C H = A (5)
dt
The nonlinear nature of the process dynamics is evident from eqn.(5), due to the presence of the
term H .
It is to be noted that all the input and output variables in the transfer function model represent,
the deviations from the steady state values. If the operating point (the steady state level Hs in the
present case) changes, the parameters of the process (R and τ ) will also change.
The importance of linearisation needs to be emphasized at this juncture. The mathematical
models of most of the physical processes are nonlinear in nature; but most of the tools for design
and analysis are for linear systems only. As a result, it is easier to design and evaluate the
performance of a system if its mathematical model is available in linear form. Linearised model
is an approximation of the actual model of the system, but it is preferred in order to have a
physical insight of the system behaviour. It is to be kept in mind that this model is valid as long
as the variation of the variables around the operating point is small. There are few systems whose
dynamic behaviour is highly nonlinear and it is almost impossible to have a linear model of a
system. For example, it is possible to develop the linearised transfer function model of an a.c.
servomotor, but it is not possible for a step motor.
Referring to Fig. 2, if the valve V1 is motorized and operated by electrical signal, we can also
develop the model relating the electrical input signal and the output. Again, we have so far
assumed that the opening of the valve V2 to be constant, during the operation. But if we also
The constants are similar to the earlier section with added suffixes corresponding to tank 1 and
tank 2 respectively. In this case we have neglected the effects of the disturbances.
5. Time delay
It has been mentioned earlier that one of the major characteristics of a process is the presence of
time delay. This time delay term is often referred as “transportation lag”, since it is generated due
to the delay in transportation of the output to the measuring point. The presence and effect of
time delay can be easily explained with an example of a simple heat exchanger, as shown in Fig.
5.
If we consider the changes in inflow rates q1 and q2 are in inputs and the changes in the liquid
levels of the two tanks h1 and h2 as the outputs, then the complete input-output behaviour can be
modeled using the transfer function matrix, as shown below:
⎡ h1 ( s ) ⎤ ⎡G11 ( s ) G12 ( s ) ⎤ ⎡ q1 ( s ) ⎤
⎢ h ( s ) ⎥ = ⎢G ( s ) G22 ( s ) ⎥⎦ ⎢⎣ q2 ( s ) ⎥⎦
(15)
⎣ 2 ⎦ ⎣ 21
A Multi-input-multi-output nonlinear system can be described in its state variable form as:
•
x = f ( x, u )
y = g ( x, u )
where x is the state vector, u is the input vector and y is the output vector. f and g are nonlinear
functions of x and u.
The above nonlinear system can also be linearised over its operating point and can be described
in the state-space form as:
•
x = Ax + Bu (16)
y = Cx + Du
where u is the input vector of dimension m; y is the output vector of dimension p and x is an n-
dimensional vector representing the states. The transfer function matrix G ( s ) can be obtained
as:
G ( s ) = C ( sI − A ) B + D
−1
(17)
For more details, please refer any book on Control Systems.
Example -1
A typical example of a MIMO process and development of its model has been taken up in this
example. This is related to the control of temperature and humidity in order to maintain an
artificial tropical climate inside a room in winter. Fresh cold air is forced inside the room through
a fan. Steam is added to the air in order to maintain the humidity. An electric heater is used to
increase the temperature of the room. So the control inputs are the steam valve position θ (t ) and
the voltage applied to the heater v(t). The measured outputs are room temperature c(t) and the
relative humidity h(t). The detail process description is shown in Fig. 8.
Taking the Laplace transformation, the overall system dynamics can be written in form of the
transfer function matrix as:
⎡ kh ⎤
0
⎡ h( s) ⎤ ⎢⎢ sτ θ + 1 ⎥ ⎡θ ( s) ⎤
⎥
⎢c( s ) ⎥ = ⎢ k kv ⎥ ⎢⎣v( s ) ⎥⎦
(20)
⎣ ⎦ θ
⎢ sτ + 1 sτ v + 1 ⎥⎦
⎣ θ
7. Conclusion
In this lesson, a brief introduction about several aspects of process control has been provided. By
process control, we mean continuous control of one or few parameters of the process output, and
feedback control is used for maintaining these values. This type of operation is distinctly
different from “sequential control” that is basically discrete in operation, and open loop in nature.
In order to effectively control the process, a thorough knowledge about the characteristics of the
process is needed. We have learnt about few terms like, disturbance, time delay etc., whose
behaviours affect the performance and stability to a great extent. Again, the mathematical model
of the process is often nonlinear in nature, but most of the design and analysis tools are suitable
for linear systems only. As a result the system model needs to be linearised over an operating
point. The basic techniques for developing the mathematical model and its linarisation are
elaborated in this lesson. Many of the process control systems are Single-Input-Single-Output
(SISO) type. But there are cases where, a number of outputs are to be simultaneously controlled
by manipulating a number of inputs. This requirement leads to Multiple-Input-Multiple-Output
(MIMO) systems. Typical examples of MIMO processes and their mathematical models have
been discussed in this lesson.
So far, we have refrained from discussing about the controllers. Different types of controllers,
their performances and tuning of the controller parameters would be taken up in the subsequent
lessons.
Review Questions
1. Take the example of a simple liquid level control system for a vessel. Draw the block
diagram for the closed loop control. Identify, the input, output, manipulating variable
and disturbance for this case.
2. Explain the physical reason behind generation of time delay. Why time delay is not so
prevalent in electrical systems? Justify.
3. The transfer function of a process is given by:
5 e −0.5 s
G (s) = ; where time is expressed in minutes. Sketch the open loop response for a
1+ s
unit step input to the process.
4. What are the factors the time delay is dependent on?
5. Give an example of a multiple-input-multiple-output process.
6. What do you mean by transfer function matrix? What is its relation with the state space
description of a system?
7. The dynamic equation of a system is given by:
dx
3 + x2 = 4
dt
Is it a linear system, or a nonlinear system? Justify. If it is a nonlinear system, then
linearise the equation for a steady state operating condition xs=2.
Introduction
In the last lesson, a brief introduction about a process control system has been given. The basic
control loop can be simplified for a single-input-single-output (SISO) system as in Fig.1. Here
we are neglecting any disturbance present in the system.
The controller may have different structures. Different design methodologies are there for
designing the controller in order to achieve desired performance level. But the most popular
among them is Proportional-Integral-derivative (PID) type controller. In fact more than 95% of
the industrial controllers are of PID type. As is evident from its name, the output of the PID
controller u(t) can be expressed in terms of the input e(t), as:
⎡ de(t ) 1
t
⎤
u (t ) = K p ⎢ e ( t ) + τ d + ∫ e(τ ) dτ ⎥ (1)
⎣ dt τi 0 ⎦
and the transfer function of the controller is given by:
⎛ 1 ⎞
C ( s) = K p ⎜1 + τ d s + ⎟ (2)
⎝ τis ⎠
The terms of the controller are defined as:
K p = Proportional gain
τ d = Derivative time, and
Version 2 EE IIT, Kharagpur 3
τ i = Integral time.
In the following sections we shall try to understand the effects of the individual components-
proportional, derivative and integral on the closed loop response of this system. For the sake of
simplicity, we consider the transfer function of the plant as a simple first order system without
time delay as:
K
P(s) = (3)
1+τ s
Proportional control
With the proportional control action only, the closed loop system looks like:
This offset can be reduced by increasing the proportional gain; but that may also cause increase
oscillations for higher order systems.
The offset, often termed as “steady state error” can also be obtained from the error transfer
function and the error function e(t) can be expressed in terms of the Laplace transformation
form:
1 A 1+τ s A
e( s ) = =
KK p s 1 + KK p + τ s s
1+
1+τ s
Using the final value theorem, the steady state error is given by:
1+τ s A A
ess = Lt e ( t ) = Lt s e( s) = Lt =
t →∞ s →0 s →0 1 + KK + τ s s 1 + KK p
p
Often, the proportional gain term, Kp is expressed in terms of “Proportional Band”. It is inversely
proportional to the gain and expressed in percentage. For example, if the gain is 2, the
proportional band is 50%. Strictly speaking, proportional band is defined as the %error to move
the control valve from fully closed to fully opened condition. However, the meaning of this
statement would be clear to the reader afterwards.
Integral Control
If we consider the integral action of the controller only, the closed loop system for the same
process is represented by the block diagram as shown in Fig. 3.
K
c( s ) τ s(1 + τ s) K
= i =
r (s) 1 + K K + τ i s + ττ i s 2
τ i s(1 + τ s)
From the first observation, it can be seen that with integral controller, the order of the closed
loop system increases by one. This increase in order may cause instability of the closed loop
system, if the process is of higher order dynamics.
A
For a step input r ( s ) = ,
s
1 A τ i s (1 + τ s ) A
e( s ) = =
1+
K s τ i s (1 + τ s ) + K s
τ i (1 + τ s )
ess = Lt s e( s ) = 0
s →0
So the major advantage of this integral control action is that the steady state error due to step
input reduces to zero. But simultaneously, the system response is generally slow, oscillatory and
unless properly designed, sometimes even unstable. The step response of this closed loop system
with integral action is shown in Fig. 4.
The step responses of this process with P and P-D controllers are compared in Fig.8.
References
1. B. Liptak: Process Control: Instrument Engineers Handbook
Review Questions
1. A P-I controller has a proportional band of 50% and integration time of 2sec. Find the
transfer function of the controller.
2
2. The transfer function of a first order plant is G ( s ) = . It is used in a unity feedback
1 + 2s
system as shown in Fig. 2 with a proportional controller of proportional band 100%. Find
the steady state error for a unit step input, and the time constant of the closed loop
system.
3. Repeat problem 2 if proportional band is 50%.
4. What would be the steady state error for the plant in problem-2 if the transfer function of
1
the controller is Gc ( s) = 2(1 + ) ?
2s
5. Incorporation of P-I action may lead to instability in the closed loop performance- justify.
6. How does incorporation of derivative action in the controller improve the closed loop
performance?
7. Why derivative control is not recommended for a flow control process?
8. What type of controller would you recommend for control of pH level in a liquid?
1. Introduction
The importance of P-I-D controller and the features of P, I and D actions were elaborated in the
last lesson. It was also mentioned that the controller could be easily incorporated in a process,
whatever be the type of a process: linear or nonlinear, having dead time or not. It is needless to
say that the controller parameters influence heavily the performance of the closed loop system.
Again, the choice of the value of the P, I and D parameters is very much process dependent. As a
result, thorough knowledge about the plant dynamics is important for selection of these
parameters. In most of the cases, it is difficult to obtain the exact mathematical model of the
plant. So, we have to rely on the experimentation for finding out the optimum settings of the
controller for a particular process. The process of experimentation for obtaining the optimum
values of the controller parameters with respect to a particular process is known as controller
tuning.
It is needless to say, that controller tuning is very much process dependent and any improper
selection of the controller settings may lead to instability, or deterioration of the performance of
the closed loop system. In 1942 two practicing engineers, J.G. Ziegler and N.B. Nichols, after
carrying out extensive experiments with different types of processes proposed certain tuning
rules, there were readily accepted and till now are used as basic guidelines for tuning of PID
controllers. Subsequently, G.H. Cohen and G.A. Coon in 1953 proposed further modifications of
the above techniques. Still then, the methods are commonly known as Ziegler-Nichols method.
Substantial amount of research has been carried out on tuning of P-I-D controllers since last six
decades. Several other methods have also been proposed. Most of them are model based, i.e. they
assume that the mathematical model of the system is available to the designer. In fact, if the
mathematical model of the system is available, many of them perform better than conventional
Ziegler-Nichols method. But the strength of the ZN method is that it does not require a
mathematical model, but controller parameters can simply be chosen by experimentation. We
would be discussing the three experimental techniques those come under the commonly known
Ziegler-Nichols method.
Now let us look back to whatever discussed in lessons 11 and 12. The closed loop system can be
described as shown in Fig. 1.
⎡ de(t ) 1
t
⎤
u (t ) = K p ⎢ e(t ) + τ d + ∫ e(τ ) dτ ⎥
⎣ dt τi 0 ⎦
Our objective is to find out the optimum settings of the P,I,D parameters, namely K p , τ d and τ i
through experimentation, which will provide satisfactory closed loop performance, of the
particular process in terms of, say, stability, overshoot, setting time etc. Three methods of tuning
are elaborated in the following sections.
Optimum settings
M R
P-Control: Kp = (1 + )
NL 3
M 9 R ⎛ 30 + 3R ⎞
P-I Control: Kp = ( + ); τ i = L⎜ ⎟
NL 10 12 ⎝ 9 + 20 R ⎠
M 4 R ⎛ 32 + 6R ⎞
P-I-D Control: K p = ( + ); τ i = L⎜ ⎟
NL 3 4 ⎝ 13 + 8R ⎠
⎛ 4 ⎞
τ d = L⎜ ⎟
⎝ 11 + 2R ⎠
3. Closed Loop Technique (Continuous Cycling method)
The major objection to the tuning methodology using reaction curve technique is that process has
to be run in open loop that may not always be permissible. For tuning the controller when the
process is in under closed loop operation, there are two methodologies. The first one, continuous
cycling method is explained below.
Tu
P-I Control: K p = 0.45K p max , τi =
1.2
Tu T
P-I-D Control: K p = 0.6 K p max , τi = , τd = u
2 8
Points to Ponder
a) Why is the proportional gain Kp for PI control is less than the value for P-only
control?
b) Why Kp for PID control is more than that PI?
Integration Windup
A significant problem with integral action is that when the error signal is large for a significant
period of time. This can occur every time when there is large change in set point. If there is a
sudden large change in set point, the error will be large and the integrator output in a P-I-D
control will build up with time. As a result, the controller output may exceed the saturation limit
of the actuator. This windup, unless prevented may cause continuous oscillation of the process
that is not desirable.
References
1. B. Liptak: Process Control: Instrument Engineers Handbook
2. D.R. Coughanowr: Process systems analysis and control (2/e), McgrawHill, NY, 1991.
3. D. Eckman: Process Control, Wiley, NY, 1958.
Review Questions
1. What does controller tuning mean?
2. Name the three techniques for controller tuning, those are commonly known as Ziegler-
Nichols method.
3. Explain the reaction curve technique for tuning of controller. What are its limitations?
4. What do you mean by Auto Tuning? Explain briefly.
5. What is meant by Bumpless Transfer?
6. Why provision for Anti- integration Windup is necessary for process with P-I-D control?
Introduction
We have discussed in the last lesson the tuning rules for PID controllers. In this lesson, we shall
discuss about how to implement a PID controller in an actual system.
Looking back to the history of the PID controller, the PID controllers in the initial days were all
pneumatic. In fact, all the experimentation by Ziegler and Nichols were carried out with
pneumatic controllers. But pneumatic controllers were slow in nature. After the development of
electronic devices and operational amplifiers, the electronic controllers started replacing the
conventional pneumatic controllers. But with the advent of the microprocessors and
microcontrollers, the focus of development is now towards the implementation with digital PID
controllers. The major advantage of using digital PID controllers is that the controllers parameter
can be programmed easily; as a result, they can be changed without changing any hardware.
Moreover, the same digital computer can be used for a number of other applications besides
generating the control action.
In this lesson, we shall first discuss about the PID controller implementation with pneumatic and
electronic components and then discuss about the different algorithms those can be used for
digital implementation of PID controllers. But before that, we shall discuss about the different
schemes of implementation of bumpless transfer and antiwindup actions. These two issues were
described in the last lesson. We shall now see, how they can be implemented in actual practice.
Bumpless Transfer
It is quite normal to set up some processes using manual control initially, and once the process is
close to normal operating point, the control is transferred to automatic mode through
auto/manual switch. In such cases, in order to avoid any jerk in the process the controller output
immediately after the changeover should be identical to the output set in the manual mode. This
can be achieved by forcing the integral output at the instant of transfer to balance the
proportional and derivative outputs against the previous manual output; i.e.
Integral output = {(previous manual) – (proportional + derivative) output}.
Similarly, for automatic to manual transfer, initially the manual output is set equal to the
controller output and the difference is gradually reduced by incrementing or decrementing the
manual output to the final value of the manual signal and thus effecting a change over.
The first method uses a switch to break the integral action, whenever the actuator goes to
saturation. This can be illustrated by Fig. 2. Consider schematic arrangement of a controller
shown in the figure. When the switch is closed, transfer function of the controller can be
obtained as:
Pneumatic Controller
It has been already mentioned that the early days PID controllers were all pneumatic type. The
advantage of pneumatic controllers is its ruggedness, while its major limitation is its slow
response. Besides it requires clean and constant pressure air supply. The major components of a
pneumatic controller are bellows, flapper nozzle amplifier, air relay and restrictors (valves). The
integral and derivative actions are generated by controlling the passage of air flow through
restrictors to the bellows. However, the details of the scheme for generation of PID action in a
pneumatic controller will be elaborated in Lesson 29 and 30. A simple scheme for
Here four bellows are connected to a force beam as shown. The measured process variable is
converted to air pressure and connected to the bellows P1. Similarly the air pressure
corresponding to the set point signal is applied to the bellow P2. The error corresponding to the
measured value and the set point generates a force on the left hand side of the force beam. There
is an adjustable pivot arrangement that sets the proportional gain of the amplifier. The right hand
side of the force beam is connected to two bellows, P3 and P4 and a flapper nozzle amplifier. The
output air pressure is dependent on the gap between the flapper and nozzle. An air relay
enhances the air handling capacity. The output pressure is directly fed back to the feedback
bellows P4, and also to P3 through a restrictor (valve). The opening of this restrictor decides the
integral action to be applied. With a slight modification of this scheme, a pneumatic PID
controller can also be implemented.
Now replacing the derivative and integral terms in eqn. (1), one can obtain,
⎡ T k −1
τ ⎤
u (k ) = K p ⎢e(k ) + 0
τi
∑ e(i) + T {e(k) − e(k − 1)}⎥
d
(2)
⎣ i =0 0 ⎦
The above algorithm is known as Position algorithm. But the major problem here is that the error
values at all the time instants are to be stored (or at least the second term of the r.h.s of Eqn. (2)
at each instant have to be stored). An alternative approach known as velocity algorithm can be
obtained as follows.
From (2), one can write the error signal at the (k-1) th instant as:
⎡ T0 k −2 τ ⎤
u (k − 1) = K p ⎢e(k − 1) + ∑ e(i) + d {e(k − 1) − e(k − 2)}⎥ (3)
⎣ τ i i =0 T0 ⎦
Subtracting eqn. (3) from (2), we can have:
Δu (k ) = u (k ) − u (k − 1)
⎡ τ ⎤
= K p ⎢e(k ) − e(k − 1) + 0 e(k − 1) + d {e(k ) − 2e(k − 1) + e(k − 2)}⎥
T
⎣ τi T0 ⎦
= q 0 e(k ) + q1e(k − 1) + q 2 e(k − 2) (4)
where,
1. Bumpless Transfer
During the transfer from manual to auto mode, it is desired that the input command to the
process should not change suddenly. In Position algorithm, due to the difference between the set
point and the output variable, it is always possible that the existing error will wind up and the
value of ∑ e(k ) be large when the switching from manual to auto mode takes place. This will
cause a large change in the input u(k) in the auto mode. But in the velocity algorithm, this will be
prevented, since it provides only incremental change in input [u(k)-u(k-1)]. This will lead to
bumpless transfer.
Conclusion
Actual implementation of PID controllers is not a trivial task. In this lesson several methods for
implementation of the control actions, as well as prevention of certain undesirable effects while
the controller is in use in the process have been discussed. The implementation of the PID action
can be carried out using pneumatic or electronic discrete components (hydraulic controllers are
also in use, but to a limited extent). The basic schematics of pneumatic and electronic PID
controllers have been explained. Next, the implementation of the control action using a digital
controller has been discussed. Two algorithms for digital implementation have been explained.
Their relative merits and demerits are also been elaborated. The necessity for using schemes for
bumpless transfer and anti-integration windup been explained and few such schematic
arrangements have been presented.
References
1. D.P. Eckman: Automatic process Control, Wiley Eastern, New Delhi, 1958.
2. G. Stephanopoulus: Chemical process Control, Prentice Hall of India, New Delhi, 1995.
3. C. Johnson: Process Control Instrumentation Technology (4/e), Prentice Hall of India,
New Delhi, 1996.
4. J.M. Jacob: Industrial Control Electronics, Prentice Hall International, NJ, 1989.
Review Questions
1. What problem is envisaged when a controller is switched from manual control mode to
auto mode? Suggest a scheme for overcoming this problem.
2. Explain how the saturation of the actuator affects the performance of a PID controller.
Suggest one scheme for overcoming the problem. Explain its operation.
3. Draw the schematic diagram of an electronic PI controller. How the proportional and
integral constants can be adjusted.
4. What are the major drawbacks of a pneumatic controller?
5. Explain how a continuous time PID control law can be discretised using velocity
algorithm.
6. What are the advantages of velocity algorithm, compared to the position algorithm for
digital implementation of PID controllers?
7. Given a continuous time PID controller with Kp=3, τ i = 5 min, and τ d = 1 min. Determine
the parameters of the corresponding discrete difference equation using velocity
algorithm. Assume sampling time = 30 secs.
Answer
1. q0 = 9, q1 = −14.7, q2 = 6 in eqn. (4).
Introduction
In the last few lessons we have discussed about the different aspects of PID controllers, their
tuning, implementation etc. In all the cases the control action considered was feedback type; i.e.
the output was fed back and compared with the set point and the error was fed to the controller.
The output from the controller was used to control the manipulating variable. However there are
several cases, where apart from the feedback action few other control structures are incorporated
in order to satisfy certain requirements. In this lesson we would take up two such special control
structures: feedforward and ratio control.
Feedforward Control
When the disturbance is measurable, feedforward control is an effective means for cancelling the
effects of disturbance on the system output. This is advantageous, since in a simple feedback
system, the corrective action starts after the effect of disturbance is reflected at the output. On the
other hand, in feedforward control the change in disturbance signal is measured and the
corrective action takes place immediately. As a result, the speed and performance of the overall
system improves, if feedforward control, together with feedback action is employed.
In order to illustrate the effect of feedforward control, let us consider the heat exchange process
shown in Fig.1. The cold water comes from a tank and flows to the heat exchanger. The flow rate
of cold water can be considered as a disturbance. The change in input flow line may occur due to
the change in water level in the tank. Suppose, the feedforward line is not connected, and the
controller acts as a feedback control only. If the water inlet flow rate increases, the temperature
of the outlet hot water flow will decrease. This will be sensed by the temperature sensor that will
compare with the set point temperature and the temperature controller will send signal to open
the control valve to allow more steam at the steam inlet. The whole operation is a time
consuming and as a result the response of the controller due to the disturbance (inlet water flow
rate) is normally slow. But if we measure the change in inlet flow rate by a flowmeter and feed
this information to the controller, the controller can immediately take the correcting action
anticipating the change in outlet temperature. This will improve the speed of response. Thus
feedforward action, in addition to the feedback control improves the performance of the system,
but provided, the disturbance is measurable.
In general, the structure of the feedforward-feedback action in terms of the block diagram of
transfer functions can be represented as shown in Fig. 3. Where,
G ( s ) = Transfer function of the process (manipulating variable to output)
Gn ( s) = Disturbance transfer function (disturbance to output)
Gc ( s) = Transfer function of feedback controller
So there are two controllers, one is the conventional feedback controller Gc ( s) , while the other is
the feedforward controller that is intended to nullify the effect of disturbance at the output. From
Fig. 3, the overall output is:
If we want to select the feedforard transfer function, such that, the effect of disturbance at the
output is zero, then we require the co-efficient of N(s) in above equation to be set to zero. Thus,
G c ( s ) G(s) G f (s) +G n (s) = 0
G n (s)
or, G f (s) = - (1)
G c (s) G(s)
It is to be noted that complete disturbance rejection can be obtained if the transfer functions Gp(s)
and Gn(s) are known accurately, which is not possible in actual situation. As a result, the
performance of the feedforward controller will deteriorate and complete disturbance rejection
can not be achieved, through the effect can be reduced considerably. However the feedback
controller would reduce the residual error due to imperfect feedforward control and at the output,
the effect of imperfect cancellation may not be felt.
Example -1
Consider the composition control system of a certain reagent. The block diagram of the
feedforward-feedback control system is shown in Fig.4. Here we are using a P-I controller for
feedback action. Ci is the disturbance signal. Compared to Fig.3, the feedforward controller
But in many cases, practical implementation of the feedforward controller as obtained from
eqn.(1) is difficult. It can be easily seen in the above example if the disturbance transfer function
is :
1
G n (s) =
(s+1) 2
In this case, the feedforward controller transfer function becomes:
G f (s) = −(s+1)
But since the above transfer function is not a proper one, practical realization of this transfer
function is difficult. In these cases, the transfer function of the feedforward controller is chosen
in the form of a lag-lead compensator as:
K (1+T1s)
G f (s) = − f , with T2 <<T1 and Kf is a constant.
(1+T2s)
In the present case the transfer function G f (s) = −(s+1) can be realized by approximating as:
s+1
G f (s) = − .
0.1s+1
In normal case, the transfer function of the process is not known exactly. So the question is how
to tune the parameters of the feedforward controller for optimum performance. This can be
carried out by performing some experimentation for tuning the controller. The details of the
tuning procedure for feedforward controllers can be found in [2].
The second possible scheme for ratio control is shown in Fig. 6. Suppose the flow rate of fluid B
has to be maintained at a constant fraction of flow rate of fluid A, irrespective of variation of
flow rate of A (qA). In this scheme the flow rate of fluid A is multiplied with the desired ratio (set
externally) that gives the desired flow rate of fluid B. This is compared with the actual flow rate
of fluid B and fed to the controller that operates the control valve.
Example -2
We have mentioned earlier that ratio control is a special type of feedforward control. We shall
elaborate this point in the following example [4]. Effects of control actions in feedback only
mode, feedforward only mode and feedforward-feedback mode will also be elaborated in the
context of control of a blending process.
Consider a blending system where two streams are blended; one is uncontrolled wild stream that
acts as disturbance and another is controlled and acts as the manipulated variable. The ratio of
these two streams affect the quality of the output of the process.
But the above scheme also suffers from certain limitations, since the composition variation due
to other disturbances is not taken into account. So though faster, if may not yield the desired
performance. The performance may be further improved by choosing a feedforward-feedback
control scheme (Fig. 8(c)) where the composition of the output stream is measured and the
composition controller sets the desired ratio to be maintained.
References
1. G. Stephanopoulus: Chemical process Control, Prentice Hall of India, New Delhi,
1995.
2. D.R. Coughanowr: Process systems analysis and control (2/e), McgrawHill, NY, 1991.
3. K. Ogata: Modern Control Engineering (2/e), Prentice Hall of India, New Delhi, 1995.
4. W.L. Luyben and M.L. Luyben: Essentials of Process Control, McgrawHill, NY, 1997.
Review Questions
1. When would you recommend the use of feedforward controller? What is the advantage
of using this control?
2. Draw the general block diagram of a feedforward-feedback control scheme and develop
the transfer function of the feedback controller.
3. What modification of the transfer function of the feedforward controller is suggested
when the obtained transfer function of the controller is not proper?
4. Explain with an example the principle of ratio control. Elaborate with a block diagram
any one scheme for achieving ratio control.
5. Why the controller used for ratio control is normally P-I type?
• Explain with an example the difficulty in controlling a process with dead time.
• Draw and explain the function of Smith Predictor Compensation Scheme.
• Explain the two schemes for predictive control in automatic gage control of a rolling mill.
• Given an example of a process with inverse response.
• Write down the transfer function of process with inverse response and sketch its step
response.
• Suggest a suitable compensation scheme for control of a process with inverse response.
Predictive Control
It has already been mentioned earlier, how in a chemical process control transportation lag (time
delay) comes into picture affecting the model and performance of the process. Model of a
− sτ
process having a time delay τ d will have a term e d in its numerator of the transfer function.
Processes having large time delays are normally difficult to control. A change in set point or
disturbance does not reach the output until a time τ d has elapsed. As a result, performance of the
closed loop control system is normally sluggish and any change in set point or disturbance will
give rise to large oscillations of the output before coming to a steady state value.
In order to improve the closed loop performances of such time delay systems, O.J.M. Smith in
1957 first suggested a modification of conventional PID control schemes for processes having
large time delay. The scheme for taking a predictive action in presence of transportation delay in
the system is better known as Smith Predictor.
Let us consider that the transfer function of the process is given by:
G p (s)=e-sτd G(s) (1)
where G(s) represents the system model without the delay. The basic scheme for Smith Predictor
is shown in Fig. 1. Here G(s) is the conventional PID controller designed fro the process G(s). If
the system model is exact, the output of the comparator-A would be zero and the outer loop can
be ignored. The closed loop system can be simplified as the block diagram shown in Fig. 2.
Since the time delay part is absent here, the controller will see the effect of control action much
earlier and the sluggish response of the system will improve. The outer loop comes into play if
the model of the process is not exact (normally that is expected). Fig. 1 can be redrawn as shown
in Fig. 3 with the actual controller is shown inside the dashed line.
The performance of the Smith Predictor depends heavily on the actual knowledge of the plant
model. Any change in the plant characteristics (particularly dead time) should be instantly taken
care of, or otherwise, can cause deterioration of its performance. Besides, the hardware
implementation of the controller using analog circuits is difficult. But the control scheme can be
implemented with relative ease with a digital controller.
In order to improve the performance of the closed loop scheme, Predictive Control mechanism
are added with the basic feedback scheme. Here the actual roll gap (and subsequently the gage
thickness) is estimated at the roll stand. This can be achieved by two possible methods:
• estimating the roll gap
• estimating the gap thickness from constant mass flow principle.
In both the cases, the gap is estimated through an approximate model of the rolling stand.
P
h = C0 + (2)
Ks
where h is the exit thickness of the rolled product, C0 is the no-load roll gap, P is the roll force in
the hydraulic actuator and Ks is the structural stiffness of the mill. The overall scheme can be
represented as in Fig. 5.
The instantaneous level of water at the boiler drum is decided by the steam flow rate and the
feedwater flow rate and it would reach a steady state when both are equal. Now suppose, the
steam flow rate suddenly decreases, the feedwater flow rate remaining constant. At a first glance,
it would appear that the drum level should rise. But actually the drum level will initially drop for
some time before it rises and reaches a steady value. This is because of the fact that drop in
steam flow rate will initially cause the rise in steam pressure in the drum. Due to the rise in
pressure, the bubbles present inside the water in the drum will momentarily shrink. This will
cause the temporary fall in the drum level. Similarly, for a sudden increase in steam flow rate,
the drum level will momentarily swell before it drops down to a steady state vale. A typical
response curve of the drum level due to the sudden fall in steam level is plotted in Fig. 7.
From Fig. 10, if we neglect the additional compensator loop with Gc(s) then it is evident that the
feedback information received,
References
1. G. Stephanopoulus: Chemical process Control, Prentice Hall of India, New Delhi, 1995.
2. K.J. Astrom and B.J. Wittenmark: Computer Controlled Systems, Prentice Hall of India,
New Delhi, 1994.
3. V.B. Ginzburg: High Quality Steel Rolling: Theory and practice, Marcel Dekker Inc.,
NY, 1993.
4. W. Zhang, X. Xu and Y. Sun: Quantitative Performance Design for Inverse-Response
Processes, Ind. Eng. Chem. Res. , vol. 39, pp. 2056-2061, 2000.
Review Questions
1. Draw the basic scheme of a Smith Predictor for controlling a process with a
transportation lag and explain its principle of operation.
2. For proper operation of a Smith predictor, the model of the process must be known with
sufficient accuracy- justify.
3. Explain a Smith predictor scheme used for automatic gage control in rolling mill.
Introduction
In last two lessons, we have discussed several special control structures those are commonly in
use for process control. We shall conclude this part with three more structures. Cascade, override
and split range control. Cascade control is widely used for minimizing the effects of certain types
of disturbance in the process. On the other hand, override and split range controls are used for
controlling certain types of multi variable processes.
Cascade Control
Consider the heat exchange process shown in Fig. 1.Steam is used to heat the water in the heat
exchanger. Feedback temperature controller is used to compare the water outlet temperature with
the set point and control the steam flow rate by opening or closing the control valve. However
due to the change in upstream steam pressure (Pi), the steam flow rate may change, though the
control valve is at the same position. This will affect the amount of heat exchanged and the
temperature at the water outlet. It will take some time to detect the change in temperature and
take subsequent corrective action. In a cascade control, this problem can be overcome by
measuring the disturbance (change in flowrate in steam due to upstream pressure variation and a
corrective action is taken to maintain constant flowrate of steam. There is an additional controller
(flow controller) whose set point is decided by the temperature controller. The schematic
arrangement of cascade control is shown in Fig.2. its block diagram is shown in Fig.3. Clearly,
there are two control loops – outer and inner, and two controllers. The set point of the inner loop
controller is decided by the outer loop primary controller.
There are few other advantages of cascade control. They can be summarized as:
1. A strong (high gain) inner loop reduces the sensitivity and nonlinearity of the plant in the
closed loop. The outer loop therefore experiences less parameter perturbations.
2. Cascading makes the use of feedforward control more systematic. In the heat exchanger
example (Fig.2) it is possible to measure the water flow and add feedforward
compensation to the flow controller. This would improve the speed of response to
fluctuation in water flow, which is a disturbance (refer Lesson 15).
On the other hand the major disadvantages of cascade control are (i) more sensors and
transmitters and (ii) more number of controllers.
For proper operation of the cascade control arrangement, the dynamics of the inner loop (control
valve in the present case) should be considerably faster than the dynamics of the outer loop
process (heat exchanger in the present case). The inner loop secondary controller is normally
chosen as a simple P-type controller with high gain, while the outer loop primary controller is a
conventional P-I controller.
Due to the presence of two loops in cascade control, the stability of the overall system has to be
looked into more carefully. Considering the different elements of the arrangement to be linear,
the overall feedback control system can be drawn in terms of the transfer functions as shown in
Fig. 5. Here GC1 and GC2 are the two controllers. GP1 is the transfer function of there primary
process and GP2 is there transfer function of the valve dynamics.
For maintaining stability of the inner loop the roots of the characteristics equation:
1 + G C2G P2 = 0 (1)
must be on the left hand side of the s-plane. On the other hand, for maintaining the stability of
the primary control loop, the roots of the characteristics equation:
⎛ G G ⎞
1+G C1 ⎜ C2 P2 ⎟ G P1 =0 (2)
⎝ 1+G C2G P2 ⎠
must be on the left hand side of the s-plane. It is often advantageous to make the inner loop 3 to 4
times faster than the outer loop.
The cascade control scheme discussed in this scheme is called a series cascade control. Besides,
there is another scheme called parallel cascade control. However, the second one would not
been discussed in this lesson.
Let us consider a simple example of override control. Consider a boiler system shown in Fig. 6.
Under normal circumstances, the steam pressure of the boiler is controlled by controlling the
flow through the discharge line. The pressure is maintained through the pressure transmitter and
the pressure controller. But the water level of the boiler should also not fall below a specified
lower limit, which is necessary to keep the heating coil immersed in water and thus preventing
the burning out. This can be achieved by using override control through the lower limit switch
(LSS). Under normal circumstances, the selector switch selects the pressure control loop for
control; but as soon as the level of water falls below a set value, the selector switch switches to
level control mode and the second loop takes over the control action.
References
1. G. Stephanopoulus: Chemical process Control, Prentice Hall of India, New Delhi,
1995.
2. D.R. Coughanowr: Process systems analysis and control (2/e), McgrawHill, NY, 1991.
3. W.L. Luyben and M.L. Luyben: Essentials of Process Control, McgrawHill, NY, 1997.
Note that some of these can also be operated using analog control methods. However, in specific
applications they may be viewed as discrete control or sensing devices for two reasons, namely,
A. The inputs to these devices only belong to two specific sets. For example in the control of
a reciprocating conveyor system, analog motor control is not applied. Simple on-off
control is adequate. Therefore for this application, the motor-starter actuation system may
be considered as discrete.
B. Often the control problem considered is supervisory in nature, where the problem is
provide different types of supervisory commands to automatic control systems, which in
turn carry out analog control tasks, such that over all system operating modes can be
maintained and coordinated to achieve system objectives.
Point to Ponder: 1
A. Categorise the following sensor systems as Discrete or Continuous
a) thermostat b)clinical thermometer c) the infrared sensor in TV sets
B. Categorise the following actuator systems as Discrete or Continuous
a)the trigger of a gun b) the steering wheel of the car c) a step motor
Piston
Upper
limit
switch
Up
Sole-
noid
Down Die Lower
Solenoid limit
switch
Point to Ponder: 2
A. Define what is Logic Control system in your own language. Give an example
B. In the context of your example show typical objectives in Logic Control
Point to Ponder: 3
C. Of Logic Control and Analog Control which one appears simpler and why ?
D. Can you cite an example system which requires both Analog and Logic Control?
However, since it evolved out of relay control panels the PLCs adopted legacy concepts, which
were applicable to such panels. To facilitate maintenance and modification of the physically
wired control logic, the control panel was systematically organized so that each control formed a
rung much like a rung on a ladder. The development of PLCs retained the ladder logic concept
where control circuits are defined like rungs on a ladder where each rung begins with one or
more inputs and each rung usually ends with only one output. A typical PLC ladder structure is
shown below in Fig. 3.2
Relay Ladder
Rung Logic
] Rung
• Relay coil
(Virtual)
•
Power
•
Rails
Fig. 18.4 The structure of Relay Ladder Logic Programs for PLCs
Point to Ponder: 4
E. Name three of the most prominent advantages of the PLCs over hardwired Relay
Contactor Logic
F. Can you name a single disadvantage in any situation?
G. Do you think the idea of developing programs that look like Relay Ladders is very
efficient? If so, why? If not, why was it pursued?
Application Areas
Programmable Logic Controllers are suitable for a variety of automation tasks. They provide a
simple and economic solution to many automation tasks such as
• Logic/Sequence control
• PID control and computing
• Coordination and communication
Architecture of PLCs
The PLC is essentially a microprocessor-based real-time computing system that often has to
handle significant I/O and Communication activities, bit oriented computing, as well as normal
floating point arithmetic. A typical set of components that make a PLC System is shown in Fig.
3.5 below.
Communication
Backplane
Processor CPU
Function Power
Modules
Network Printer
communication Programmer unit
The components of the PLC subsystem shown in Fig. 3.5 are described below.
Communications processors
Communications processors autonomously handle data communication with the following:
♦ Standard peripherals such as printers, keyboards and CRTs,
♦ Supervisory Computer Systems,
♦ Other Programmable controllers,
The data required for each communications processors is stored in a RAM or EPROM sub
module so that they do not load the processor memories. A local area network can also be
configured using communications processors. This enables the connection of various PLCs over
a wide distance in various configurations. The network protocols are often proprietary. However,
over the last decade, interoperable network protocol standards are also supported in modern
PLCs.
Expansion units
Modules for the input and output of signals are plugged into expansion units. The latter are
connected to the central controller via interface modules. Expansion units can be connected in
two configurations.
A. Centralized configuration
The expansion units (EU) are located in the same cabinet as the central controllers or in
an adjacent cabinet in the centralized configuration, several expansion units can be
connected to one central controller. The length of the cable from the central controller to
the most distant expansion unit is often limited based on data transfer speeds.
B. Distributed configuration
The expansion units can be located at a distance of up to 1000 m from the central
controller. In the distributed configuration, up to 16 expansion units can be connected to
one central controller. Four additional expansion units can be connected in the centralized
configuration to each distributed expansion unit and to the central controller.
Input/Output Units
A host of input and output modules are connected to the PLC bus to exchange data with the
processor unit. These can be broadly categorized into Digital Input Modules, Digital Output
Modules, Analog Input Modules, Analog Output Modules and Special Purpose Modules.
Digital Input Modules
The digital inputs modules convert the external binary signals from the process to the internal
digital signal level of programmable controllers.
Digital Output Modules
The digital output modules convert the internal signal levels of the programmable controllers
into the binary signal levels required externally by the process.
Analog Input Modules
The analog input modules convert the analog signals from the process into digital values which
are then processed by the programmable controller.
Analog Output Modules
The analog output modules convert digital values from the programmable controller into the
analog signals required by the process.
Special Purpose Modules
These may include special units for:
These modules contain additional processors, and are used to relieve the main CPU from the
high computational loads involved in the corresponding tasks. These are discussed in detail in
Lesson 22
Programmers
External programming units can be used to download programs into the program memory of the
CPU. The external field programmers provide several software features that facilitate program
entry in graphical form. The programmers also provide comprehensive aids for debugging and
execution monitoring support logic and sequence control systems. Printer can be connected to
the programmers for the purpose of documenting the program. In some cases, special
programming packages that run on Personal Computers, can also be used as programming units.
There are two ways of entering the program:
A. Direct program entry to the program memory (RAM) plugged into the central controller.
For this purpose, the programmer is connected to the processor or to the programmer
interface modules.
B. Programming the EPROM sub modules in the programmer without connecting it to the
PC (off-line). The memory sub modules are then plugged into the central controller.
Point to Ponder: 5
A. Name three major elements of a PLC System
B. What is the need for special purpose I/O modules? Explain with an example
C. What is a communication Processor?
Point to Ponder: 1
A. Categorise the following sensor systems as Discrete or Continuous
a) thermostat : Discrete b) clinical thermometer : Continuous c) the infrared sensor in TV
sets : Discrete
B. Categorise the following actuator systems as Discrete or Continuous
A) the trigger of a gun: Discrete b) the steering wheel of the car: Continuous c) a step
motor: May be considered Discrete or Continuous depending on the mode it is used. If it
is used in the incremental mode it may be thought to be discrete
(clockwise/anticlockwise). If it is used in the slewing mode, it may be considered
continuous
Point to Ponder: 2
A. Define what is Logic Control system in your own language. Give an example
Ans: A detailed definition provided in the lesson. The example of a die press is also
provided. However, try to give your own example.
Ans: The following are valid control objectives for the die press example.
1. When MCS is off Up_lamp should never be 1
2. Every transition of the Up_lamp signal from 0 to 1 should be immediately followed
by a transition of Dn_lamp from 0 to 1
3. Up_lamp and Dn_lamp can never simultaneously be 1, although they can
simultaneously be 0.
Such statements are specifications in the sense that the logic controller must ensure that
they are satisfied in the controlled system.
Point to Ponder: 3
A. Of Logic Control and Analog Control which one appears simpler and why ?
Ans: Analog Control is more complex than logic control. This is because of the fact that
logic control models are captured by simple state transition systems containing only a few
states. The state space of an analog control system is in infinite. The dynamics can be far
more complex than simple state transition systems. Factors such as disturbances must be
considered, unlike in logic control
B. Can you cite an example system, which requires both Analog and Logic Control?
Ans: There are many examples. In a variable air volume air conditioning system, the cooling
water temperature is controlled by on-off control of the chiller, while volume of air is
Point to Ponder: 4
A. Name three of the most prominent advantages of the PLCs over hardwired Relay
Contactor Logic
Ans: For very simple and small systems such as power distribution control a relay based
control panel may be a cheaper solution.
C. Do you think the idea of developing programs that look like Relay Ladders is very
efficient? If so, why? If not, why was it pursued?
Ans: It is not efficient. It was pursued, because when PLCs were developed Plant Engineers
were more conversant with Relay Logic. So the language was introduced for ease of
understanding of Plant Engineers.
Point to Ponder: 5
A. Name three major elements of a PLC System
B. What is the need for special purpose I/O modules? Explain with an example
Ans: Some i/o operations like high speed counting of shaft encoder pulses to measure speed
is very computationally intensive. Therefore to free the CPU from this load, so that other
control logics can be computed, special i/o modules with dedicated processors for the task
are used.
Ans: It is a special processor that handles all communication related tasks with other
supervisory systems.
Various types of blocks are available according to the function of the program section.
In general the major part of the program is contained in blocks that contain the program logic
graphically represented. For improved modularity, these blocks can be called in a sequence or in
nested configurations.
Special Function Blocks, which are similar to application library modules, are used to realize
either frequently reoccurring or extremely complex functions. The function block can be
“parameterized”.
The interface to the operating system of the PLC, which are similar to the system calls in
application programming for Personal Computers, are defined in special blocks. They are only
called upon by the system program for particular modes of execution and in the case of the
faults.
Function blocks are also used where the realization of the logic control STEP 5 statements can’t
be carried out graphically. Similarly, individual steps of a control sequence can be programmed
into such a block and reused at various points in a program or by various programs. PLC
manufacturers offer standard functions blocks for complex functions, already tested and
documented. With adequate expertise the user can produce his own function blocks. Some very
common function blocks (analog input put, interface function blocks for communication
processors and others) may be integrated as standard function blocks and supported by the
operating system of the PLC.
Users can also define separate data blocks for special purposes, such as monitoring, trending etc.,
and perform read/write on such areas.
Program Execution
There are different ways and means of executing a user program. Normally a cyclic execution
program is preferred and this cyclic operators are given due priorities. Program processing in a
PLC happens cyclically with the following execution:
1. After the PLC is initialised, the processor reads the individual inputs. This status of the
input is stored in the process- image input table (PII).
2. This processor processes the program stored in the program memory. This consists of a
list of logic functions and instructions, which are successively processed, so that the
required input information will already be accessed before the read in PII and the
matching results are written into a process-image output table (PIQ). Also other storage
areas for counters, timers and memory bits will be accessed during program processing
by the processor if necessary.
3. In the third step after the processing of the user program, the status from the PIQ will
transfer to the outputs and then be switched on and/or off. Afterwards it begins the
execution of the next cycle from step 1.
The time required by the microprocessor to complete one cycle is known as the scan time. After
all rungs have been tested, the PLC then starts over again with the first rung. Of course the scan
time for a particular processor is a function of the processor speed, the number of rungs, and the
complexity of each rung.
Initialise
Read all
inputs
Program
Update all
outputs
Similarly, programmers can also define error-handling routines in their programs. Specific and
defined error procedures are then invoked if the PLC operating system encounters fault of given
types during execution.
Point to Ponder: 1
A. What are the different modes of execution?
B. Which is the most common?
C. State for each of the others, when these are to be used.
D. Give examples for your arguments if you can
Programming Languages
PLC programs can be constructed using various methods of representation. Some of the common
ones are, described below.
] Rung
Relay coil
•
(Virtual)
Power
•
Rails
Fig. 19.1(a) The structure of Relay Ladder Logic Programs for PLCs
OP001
IN002
OP001
IN001 OP002
OP002
IN001 IN003
OP002
OP001
Fig. 19.2 RLL Diagram for the Forward Reverse Control Problem
This example explains the control process of moving a motor either in the forward direction or in
the reverse direction. The direction of the motor depends on the polarity of the supply. So in
order to control the motor, either in the forward direction or in the reverse direction, we have to
provide the supply with the corresponding polarity. The Fig 19.2 depicts the procedure to
achieve this using Relay Ladder Logic. Here, the Ladder consists of two rungs corresponding to
forward and reverse motions.
Operation: The push-buttons(PB) represented by IN--- are real input push-buttons, which are to
be manually operated. The auxillary contacts are operated through program. Initially the machine
is at standstill, no voltage supply is present in the coils, and the PBs are as shown in the fig. The
stop PB is intially closed, the motor will not move until the forward run PB/reverse run PB is
closed. Suppose we want to run the motor in the forward direction from standstill, the outputs of
the coils contacters have logic ‘0’ and hence both the auxillary contacts are turned on. If we press
and release the forward run PB, the positive voltage from the +ve voltage rail is passed to the
If we want to rotate the motor in the reverse direction, the stop PB is to be pressed sothat no
voltage in the coil is present, then we can turn on the PB corresponding to reverse run. This is a
simple example of ‘interlocking’, where each rung locks the operation of the other rung.
There are several other programming paradigms for PLCs. Two of them are mentioned here for
briefly.
Point to Ponder
Can you think of a control logic which would be difficult to program in the RLL framework?
Inputs I, Output Q
Generally, the operands of a PLC program can be classified as inputs (I) and outputs (Q). The
input operands refer to external signals of the controlled system, whose values are acquired from
the input signal modules. The operating system of the PLC assigns the signal status of the input
and output modules into the process image of the inputs and outputs at the beginning of the
program. The operand area is located within the process image of the central controller RAM.
Within the program, the signal status of the operand area is scanned and processed into logic
functions in accordance with the user program; the individual bits within the process output
image are fixed. When the program has been executed the operating system transfers the signal
NO NO NO NO
contact contact contact contact
inactive open active closed
The switch shown here is a NC contact. i.e. it is closed when it is not active.
NC NC NC NC
contact contact contact contact
inactive closed active open
Point to Ponder: 2
A. What is the basic difference between Input and Auxiliary Contacts?
C. Design an RLL Program for the following Industrial Problem
In a controlled plant three fans are to be monitored. If at least two fans are running, the
indicator light of the monitor is permanently switched on. The indicating lamp blinks
slowly if only one fan is running (with 0.5 Hz) and rapidly (with 2 Hz) if no fan at all is
on. the monitor is only active when the signal “plant in operation” signal status “1” is
activated. Otherwise the indicating light is switched off. The function “lamp test” can be
Timer
These are special operands of a PLC, which represent a time delay relay in a relay logic system.
The time functions are a fixed component of the central processing unit. The number of these
varies from manufacturer to manufacturer and from product to product. It is possible to achieve
time delays in the range of few milliseconds to few hours.
Set time
Run Logic delay value
Enable
Reset Stores Current
Logic Time
Representation for timers is shown in Fig. 19.4. Timers have a preset register value, which
represent the maximum count it can hold and can be set using software/program. The figure
shown below has a ‘enable reset logic’ and ‘run logic’ in connection with the timer. The counter
doesnot work and the register consists of ‘zero’ until the enable reset logic is ‘on’. Once the
‘enable reset logic’ is ‘on’, the counter starts counting when the ‘run logic’ is ‘on’. The output is
‘on’ only when the counter reaches the maximum count.
Various kinds of timers are explained as follows
On delay timer: The input and output signals of the on delay timer are as shown in the Fig. 19.6.
When the input signal becomes on, the output signal becomes on with certain delay. But when
the input signal becomes off, the output signal also becomes off at the same instant. If the input
becomes on and off with the time which less than the delay time, there is no change in the output
and remains in the ‘off’ condition even the input is turned on and off i.e., output is not observed
until the input pulse width is greater than the delay time.
Output
Delay
I01 O01
PR= O02
O01
Delay
Value
O01
Fig. 19.6 The realization of an On-delay timer from a general timer.
Realization of on-delay timer: The realization of on-delay timer using the basic timer shown in
the previous fig is explained here. The realization is as shown in the Fig. 19.6, which shows a
real input switch(IN001), coil1(OP002), two normally opened auxillary contacts(OP002),
coil2(OP002). When the real input switch is ‘on’ the coil(OP002) is ‘on’ and hence both the
auxillary switches are ‘on’. Now the counter value starts increasing and the output of the timer is
‘on’ only after it reaches the maximum preset count. The behaviour of this timer is shown in
figure, which shows the on-delay timer. The value in the counter is ‘reset’ when the input
switch(IN001) is off as the ‘enable reset logic’ is ‘off’. This is a non-retentive timer.
Off delay timer: The input and output signals of the off delay timer are as shown in the Fig.
19.7. When the input signal becomes on, the output signal becomes on at the same time. But
when the input signal becomes off, the output signal becomes ‘off’ with certain delay. If the
input becomes on and off with the time which less than the delay time, there is no change in the
output and remains in the ‘on’ condition even the ipnut is turned on and off i.e., the delay in the
output is not observed until the input pulse width is greater than the delay time.
Output
Delay Del
Delay
Timer But
Starts resets
Realization of off-delay timer: The realization of on-delay timer using the basic timer shown in
the previous fig is explained here. The realization is as shown in the Fig. 19.8, which shows a
real input switch(IN001), coil1(OP002), two normally closed input contacts(IN001), output
contacts (OP002,OP003). When the real input switch is ‘on’, the coil(OP002) is ‘on’ and both
the auxillary input switches are ‘off’. Now the output contact(OP002) becomes ‘off’ which in
turn makes the auxillary contact(OP002) in the third rung to become ‘on’ and hence the output
contact(OP003) is ‘on’. When the real input switch is ‘off’, the counter value starts increasing
and the output of the contact becomes ‘on’ after the timer reaches the maximum preset count. At
this time the auxillary contact in the third rung becomes ‘off’ and so is the output
contact(OP003). The input and output signals are as shown in the figure, which explain the off-
delay timer.
I01 O01
O02
I01 PR = delay value
I01
I01 O02
O03
O03
Fixed pulse width timer: The input and output signals of the fixed pulse width timer are as
shown in the Fig 19.9. When the input signal becomes on, the output signal becomes on at the
Input
Output
Fig. 19.9 A Typical Input output waveform for a Fixed Width Timer
O01
I01
Fig. 19.10 The realization of a Fixed width timer from a general timer.
Retentive timer: The input and output signals of the retentive timer are as shown in the 19.11.
This is also implemented internally in a register as in the previous case. When the input is ‘on’ ,
the internal counter starts counting until the input is ‘off’ and at this time, the counter holds the
value till next input pulse is applied and then starts counting starting with the value existing in
the register. Hence it is named as ‘retentive’ timer. The output is ‘on’ only when the counter
reaches its ‘terminal count’.
ACC
A B C
A+B+C=T
Reset
Fig. 19.11 A Typical Input output waveform for a Retentive Timer
Non-retentive timer: The input and output signals of the non-retentive timer are as shown in the
Fig. 19.11. This is implemented internally in a register. When the input is ‘on’, the internal
counter starts counting until the input is ‘off’ and at this time the value in the counter is reset to
zero. Hence it is named as non-retentive timer. The output is ‘on’ only when the counter reaches
its ‘terminal count’.
Input
Preset
Output
Fig. 19.12 A Typical Input output waveform for a Fixed Width Timer
Point to Ponder: 3
Draw the timing diagrams for the output coils in the RLL realizations of an on-delay, an off-
delay and a fixed pulse width timer
Counter
The counting functions (C) operate as hardware counters, but are a fixed component of the
central processing unit. The number of these varies for each of the programmable controllers. It
is possible to count up as well as to count down. The counting range is from 0 to 999. The count
is either dual or BCD coded for further processing.
Addressing
The designation of a certain input or output within the program is referred to as addressing.
Different PLC manufacturers adopt different conventions for specifying the address of a specific
input or output signal. A typical addressing scheme adopted in PLCs manufacturers by Siemens
is illustrated in the sequel.
The inputs and outputs of the PLCs are mostly defined in groups of eight on digital input and/or
digital output devices. This eight unit is called a byte. Every such group receives a number as a
byte address. Each in/output byte is divided into 8 individual bits, through which it can respond
with. These bits are numbered from bit 0 to bit 7. Thus one receives a bit address. For
example, in the address I0.4, I denotes that the address type is specified as Input, 0 is the byte
address and 4 the bit address. Similarly in the address Q5.7, Q denotes that the address type is
specified as Output, 5 is the byte address and 7 is the bit address.
Operation Set
The operation set of PLC programming languages can be divided into four major function
groups:
¾ Binary or Logic functions
Point to Ponder: 1
E. What are the different modes of execution?
Ans: The interrupt driven mode is to be used for those tasks that need an immediate response
during any time of normal execution, but as such are sporadic. Clock driven modes are used
for those tasks which have to precisely synchronized with time relative to some defined
clocks.
Ans: Emergency Shutdown/Alarm Tasks are programmed using interrupt driven modes.
Point to Ponder: 2
A. What is the basic difference between Input and Auxiliary Contacts?
Ans: Input contacts correspond to physical devices that can be asserted either by external
agents or by the process itself for feedback. Auxiliary contacts are basically memory
locations storing intermediate logical results and do not correspond to physical devices.
Ans: In a controlled plant three fans are to be monitored. If at least two fans are running, the
indicator light of the monitor is permanently switched on. The indicating lamp blinks slowly
if only one fan is running (with 0.5 Hz) and rapidly (with 2 Hz) if no fan at all is on. the
monitor is only active when the signal “plant in operation” signal status “1” is activated.
Otherwise the indicating light is switched off. The function “lamp test” can be carried out
with the signal “plant in operation”. At signal status “1” of this signal the indicating light is
either permanently on or is flashing.
Point to Ponder: 3
Ans:
On delay timer
On – Delay Timer
O01
O02
On delay
OP001
OP002
OP003
Off
Delay
I01
003
A. Describe motivations for formal modelling in the design of sequence control programs
for an industrial control problem.
B. Describe the major steps in the design of a sequence control program for an industrial
control problem.
C. Develop a Finite State machine model for simple industrial control problems
D. Develop a sequence control program for a Finite State Machine model
Piston
At first, let us consider an Relay Ladder Logic program that has been written directly from the
linguistic description and assess it for suitability of operations.
Dn_sol
Up_sol Top_LS
Up_sol
Dn_sol Bottom LS
The above discussion clearly indicates the need for a systematic approach towards the
development of RLL programs for industrial logic control problems. This is all the more true
since industrial process control is critical application domain where control errors can lead to
loss of production or operator safety. Therefore, in this chapter, we discuss a systematic
approach towards the design of RLL programs.
Point to Ponder: 1
A. Before going through the rest of the system description attempt to modify the RLL
program shown in Fig. 20.2 to ensure that the process always moves to the up position
first, and then from there, resumes its press cycle
B. Before going through the rest of the system description attempt to modify the RLL
program shown in Fig. 20.2 to include a part detect sensor
C. Attempt to merge the above two solutions so that the new program is free from both the
above problems
A. Requirements Analysis
This is a very important initial step. Errors in this step may be discovered very late during
commissioning of the control system and can result in loss of significant amount of man-hours.
Note that, since the control engineer is not necessarily an expert in plant operations. Therefore it
is quite natural that he may not understand requirements and characteristics of process operations
fully, without conscious and significant effort.
Initially, often the above information may be collected in the form of informal linguistic
descriptions by direct discussion with plant personnel. Further, it must be remembered that
software development is often an iterative process and therefore, the above analysis steps may
have to be repeated a number of times for an actual design exercise.
Point to Ponder: 2
A. Can we use corresponding toggle switches, instead for the Auto, Stop and Reset PBs?
What difficulties may be encountered?
B. For the limit switches, and the part detect sensor, would you prefer mechanical switches
over photo switches for this application? Justify.
C. Propose at least one additional each of sensors, indicators and actuators for the above
application and mention their benefits.
Point to Ponder: 3
A. Note that in step F above, it is important to detect that the part is removed. What would
happen, if this is not detected?
B. What would happen if after Stop PB is pressed, Reset PB and Auto PB are pressed in that
sequence, even if the piston has not been taken to the top position manually?
Effects of failures
Among possible failures for this process are drops in hydraulic pump pressure, failures in top and
bottom limit switches etc. The exact nature of the failures and its impact need to be understood
for the application context. While this should be done, it requires domain knowledge for the
Point to Ponder: 4
A. What would happen in the process controlled by the program shown in Fig. 20.2 if
top/bottom Limit switch is stuck closed/open?
B. What would happen in the process controlled by the program shown in Fig. 20.2 if the
hydraulic pump pressure becomes too low to move the RAM?
1 F
G
A
2
B
3
C
D
4
5 E
Figure 20.3 The State Diagram for the industrial stamping press
6
O/P
Auto Indicator 0 1 1 1 0 1
Part Hold 0 0 1 1 0 0
Up Sol 0 0 0 1 0 0
Down Sol 0 0 1 0 0 0
Figure 20.4 The Output Table for the industrial stamping press
From the State Diagram in Fig. 20.3, the following may be noted.
A. The states are marked numerically using the numerals 1-6. At each state, one has a
unique set of values for the process state variables. For example, in state 3, both the limit
switches are OFF, the part detect switch in ON, the motion state variable of the piston is
‘going down’. State 1 is marked as the initial state with a double square.
B. The transitions are marked alphabetically using the letters A-G. Each transition has an
associated condition under which it occurs. For example, the condition for transition B
may be simply stated as “when it in state 2 and part detect goes ON’. Note that the
condition described by the phrase ‘in state 2’ can be further explained in terms of the
values of the state variable corresponding to state 2.
C. The outputs exercised at each state are described by the Output Table in Fig. 20.4.
The ladder logic begins with a section to initialize the states and transitions to a single value,
corresponding to the initial state. Some PLCs programming languages provide special
instructions for such initialization. In this case, however, it is assumed that all auxiliary variables
representing the states are set to zero initially. Logic is provided such that in the first scan the
auxiliary state variable corresponding to the initial state would be set to 1.
The next section of the ladder logic considers the transitions and then checks for transition
conditions. Each transition condition contains an auxiliary NO contact corresponding to the
source state from which it is defined. For example, note that the logic for the rung corresponding
to transition A contains a contact corresponding to state 1, which is the source state for transition
A. Further, it contains the other logical terms corresponding to the input state variables as well as
Transition C
St 3 St 5 State 1
St 2 St 4 St 6 Trans A
Trans A Trans B
State 2
State 2 Trans D
Trans B State 3
Trans C
State 3 State 4
Trans E
Trans C
This is followed by ladder logic to turn on outputs as requires by the steps. This section of ladder
logic corresponds to the actions for each step. The rung for each output therefore contains one
NO auxiliary contact corresponding to the state in which it is enabled. If an output is enabled at
more than one state, the auxiliary NO contacts corresponding to those states would be connected
in parallel. Similarly, if Manual switch or PB contacts are required, they also have to be put in
parallel with the contacts for the states.
State 2
Auto Indicator Lamp
Manual Sw.
State 3 Dn Sol
Some of the rungs corresponding to state, transition and output logics of the industrial stamping
process are shown in Fig. 20.5-20.7. These are mostly self explanatory. The reader is advised to
check the correctness of these rungs.
Point to Ponder: 5
A. What would happen if the order of the transition, state and output logic blocks is changed
in an RLL program?
B. Mention any one disadvantage of a formal modelling approach, if you can think of it.
C. Mention any one advantage of a formal modelling approach, apart from the reduced risk
of programming errors.
Point to Ponder: 1
A. Before going through the rest of the system attempt to modify the RLL program shown in
Fig. 20.2 to ensure that the process always moves to the up position first, and then from
there, resumes its press cycle
Ans: Without the state transition diagram this would be a considerable effort. However, with
the state diagram approach of design discussed in this lesson, one only needs add a new state
7 between transition G and state 1 and then a new transition H between state 7 and state 1.
This would imply that one new rung for state 7 and a new rung for transition H needs to be
added. Transition G would now be a destination state for state 7 and not state 1. Similarly,
Top LS would be the new enabling condition for transition H while the system would be in
state 7. While in state 7, the UP solenoid would be on and therefore a new NO contact
corresponding to state 7 needs to be added to the logic for UP solenoid in parallel with that
for state 6.
D. Before going through the rest of the system attempt to modify the RLL program shown in
Fig. 20.2 to include a part detect sensor
E. Attempt to merge the above two solutions so that the new program is free from both the
above problems
Point to Ponder: 2
A. Can we use corresponding switches, instead for the Auto, Stop and Reset PBs?
Ans: The only difference between PBs and switches is that a PB is assumed to be released
automatically, while the switch is not. However, since the transition logic does not remain on
for more than one scan cycle, in this case, it does not make a difference whether these are
PBs or switches.
B. For the limit switches, and the part detect sensor, would you prefer mechanical switches
over photo switches for this application? Justify.
Ans: Mechanical switches would be preferred here, since these are much more rugged.
Turning these on and off does not cause any problem for the ram which is hydraulically
powered.
C. Propose at least one more each of sensors, indicators and actuators for the above
application and mention their benefits.
Point to Ponder: 3
A. Note that in step F above it is important to detect that the part is removed. What would
happen, if this is not detected?
Ans: The same part may be stamped many times, before it is removed.
B. What would happen if after Stop PB is pressed, Reset PB and Auto PB are pressed in that
sequence, even if the piston has not been taken to the top position manually?
Ans: If reset PB is pressed the process would move to State 1. However, pressing the auto
PB would not take it to State 2, since UP Limit switch would not be made. At this point the
process would deadlock unless the piston is taken up manually. After it moves up, if the Auto
PB is pressed, the machine would move to State 2.
Point to Ponder: 4
A. What would happen in the process controlled by the program shown in Fig. 20.2 if
top/bottom Limit switch is stuck closed/open ?
Ans: If the top LS is stuck closed, the Down solenoid would not be would off even if the
piston comes to the bottom position. The piston would push the part to be stamped, but
would not go up as desired during normal operation. Similarly, if the bottom LS is stuck
closed, the piston would never come to the bottom position, since, the moment it would come
to state 3, it would exit to state 4 and thus the UP solenoid would be on. One can similarly
argue for the stuck open case.
B. What would happen in the process controlled by the program shown in Fig. 20.2 if the
hydraulic pump pressure becomes too low to move the RAM?
Ans: The Up solenoid would be switched on, but the piston would not move. Thus the
system would be deadlocked in state 4.
Point to Ponder: 5
A. What would happen if the order of the transition, state and output logic blocks is changed
in an RLL program?
Ans: If the transition block is not put first, there would be an unnecessary delay of one scan
cycle in turning on the state. If the output block is put before the state logic there would be a
similar delay.
Version 2 EE IIT, Kharagpur 15
B. Mention any one disadvantage of a formal modelling approach, if you can think of it.
Ans: The formal modelling may lead to more number of rungs in the RLL program
compared to one that does not use it. Consequently the memory and execution time
requirements would be higher. However, these are not significant drawbacks for present day
PLC speed and memory sizes.
C. Mention any one advantage of a formal modelling approach, apart from the reduced risk
of programming errors.
Ans: It is much easier to modify an RLL developed following the formal method.
A. Describe the major features of the IEC 1131-3 standard for PLC programming
B. Describe the major syntax conventions of the SFC programming language
C. Identify valid and invalid SFC segments
D. Develop SFC programs for simple sequence control problems
Introduction
We have studied the RLL in a previous lesson. There are also other languages to program a PLC
in, than the RLL. Most of the significant manufacturers support about 3 to 5 programming
languages. Some of these languages, such as the RLL, have been in use for a long time. While
most manufacturers used similar languages, these were not standardised in terms of syntactic
features. Thus programs developed for one would not run in another without considerable
modifications, often mostly syntactic. In the last few years there has been effort to standardise
the PLC programming languages by the International Electrotechnical Commission (IEC). One
of the languages, namely the Sequential Function Chart, which offers significant advantages
towards development of complex structured PLC programs for concurrent industrial processes, is
studied in detail. Know other languages are introduced in brief.
Raise switch
&
Top LS OK
IV
Loading
Lower switch valve
& & =
Bottom LS OK
Pump running
Point to Ponder: 1
A. Name one programming task for which, IL would be your chosen language.
B. Name one programming task for which, ST would be your preferred language over FBD.
C. For whom are the features code reusability and library support important, and why?
SFC may also be viewed as an organizational language for structuring a program into well-
defined steps, which are similar conceptually to states, and conditioned transitions between steps
to form a sequential control algorithm. While an SFC defines the architecture of the software
modules and how they are to be executed, the other four languages are used to code the action
logic that exercises the outputs, within the modules to be executed within each step. Similar
modules are used for computation of the logical enabling conditions for each transition.
Each step of SFC comprises actions that are executed, depending on whether the step is active or
inactive. A step is active when the flow of control passes from one step to the next through a
conditional transition that is enabled when the corresponding transition logic evaluates to true. If
the transition condition is true, control passes from the current step, which becomes inactive, to
the next step, which then becomes active. Each control function can, therefore, be represented by
a group of steps and transitions in the form of a graph with steps labeling the nodes and
transitions labeling the edges. This graph is called a Sequential Function Chart (SFC).
Steps
Each step is a control program module which may be programmed in RLL or any other
language. Two types of steps may be used in a sequential function chart: initial and regular. They
are represented graphically as shown below in Fig. 21.4.
The initial step is executed the first time the SFC block is executed or as a result of a reset
operation performed by a special function named SFC_RESET. There can be one and only one
initial step in an SFC. The initial step cannot appear within a simultaneous branch construct,
(which is described later in this section) but it may appear anywhere else.
A regular step is executed if the transitional logic preceding the step makes the step active. There
can be one or many regular steps in an SFC network, one or more of which may be active at a
time. Only the active steps are evaluated during a scan.
Each step may have action logic consisting, say, of zero or more rungs programmed in Relay
Ladder Diagram (RLD) logic language. Action Logic is the logic associated with a step, i.e., the
logic, programmed by RLL or any other logic, which is executed when the step is active. When a
step becomes inactive, its state is initialised to its default state. A collection of steps may be
labeled together as a macro-step.
Step Action
(a) (b)
Fig. 21.5 A step with action logic (a) and a macro-step (b) in an SFC
Transitions
Each transition is a program module like a step that finally evaluates a transition variable. Once a
transition variable evaluates to true the step(s) following it are activated and those preceding it
are deactivated. Only transitions following active states are considered active and evaluated
during a scan. Transitions can also be a simpler entity such as a variable value whose value may
be set by simple digital input. Transition logic can be programmed in any language. If
programmed in RLL, each transition must contain a rung that ends with an output coil to set its
transition variable.
T1
S2
T2
S3
Point to Ponder: 2
A. What is the difference between a step of an SFC and a state of an FSM?
B. Why action logic is separately indicated from step logic, although both occur in the same
step?
C. How is the computation for step logic different from that of transition logic?
Simple Sequence
In a simple sequence, control passes from step S2 to step S3 only if step S2 is active and
transition T2 evaluates true.
S1
T1
S2
T2
S3
(a)
Version 2 EE IIT, Kharagpur 8
Scan S1 T1 S2 T2 S3 T3
1 A A I I I I
2 I I A A I I
3 I I A A I I
4 I I I I A A
(b)
Fig. 21.7 A simple sequence in an SFC (a) and its execution over scans (b)
The table in Fig. 21.7 (b) indicates the status (A : active; I:inactive) of te steps and transitions
over scan cycles.
S1
T1 T2
S2 S3
S6
S1
T1
S2 S3
T2
S6
The transition logic for T2 is only executed when all of the steps at the end of the simultaneous
sequence are active.
S1
T1
S2
T2 T3
jump *
S3
T4
jump **
S4
T5
cycle *
Many PLCs also allow SFCs to entered be as graphic diagrams. Small segments of ladder logic
can then be entered for each transition and action. Each segment of ladder logic is kept in a
separate program. The architecture of such programs is discussed next.
Point to Ponder: 3
A. Identify whether the SFC segments indicated in Figs. 21.13-21.15 are valid. If not, justify
your answer.
S1
T1
S2
T2
S3
Cycle
Fig. 21.13
S1
T1
S2 S3 S4
T2 T3 T4
Cycle
S5 S6 S7
T5
S8
T6
Cycle
Fig. 21.14
T2
S4 S5
T3
S6 S7
T4
S10
Fig. 21.15
Preprocessing
This section is processed at the start of every scan. Normally, RLD preprocessing logic is used to
process, at the start of the scan cycle, events which may affect the sequential processing section
of the program. These events may include:
Initialization;
Operator commands;
Resetting the SFC to the initial state.
Post processing
This section is processed every scan after the SFC is complete. It may contain Relay Ladder
Diagram (RLD) logic to process safety interlocks, etc.
INPUTS
Preprocessing
_MAIN SFC
PROGRAM BLOCK Sequential Processing
BLOCK 1
Post processing
Preprocessing
SFC
OUTPUTS
BLOCK Sequential Processing
2
Post processing
SFC
Preprocessing
BLOCK Sequential Processing
3
Post processing
1 F
Part
G
A Removed
2 Power
B
3 Dn Sol on
Part hold
C
D
4
Dn Sol off
5 E Up Sol on
Power/light
off 6
Dn Sol off Up Sol off
Part hold off
Fig. 21.18 The State Diagram for the industrial stamping press
State No.
1
O/P
Auto Indicator 0 1 1 1 0 1
Part Hold 0 0 1 1 0 0
Up Sol 0 0 0 1 0 0
Down Sol 0 0 1 0 0 0
Fig. 21.19 The Output Table for the industrial stamping press
Auto
2
Indicator on
Part detect 2
3 Down Sol on
Part Hold on
4 Bottom LS
Stop PB 3
Auto
5 4 Down Sol off
Indicator off
Up Sol on
Down Sol off
5 Top LS
Up Sol off
6
Part hold off
Formalism). One can now develop the logic for the steps transitions and actions. In this
lesson RLL is used for this purpose. Some of the ladder logic for the SFC is shown in Figure
21.x.
Part hold
Note the following distinctions of the SFC based implementation with that of one the state-based
implementation with pure RLL.
A. The initialisation logic can now be organised within the initial step of the SFC, which is
explicitly meant for this purpose. Note that in the RLL implementation this had to be
included within the logic for State 1. The SFC-based implementation is cleaner in this
respect.
B. The order of execution of the state and transition logic is determined by SFC execution
semantics. Thus there is no need to worry about the order in which these program
segments are physically ordered within the overall program.
C. In the RLL implementation each and every step, transition and action logic is evaluated
in every scan cycle. In SFC only the active states, their action logic and the active
transitions are evaluated. This results in significant saving in processor time, which may
be utilised in the system for other purposes.
D. The ladder logic includes a new instruction, EOT, which will tell the PLC when a
transition has completed. When the rung of ladder logic with the EOT output becomes
true the SFC will move to the next step or transition.
Point to Ponder: 1
A. Name one programming task for which, IL would be your chosen language.
Ans: Consider a triple redundancy voting logic for 3 digital sensor inputs, for tolerance
against sensor failures. The logic aims to select the three desired bits corresponding to the
sensors from an input word. Then it evaluates a Boolean function that implements the voting
logic (the exact Boolean logic for voting is left to the learner as an exercise). Note that all the
above involve bit-operations on binary data types and are therefore easily and efficiently
implemented using assembly like low-level languages. Hence the preference for IL.
B. Name one programming task for which, ST would be your preferred language over FBD.
Ans: Consider implementing a custom fuzzy-logic based PID controller. Since the controller
involves logic and arithmetic based on real-valued data, RLLs are clearly not suited. Neither
is IL, since the computations are complex and algorithmic in nature and based on real-valued
data. Thus ST is the best suited for implementation of this algorithm
C. For whom are code reusability and library support important, and why?
Ans: These are very important for developers of control algorithms. This is because a
proven library of routines of routines not only lead to faster development of control
programs, they also lead to a better quality program in terms of a cleaner and more readable
and reliable code.
Point to Ponder: 2
A. What is the difference between a step of an SFC and a state of an FSM?
Ans: A step of an SFC denotes a computation module which gets executed cyclically, as long
as the step is active. A state of an FSM is an instantiation of the values of its state variables.
Note that a step in the SFC can represent a possibly cyclic subgraph of an FSM through
which the FSM moves during the time the step is active. In the simplest case, a step of an
SFC represents one state of an FSM.
B. Why action logic is separately indicated from step logic, although both occur in the same
step?
Ans: The computation within a step can be of two types, namely, those that update internal
state variables other than outputs and those that update the outputs which are exercised on
physical outputs. The second type of computation is named action logic and explicitly
indicated at the steps. Since the physical outputs are of final importance, these are separately
indicated for each step.
C. How is the computation for step logic different from that of transition logic?
Point to Ponder: 3
A. Identify whether the SFC segments indicated in Figs. 21.13-21.15 are valid. If not, justify
your answer.
Ans:
a. The SFC in Fig. 21.13 is invalid because a backward jump connects the two states S3
and S1 without an intervening transition. This is illegal. Any two steps in an SFC
must contain an intermediate transition.
b. The SFC in Fig. 21.14 is invalid because there is a jump into one of the branches of a
simultaneous sequence. This is illegal, since the steps in the other branches of the
simultaneous sequence are indeterminate.
c. The SFC in Fig. 21.15 is valid.
Point to Ponder: 4
E. Develop an SFC for a two person assembly station. The station has two presses that may
be used at the same time. Each press has a start cycle button that will start the advance
of the press. A bottom limit switch will stop the advance, and the cylinder must then be
retracted until a top limit switch is hit.
Master
0 4
F. Create an SFC for traffic light control. The lights should have cross walk buttons for both
directions of traffic lights. A normal light sequence for both directions will be green 20
seconds and yellow 10 seconds. If the cross walk button has been pushed, a walk light
will be on for 10 seconds, and the green light will be extended to 30 seconds.
Start
10s delay
4s delay
G. Draw an SFC for a stamping press that can extend and retract when a cycle button is
pushed, and then stop until the button is pushed again.
idle
extending
retracting
H. Design a garage door controller using an SFC. The behavior of the garage door
controller is as follow.
a. There is one button inside the garage, and one button remote control.
b. When either of the buttons are pushed the door will move up or down.
c. If the button is pressed once while moving, the door will stop, a second press will
start motion again in the opposite direction.
d. There are top/bottom limit switches to stop the motion of the door when it reaches
either of the two ends.
e. There is an infrared beam across the bottom of the door. If the beam is
interrupted while the door is closing the door will stop and reverse.
f. There is a garage light that will be on for 5 minutes after the door opens or
closes.
T1 Garage or Remote
button pressed
3 Close door
T4 Garage or Remote
button pressed
5 Open door
T5
top limit switch made
Introduction
In Lesson 18 the architecture of a PLC system has been presented. In this lesson the hardware
characteristics of the components of a PLC system and their physical organization are discussed
in some detail. PLC systems are available in many hardware configurations, even from a single
vendor, to cater to a variety of customer requirements and affordability. However, there are some
common components present in each of these. These components are:
A. Power Supply - This module can be built into the PLC processor module or be an
external unit. Common voltage levels required by the PLC are 5Vdc, 24Vdc, 220Vac.
The voltage lends are stabilized and often the PS monitors its own health.
B. Processor - This is the main computing module where ladder logic ands other application
programs are stored and processed.
C. Input/Output - A number of input/output modules must be provided so that the PLC can
monitor the process and initiate control actions as specified in the application control
programs. Depending on the size of the PLC systems the input-output subsystem can
either span across several cards or even be integrated on the processor module. Some of
there input-output
Input/output cards generates/accept TTL level, clean signals. Output ‘modules’ provide
necessary power to the signals. Input ‘modules’ converts voltage levels, cleans up RF
noise and isolates it from common mode voltages. I/O modules may also prevent over
voltages to reach the CPU or low level TTL.
D. Indicator lights - These indicate the status of the PLC including power on, program
running, and a fault. These are essential when diagnosing problems.
E. Rack, Slot, Backplane – These physically house and connect the electronic components
of a PLC.
Function Power
Modules
Supply
Point to Ponder: 1
A. What is remote i/o? How is it different from the other kinds of i/o?
B. What are the functions of the blocks named MMI and Programmer?
The configuration of the PLC refers to the physical organization of the components. Typical
configurations are listed below from largest to smallest.
A. Rack - A rack is often large and can hold multiple cards. These cards, which realize the
CPU, power, communication, i/o and special function modules, are connected by a bus,
often called a backplane. When necessary, multiple racks can be connected together by
bus extenders. Each channel in a card can be addressed by a rack – slot – channel
addressing scheme, which varies from vendor to vendor. These tend to be of highest cost,
but also the most flexible and easy to maintain. The functional architecture of such a rack
mounted PLC system is shown in Fig. 22.2. The figure shows the various types of
functional subsystems, which may or may not be on the same board, connected through a
backplane. However this does not reflect the physical organization the various modules
that make a PLC system. This is shown, distributed over a number of racks along with
bus extension system shown in Fig. 22.3. The figure shows that while direct connection
may be possible for extension over small distances of a few meters. For extension over
longer distances special bus extension units are needed to provide the necessary drives
for reliable signal transmission over a distance.
Data Bus
Communi- Input
Intelligent Output
cation
IO Module Module Module
Processor
Central Decentral
Expansion Unit Expansion Unit
max. 200 m
Expansion Unit
max. max.
1 km 2m Expansion Unit
Expansion Unit
Remote Interfacing
Fig. 22.3 Physical layout and Bus extension System for PLCs
B. Mini - These are similar in function to PLC racks, but about half the size. Photograph of
one such PLC system is shown in Fig. 22.4. These generally are situated completely at
one place and do not use an extended bus. Floor mounted or wall mounted.
Point to Ponder: 2
A. Name one application each for which a mini PLC may be appropriate. Provide
justifications for your choice.
B. Why is a special bus extender unit needed for extending the bus over long distances?
Processor Module
A wide range of processor modules, scalable in terms of performance and capacity, are available
to meet the different needs of users. Processors manage the whole PLC station consisting of
discrete input/output modules, analog modules and application-specific function modules
(counting, axis control, stepper control, communication, etc.) located on one or more racks
connected to the backplane. In terms of hardware, besides a CPU and possible co-processor, each
processor module typically includes:
• a protected internal RAM memory which can take the application program and can be
extended by memory extension cards (RAM or Flash EPROM)
• a realtime clock
• ports for connecting several devices simultaneously for purposes such as programming,
human-machine interface etc.
• communication cards for various industrial communication standards such as, Modbus+ or
Fieldbus, as well as serial links and Ethernet links
• Display block with LEDs, RESET button, used to activate a cold restart of the PLC system.
Typical specifications for a high end and a low end PLC processor module for a rack-based PLC
system are given below.
Processor modules contain function block libraries, which can be configured to work with other
modules, to realize various automation related functionality, such as,
• Counting up to 10 – 100 KHz
• PID Control with algorithms realized in different forms
• Controlled positioning for manufacturing by CNC machines with stepper / servo drives,
and features such as rapid traverse / creep speed for high accuracy positioning of point to
point axes, interpolation and multi axis synchronization for contouring axes
• Input/output: These may be categorized as digital / analog depending on the nature of the
signal or as local/remote/networked, depending on the interface through which it is
acquired. These are described in detail below.
Input Module
Input modules convert process level signals from sensors (e.g. voltage face Contacts, 0-24v Dc, 4
– 20mA), to processor level digital signals such as 5V or 3.3 V. They also accept direct inputs
from thermocouples and RTDs in the analog case, and limit switches or encoders in the digital
case. Naturally, therefore these modules include circuitry for galvanic isolation, such as those
using optocouplers.
Galvanic isolation-
Point to Ponder: 3
A. Why so many types of analog inputs have been provided for?
B. How to select between integrating and successive approximation converters?
C. What is the significance of the input ranges for digital input modules?
Output Modules
Outputs to actuators allow a PLC to cause something to happen in a process. Common actuators
include:
1. Solenoid Valves - logical outputs that can switch a hydraulic or pneumatic flow.
2. Lights - logical outputs that can often be powered directly from PLC boards.
3. Motor Starters - motors often draw a large amount of current when started, so they
require motor starters, which are basically large relays.
4. Servo Motors - a continuous output from the PLC can command a variable speed or
position to a servo motor drive system.
The outputs from these modules may be used to drive such actuators. Consequently, they include
circuitry for current / power drive using solid-state electronics such as transistors for DC outputs
or triacs for AC outputs. Continuous outputs require output cards with D/A converters.
Sometimes they also provide potential free relay contacts (NO/NC), which may be used to drive
higher power actuators using a separate power source. Since these modules straddle across the
processor and the output power circuit, these must provide isolation. However, most often,
output modules act as modulators of the actuator power, which is actually applied to the
equipment, machine or plant. External power supplies are connected to the output card and the
card will switch the power on or off for each output. Typical output voltages are 120V ac, 24V
dc, 12-48V ac/dc, 5V dc (TTL) or 230V ac. These cards typically have 8 to 16 outputs of the
same type and can be purchased with different current ratings. A common choice when
purchasing output cards is relays, transistors or triacs. Relays are the most flexible output
devices. They are capable of switching both AC and DC outputs. But, they are slower (about
Point to Ponder: 4
A. Determine the significance of the following specifications for an analog output module:
a. Load resistance b. Linearity c. Conversion time
B. Determine the significance of the following specifications for a digital output module: a.
Max. switching frequency b. Shrot circuit protection
Function Modules
For high speed i/o tasks such as one required to measure speed by counting pulses from shaft
angle encoders, or for precision position control applications, independent i/o modules that
execute tasks independently of the central processor are required to meet the timing requirements
of the i/o. The signal preprocessing “intelligent” I/O- modules make it possible to count fast
impulse trains, to acquire and process travel increments, speed and time measure etc., i.e. they
take on the critical timing control tasks which normally can’t be carried out fast enough by the
central processor with its programmable logic control, as well as its primary logic control
functions. These modules not only relieve the central processor of additional tasks, they also
provide fast and specialized solutions to some common control problems. The processing of the
signals is carried out primarily by the appropriate I/O- modules, which frequently operate with
their own processor. Below we discuss two such modules, which are used with PLCs to handle
specific high performance automation functions.
A. A Count Module is employed where pulses at high frequency have to be counted, i.e.
when machines run fast. It can also be applied to output fast pulse trains or realize
accurate timing signals.
B. A Loop Controller Module is primarily used where high speed closed loop control is
required, such as with controlled drives. The preprogrammed, parameterized functions
available with the module (e.g. for ramp-function generation, speed regulation, signal
limit monitoring) can be easily parameterized via graphical interfaces by a programmer.
For each counter there are a number of different operating modes, which can be set by a user
program. With a comparator and an alarm register, a number of count values can be compared
and under defined conditions configured to turn on a process alarm.
A counter can be programmed in many ways, such as:
¾ Count mode binary or BCD coded
¾ Count once or cyclically
¾ Count on rising or falling edge
¾ Count up or down
¾ Counting of internal clock or external pulses
Point to Ponder: 5
A. Name two advantages and two disadvantages of using a function module for an
automation application
B. Based on the illustrative figures given for the counter module, determine the maximum
possible timing interval that can be programmed on the counter module.
C. Describe the meaning of the various counting modes of a counter module
D. Consider a position control application. Describe the options for receiving feedbacks for
the loop controller for this application
Lesson Summary
In this lesson, the following topics related to PLC System hardware have been discussed.
A. Introduction to typical PLC hardware subsystems
B. Physical organization of the PLC hardware subsystems
C. Typical features of Processors Modules
D. Typical features of analog and digital input modules
E. Typical features of analog and digital output modules
F. Two function modules : High Speed Counter and Loop Controller
Version 2 EE IIT, Kharagpur 13
Answers, Remarks and Hints to Points to Ponder
Point to Ponder: 1
A. What is remote i/o? How is it different from the other kinds of i/o?
Ans: Local i/o, as contrasted with remote i/o is where the field terminals of the PLC i/o
modules are connected directly to the field devices. Each channel carries data that is not
multiplexed. On the other hand for remote i/o, multiplexed data for several field channels is
sent in multiplexed form to a remote i/o device that demultiplexes and transmits data for each
field device to it, with or without data conversion and signal conditioning. Local i/o may be
analog or digital. Remote i/o is always digital. Remote i/o is used to mainly to save on
cabling of individual data channels from the device to the PLC rack.
B. What are the functions of the blocks named MMI and Programmer?
Ans: MMI is an acronym for Man Machine Interface. Generally PLC modules do not have
faciities for visualization. However, if needed, one can connect a special MMI device like a
terminal or a printer and visualization of process outputs and their transitions. Similarly, a
programmer is another device which facilitates easy development, debugging and monitoring
of programs through graphical interfaces. The developed programs can be compiled and
downloaded into the PLC memory. Programmers are available in table-top PC based as well
as handheld versions.
Point to Ponder: 2
A. Name one application each for which a mini PLC may be appropriate. Provide
justifications for your choice.
Ans: A typical example would be a CNC machining Centre. Typical i/o requirements for
such a centre would be less than 100 channels. The number of channels are going to be more
or less fixed. Communication, visualisation and programming requirements are non trivial
but not extensive either. Therefore, neither a full PLC rack, nor a compact PLC is suitable.
B. Why is a special bus extender unit is needed for extending the bus over long distances?
Ans: That is because for long distances, the capacitive loading of connecting cables increases
significantly. A much higher value of capacitance therefore needs to charged and discharged
at a high rate, without causing signal voltage degradations. This requires much higher current
driving capability and thus necessitates a separate driver module.
Point to Ponder: 3
A. Why so many types of analog inputs have been provided for?
Ans: For integrating ADCs conversion is the slowest with conversion times in the range of
several milliseconds but can be very accurate. Successive approximation types are a thousand
times faster, are now available with good accuracies and therefore are suited to most
applications and are popular too.
C. What is the significance of the input ranges for digital input modules?
Ans: The wide input voltage ranges and the wide separation of the ranges for 0 and 1 signal
levels has been designed to ensure reliable data transmissin in possibly very noisy industrial
environments. Obviously power levels for signals drivers have to be very high to maintain
these levels but is not a concern here.
Point to Ponder: 4
A. Determine the significance of the following specifications for an analog output module:
a. Load resistance b. Linearity c. Conversion time
B. Determine the significance of the following specifications for a digital output module: a.
Max. switching frequency b. Shrot circuit protection
Point to Ponder: 5
A. Name two advantages and two disadvantages of using a function module for an
automation application
E. Based on the illustrative figures given for the counter module, determine the maximum
possible timing interval that can be programmed on the counter module.
Ans: The maximum timing interval that can be programmed on counter, for the data of 5
cascadable 16 bit counters, is, the half clock period divided by 280.
G. Consider a position control application. Describe the options for receiving feedbacks for
the loop controller for this application
Ans: The options for feedback depend on the sensors used in the drive. If the position
sensor used is analog, like a resolver, a potentiometer or an LVDT, then an analog input
channel has to be used. On the other hand, if the sensor used is a shaft angle encoder,
then either a digital input channel is to be used, in which case, the pulse counting has to
be done by the module. Else the encoder channel can be interfaced to a counter function
module and the count value read from it via the bus. Similar arguments apply for the
speed feedback input, if any.
Introduction
Cutter
Spindle Workpiece Spindle
Tool Workpiece
Table
WORKPIECE MOTION
Shaping Drilling
broaching boring
Broaching Sawing Milling
planing grinding
Turning
boring
Hobbing
Rectilinear motion
Rotary motion
Fig. 23.2 Nature of motion of the Job and the Tool for various Metal Cutting
Processes
For all metal-cutting processes, the cutting speed, feed, and depth of cut are important
parameters. The figure below shows the important geometry for the turning process. The cutting
speed, which is a measure of the part cut surface speed relative to the tool. Speed is a velocity
unit for the translational motion, which is may be stated in or meters/min. The depth of cut, DOC
is the depth that the tool is plunged into the surface. Feed defines the relative lateral movement
between the cutting tool and the workpiece. Thus, together with depth of cut, feed decides the
cross section of the material removed for every rotation of the job or the tool, as the case may be.
Feed is the amount of material removed for each revolution or per pass of the tool over the
workpiece and is measured in units of length/revolution, length/pass or other appropriate unit for
the particular process.
depth of cut
Feed
Fig. 23.3 Speed, feed and depth of cut for turning operation
Point to Ponder: 1
A. Consider the metal cutting configuration for milling shown. Identify the motion directions
corresponding to speed, feed and depth of cut
B. “Metal cutting is essentially a shearing phenomenon”, justify the statement with respect
to the entries in Table 23.1.
In the 1940s when the U.S. Air Force perceived the need to manufacture complex parts for high-
speed aircraft. This led to the development of computer-based automatic machine tool controls
also known as the Numerical Control (NC) systems. Commercial production of NC machine
tools started around the fifties and sixties around the world. Note that at this time the
microprocessor has not yet been invented.
Numerical Control
Automatically controlling a machine tool based on a set of pre-programmed machining and
movement instructions is known as numerical control, or NC.
In a typical NC system the motion and machining instructions and the related numerical data,
together called a part program, used to be written on a punched tape. The part program is
arranged in the form of blocks of information, each related to a particular operation in a sequence
of operations needed for producing a mechanical component. The punched tape used to be read
one block at a time. Each block contained, in a particular syntax, information needed for
processing a particular machining instruction such as, the segment length, its cutting speed, feed,
etc. These pieces of information were related to the final dimensions of the workpiece (length,
width, and radii of circles) and the contour forms (linear, circular, or other) as per the drawing.
Based on these dimensions, motion commands were given separately for each axis of motion.
Other instructions and related machining parameters, such as cutting speed, feed rate, as well as
auxiliary functions related to coolant flow, spindle speed, part clamping, are also provided in part
programs depending on manufacturing specifications such as tolerance and surface finish.
Punched tapes are mostly obsolete now, being replaced by magnetic disks and optical disks.
NC equipment has been defined by the Electronic Industries Association (E1A) as “A system
in which actions are controlled by the direct insertion of numerical data at some point. The
system must automatically interpret at least a portion of this data.”
This is an old definition as is apparent from the terminology used in the definition
Computer Numerically Controlled (CNC) machine tools, the modern versions of NC machines
have an embedded system involving several microprocessors and related electronics as the
Machine Control Unit (MCU). Initially, these were developed in the seventies in the US and
Japan. However, they became much more popular in Japan than in the US. In CNC systems
multiple microprocessors and programmable logic controllers work in parallel for simultaneous
servo position and velocity control of several axes of a machine for contour cutting as well as
monitoring of the cutting process and the machine tool. Thus, milling and boring machines can
be fused into versatile machining centers. Similarly, turning centers can realize a fusion of
various types of lathes. Over a period of time, several additional features were introduced,
leading to increased machine utilisation and reduced operator intervention. Some of these are:
(a) Tool/work monitoring: For enhanced quality, avoidance of breakdowns.
(b) Automated tool magazine and palette management: For increased versatility and reduced
operator intervention over long hours of operation
(c) Direct numerical control (DNC): Uses a computer interface to upload and download part
programs in to the machine automatically.
The above disadvantages indicate that CNC machines can be gainfully deployed only when the
required product quality and average volume of production demand it.
Classification of NC Systems
CNC machine tool systems can be classified in various ways such as :
1. Point-to-point or contouring : depending on whether the machine cuts metal while the
workpiece moves relative to the tool
2. Incremental or absolute : depending on the type of coordinate system adopted to
parameterise the motion commands
3. Open-loop or closed-loop : depending on the control system adopted for axis motion
control
Point-to-point systems
Point-to-point (PTP) systems are the ones where, either the work piece or the cutting tool is
moved with respect to the other as stationary until it arrives at the desired position and then the
cutting tool performs the required task with the motion axes stationary. Such systems are used,
typically, to perform hole operations such as drilling, boring, reaming, tapping and punching. In
Contouring systems
In contouring systems, the tool is cutting while the axes of motion are moving, such as in a
milling machine. All axes of motion might move simultaneously, each at a different velocity.
When a nonlinear path is required, the axial velocity changes, even within the segment. For
example, cutting a circular contour requires sinusoidal rates of change in both axes. The motion
controller is therefore required to synchronize the axes of motion to generate a predetermined
path, generally a line or a circular arc. A contouring system needs capability of controlling its
drive motors independently at various speeds as the tool moves towards the specified position.
This involves simultaneous motion control of two or more axes, which requires separate position
and velocity loops. It also requires an interpolator program that generates the position and
velocity setpoints for the two drive axes, continuously along the contour.
In modern machines there is capability for programming machine axes, either as point-to-point
or as continuous (that is contouring)
Before the next type of classification is introduced, it is necessary to present the basic coordinate
system conventions in a machine tool.
Point to Ponder: 2
A. Comment on the sensing requirements for PTP and Contouring axes
B. Do you think the overall cutting time can be optimized for PTP and Contouring systems?
Are there any constraints to that?
Coordinate Systems
The coordinate system is defined by the definition of the translational and rotational motion
coordinates. Each translational axis of motion defines a direction in which the cutting tool moves
relative to the work piece. The main three axes of motion are referred to as the X, Y. and Z axes.
The Z axis is perpendicular to both X and Y in order to create a right-hand coordinate system,
such as shown in Fig. 23.5. A positive motion in the Z direction moves the cutting tool away
from the workpiece. The location of the origin is generally adjustible. Figure 23.4 shows the
coordinate system for turning as in a lathe while Fig. 23.5 shows the system for drilling and
milling.
For a lathe, the infeed/radial axis is the x-axis, the carriage/length axis is the z-axis. There is no
need for a y-axis because the tool moves in a plane through the rotational center of the work.
Coordinates on the work piece shown below are relative to the work.
x y
z y
In addition to the translational motion, rotary motions around the axes parallel to X, Y, and Z can
also be defined. Similarly, in addition to the primary motion coordinates, secondary coordinates
can also exist.
Incremental Systems
In an incremental system the movements in each Part program block are expressed as the
displacements along each coordinate axes with reference to the final position achieved at the end
of executing the previous program block.
C D
B
A
x
30
50
70
100
130
Absolute System
An absolute NC system is one in which all position coordinates are referred to one fixed origin
called the zero point. The zero point may be defined at any suitable point within the limits of the
machine tool table and can be redefined from time to time. Any particular definition of the zero
point remains valid till another definition is made. In the Fig. 23.6, considering the X-coordinate
for point A as zero, the X-coordinate for points B and C would be 50 and 70, respectively, in an
absolute coordinate system.
Most modem CNC systems permit application of both incremental and absolute programming
methods. Even within a specific part program the method can be changed These CNC systems
provide the user with the combined advantages of both methods
Unit of Displacement
Displacements are expressed in part programs by integers. Each unit corresponds to the position
resolution of the axes of motion and will be referred to as the basic length-unit (BLU). The BLU
is the smallest length of motion that can be repeatably sensed in the machine. It therefore
determines the accuracy of machining possible with a given machine. For example, if a shaft
angle encoder having a sensitivity of 500 pulses per revolution is mounted on a lead screw
having a pitch of 5 mm, the BLU is 0.01 mm. In modern CNC machines the programmer can use
floating-point dimensional data, which would be converted in to BLU’s by the interpreter.
Part Programming
As mention earlier, a part program is a set of instructions often referred to as blocks, each of
which refers to a segment of the machining operation performed by the machine tool. Each block
may contain several code words in sequence. These provide:
1. Coordinate values (X, Y, Z, etc.) to specify the desired motion of a tool relative to a work
piece. The coordinate values are specified within motion codeword and related
interpolation parameters to indicate the type of motion required (e.g. point-to-point, or
continuous straight or continuous circular) between the start and end coordinates. The
CNC system computes the instantaneous motion command signals from these code words
and applies them to drive units of the machine.
2. Machining parameters such as, feed rate, spindle speed, tool number, tool offset
compensation parameters etc.
3. Codes for initiating machine tool functions like starting and stopping of the spindle,
on/off control of coolant flow and optional stop. In addition to these coded functions,
spindle speeds, feeds and the required tool numbers to perform machining in a desired
sequence are also given.
4. Program execution control codes, such as block skip or end of block codes, block number
etc.
5. Statements for configuring the subsystems on the machine tool such as programming the
axes, configuring the data acquisition system etc.
A typical block of a Part program is shown below in Fig. 23.7. Note that the block contains a
variety of code words such G codes, M codes etc. Each of these code words configure a
particular aspect of the machine, to be used during the machining of the particular segment that
the block programmes.
Address of
block number
Block number
Preparatory function
Transient information
Miscellaneous function
Feed function
Tool function
Compensation function
End of block
Appendix-1 provides some details of these codes. A typical sequence of operations in a part
program would be,
A. Introductory functions such as units, coordinate definitions, coordinate conventions, such
as, absolute or relative etc.
B. Feeds, speeds, etc.
C. Coolants, doors, etc.
D. Cutting tool movements and tool changes
E. Shutdown
Point to Ponder: 4
A. Consider the part program segment given below.
N0010G90;
N0011G01X1Y2;
N0012G01X2Y2;
N0013G91;
N0014G01X1;
N0015G92X2Y2;
N0016G01X1Y1;
Before we discuss the next categorization of CNC systems, it is important to understand how the
instructions in a part program are converted to the operations needed for machining the parts.
The control system software, which controls the axis motion, is called the axis manager. The axis
manager controls the movement of the axes on the machine tool. This control may be divided
into two distinct activities, namely,
- Axes interpolation
- Axes servo control
These two activities are executed by two specific routines, namely the interpolation and servo
control routines, which communicate by means of a buffer for the exchange of data.
The axis manager is processed by one or more dedicated CPUs. In a multi-processor architecture,
the interpolation and the servo control can be split between the various CPUs according to
different combinations, such as,
- interpolation of all the axes on one CPU and servo control of all the axes on another CPU
- interpolation of all the axes on one CPU and servo control of part of the axes on the same
CPU and servo control of the remaining axes on another CPU.
Interpolation
Interpolation consists in the calculation of the coordinated movement of several axes using the
programmed parameters, in order to obtain a resulting trajectory, which can be of various types,
such as:
- Straight line
- Circular
- Helicoidal
The interpolation module computes instant by instant position commands for the servo module,
which in turn, drives the motors. There are two types of interpolators, namely:
- Process interpolator (for continuous axes)
- Point-to-point interpolator (for point-to-point axes)
Servo Control
Servo control consists of all the activities which allow several axes to effectively maintain the
trajectory calculated by the interpolator. Continuous axes are continuously controlled by the
system both for “speed” and for “position” so as to guarantee that the calculated trajectory is
maintained. In contrast, for point-to-point axes there is no guarantee that the trajectory will be
maintained. The only guarantee is that the final point will be reached.
Coordinated Axis
This is a working axis, which may be interpolated along with other axes of the same type. This is
necessary for generating specific 2D or 3D contours. The movement of one of the axes can be
taken as the master and the other axes slaved to it. The mechanical and electrical features of the
slave axis must be identical to those of the master. A coordinated axis can also be rotary and
programmed in degrees. Note that for rotary axes, it may or may not be needed to map angular
displacements to a (0-2π) interval.
Point-to-point Axis
This axis is not required to be interpolated with others, since it is used for only for positioning
from one point to another. Such an axis may be viewed as an independent mechanical component
fitted with a positioning transducer.
Spindle Axis
There are two types of spindle axes. For some, only the speed of the axis need to be controlled
and not the position by the spindle servo control system. Such an axis essentially realizes a
“motorized” tool. For the second type, the speed of this spindle axis, as well as its angular
position can be controlled. This has application in controlling threading processes. It is also
possible to drive the spindle in coordinated motion, interpolated with the other axes. This uses
the spindle transducer value as the set point for the other axes. A typical example is the C axis in
lathes. One can command a controlled acceleration ramp for the spindle rotation command.
However, for improved angular positioning, this must be eliminated. It is also possible to have
spindle drives without servo control, generally for spindles driven with ac motors. The only
control needed in such a case is for reversal of spindle rotation.
For control of tool and workpiece motion in the various ways described above, one of two kinds
of control systems is employed.
The primary drawback of open-loop system is that there is no feedback system to check whether
the commanded position and velocity has been achieved. If the system performance is affected
by load, temperature or friction then the actual output could deviate from the desired output.
For these reasons, the open-loop system is generally used in point-to-point systems where the
accuracy requirements are not critical. Contouring systems do not use open-loop control.
Point to Ponder: 5
A. Why is closed loop control required for continuous axes and not for PTP axes?
B. What sort of motors, drives, controllers and sensors would you recommend for
continuous axis control?
C. Comment on the comparative requirements of computing speed and memory for PTP and
continuous axis control
Lesson Summary
In this lesson, the following topics related to CNC machines have been discussed.
A. Fundamentals of machining and its parameters
B. Definition and advantages
C. Introduction to coordinate systems
D. Part programming
E. Basic axis control strategies
F. Classification
A basic list of ‘G’ operation codes is given below. These direct motion of the tool.
Some other typical codes and keywords used in part programs are given below.
Point to Ponder: 1
A. Consider the metal cutting configurations shown. Identify the motion directions
corresponding to speed, feed and depth of cut
Cutting velocity
Depth
of cut
Feed motion
B. “Metal cutting is essentially a shearing phenomenon”, justify the statement with respect
to the entries in Table 23.1.
Ans: All entries in the table would show that the motion of the tool and the motion of the
work piece create a shearing.
Point to Ponder: 2
A. Comment on the sensing requirements for PTP and Contouring axes
Answer: PTP systems require only feedback of position. Contouring axes require feedback
of position and velocity both. In PTP systems velocity is varied in open loop to achieve rapid
traversal of the table with preprogrammed acceleration, deceleration patterns. However, often
the hardware capabilities of the axis conforms to contouring.
B. Do you think the overall machining time can be optimized for PTP and Contouring
systems? Are there any constraints to that?
Ans: For PTP systems the rapid traverse feature saves overall machining time. This means
that the table movements from point to point are carried out as fast as possible, with
acceleration and deceleration features. Deceleration is needed, so that the final position is
reached accurately and quickly. The extent to which time can be minimized depends on the
motoring and braking torque levels of the table drive.
For contouring systems the instantaneous ratios of velocities along the motion axes are
important to maintain the contours. Therefore over all time has to be minimized maintaining
them. Note that whenever the contours take sharp turns, the velocity ratios also do so.
Therefore it is very difficult to change the ratios sharply, if the velocities themselves are
high. Thus contour cutting around sharp edges have to be done at low speeds. This constrains
the minimization of overall machining time to maintain dimensional accuracy.
Version 2 EE IIT, Kharagpur 21
Point to Ponder: 3
A. Can you think of one advantage and one disadvantage of the incremental coordinate
system compared to the absolute one?
Ans: An advantage of the absolute system is that a change in any one a position coordinate in
an instruction does not affect the rest of the part program. In the case of the incremental
system, any such change would require corresponding changes to be made in all subsequent
instructions in the part program.
On the other hand, for incremental systems programming for parts with mirror image
symmetry is easier, since it involves only changes in signs for the position commands with
respect to the symmetrical points. Similarly, verification of program dimensions with
drawing is easier with incremental system.
B. Is there any connection between the choice of coordinate system and the position sensor
used for the machine tool?
Ans: Among the position sensors used, the most common ones are the linear optical scales or
inductosyns which directly measure movement of the table slide with respect to the fixed
parts of the machine. The other kinds are the rotary sensors such as the shaft angle encoders
and resolvers. The translational motion of the slide is deduced from these using the ball
screw pitch constant. Among these, the linear optical scale and the rotary encoder can either
give absolute or incremental displacement, depending on the encoding on the grating.
However, in fact incremental output is more common, since better resolution can be
achieved. Thus, in an absolute coordinate system, this output must be integrated to generate
absolute positions by electronic means. The resolver or the inductosyn, on the other hand
naturally generate absolute positions with respect to a fixed origin. This means that these
signals have to be differenced from the current origin of the incremental system, to generate
incremental coordinate positions.
C. How would you decide on the BLU for systems with continuous position sensors such as
inductosyns and resolvers?
Ans:
Point to Ponder: 4
A. Explain the part program segment given below.
N0010G90;
N0011G01X1Y2;
N0012G01X2Y2;
N0013G91;
N0014G01X1;
N0015G92X2Y2;
N0016G01X1Y1;
B. Draw the trajectory of table motion that this program seeks to create.
Ans:
(3, 3)
(2, 2)
(3, 2)
(0, 0) (1, 2)
Introduction
The most critical and specialised activity in a CNC is axis management, which involves
interpolation, servo control and drive of the motion axes. Axis management tasks can be
processed by one or more dedicated CPUs. Often, the interpolation and the servo control tasks
for the several motion axes can be split between the various CPUs. Both point-to-point (PTP)
interpolators and contouring interpolators are available on a machine. As we shall see below,
interpolation for PTP axes is extremely simple, and involves only providing the final position
coordinates to the control system. For contouring systems, however, the interpolator must
cyclically compute motion set points. We describe the process of contour generation by
interpolation first. Once the set points are generated, these are provided to the servo control loops
that compute the control inputs, based on the set points and the motion feedbacks (for closed
loop systems) and provide such control inputs to the motor drive system. Basic approaches for
control are described next to the interpolation. Finally, the drive system is to receive these
inputs, in analog or digital form and would compute quantities such as voltage and current
references and apply to the motor. Such details of CNC drive systems are also presented
Point to Ponder: 1
A. Is it possible to have a reference pulse interpolator for a CNC machine with dc drive?
B. What limits the speed of operation in reference word interpolator based systems?
Below we present a linear reference pulse interpolation technique. At the heart of the interpolator
is a Digital Differential Analyser (DDA) algorithm.
DDA Algorithm
DDA is essentially an algorithm for digital integration and generates a pulse train varying in
frequency. Digital integration is performed by successive additions using an Euler approximation
method shown in Fig. 24.1.
p
p = f(t)
Δp
t
Δt
0
The value of z at t = k∆t is denoted by zk, which may be written as:
zk = zk −1 + Δzk
where
Δzk = pk Δt
The value of pk can in turn be modified by incrementing or decrementing it by ∆p, which is
either 1 or 0. The DDA integrator operates cyclically at a frequency f provided by an external
clock. At each iteration the variable p is added to the register q so that,
qk = qk −1 + pk
At intervals this addition would generate an overflow bit, which is fed as the output reference
pulse. Obviously, the higher the value of p the higher would be the frequency of generation of an
Clock
q(i +1) = q(i) + p
q register
No
q>L
Adder
Yes
Overflow bit
q(i + 1) = q(i + 1) - L
up
+ up down
∆p
- counter (p) Generate Motion Pulse
down
Δp +
- f0
Clock
Fig. 24.3 A symbolic representation of a DDA integrator
With the advent of fast microprocessors, the need for hardwired DDA’s have reduced. Instead,
the DDA algorithm is implemented using the registers of the microprocessor, in software.
Desired path
b
Interpolated
path
A
a
X
Fig. 24.4 2D linear interpolation
+ Δz
Δt X axis
1
- p=a
Clock
Δt + Δz
2 Y axis
- p=b
(Xi + 1, Yi + 1)
∆Yi ∆Xi
(Xi, Yi)
α
θi + 1
θi
x
Point to Ponder: 2
A. Devise a scheme for changing the feedrate in an interpolator.
B. How does one choose the value of α for circular reference word interpolation?
Pulse
generator AND
Down counter
Desired direction
from interpolator
pulses, which represent the actual motion, feed the down counter rather than the command pulses
produced by the pulse generator in the open-loop control.
The decelerator circuit slows down the motor before the target point in order to avoid overshoot.
Note that, even in a closed loop system, to avoid errors due to backlash in gears, an overshoot is
to be avoided. When the table is at a close distance of the target point, the table “creeps” toward
the final point at very low velocity, before it stops.
In absolute positioning systems utilizing an incremental feedback device, two alternative
sequences of pulses from the incremental encoder, one for each direction of motion, feed the up
and down inputs of a position counter. Thus, its contents are incremented for a rightward
movement of the corresponding axis and are decremented for a leftward motion. The position
counter value, therefore, indicate the actual absolute position of the axis. A command register is
loaded with the required absolute destination position of the axis, by the interpolator. The
subtractor unit indicates the instantaneous actual difference between the required and actual
position, which is the distance to the target point. The subtractor output is the position error of
the loop. Till the subtractor output is zero, pulses are fed through a deceleration circuit to the
motor.
Speed sensor
Position Feedback
Point to Ponder: 3
A. Do you think the closed loop PTP system control loop would work for arbitry axis
velocities? Justify your answer.
B. What type controllers would you prefer for a cascade position controller for a contouring
system?
Fig. 24.10 A typical PLC Function module for Axis Control in a CNC
The module contains an on-board micro-processor which controls the measuring and processing
of the actual values and emits, according to the design function, two rotational speed set point
values. On the module there are plug-in connectors for position encoders. Either an incremental
or absolute coded position encoder can be connected. Provision may also exist to accommodate
plug-in connections for the analog speed set point values, the digital inputs and outputs (possibly
for limit switches), as well as programmer interfaces. The functions of the position control
module are controlled through the microprocessor software on the board EPROM. The data for
the individual operating mode (machine date, operation data, process data) are provided via the
programmer interface and are store on the on-board RAM.
If incremental encoders are used for the measuring of actual values, their pulses are counted up
or down by a 16-bit counter, depending on direction of rotation of the motor and can be doubled
or quadrupled. When an absolute position encoder is connected, a GRAY-code with a maximum
of 20 bit is processed by the operation mode.
The set point output can take place via analog voltage outputs with a typical resolution of ± 11
bit. To improve the resolution in the lower speed range, a reference voltage for the DAC,
individually switched for each section, with output voltage ranges between 0 and ± 1.25 V, ±
10V etc., may be provided by the operating mode.
Digital inputs (end limit switches, reference point, external stop) and digital outputs (loop
controller release) are generally available for each axis.
The instantaneous position of the two axes is determined from pulse generated by the position
encoders. A position controller (P controller) calculates the current rotational speed set point
from the difference between the actual position and its set point. This is output as an analog
signal (+ 10 V) and is available for the speed controller of the static converter of the particular
axis.
Operator input is possible either from the programmable controller or from programmer via two
interfaces. Position set points are calculated from user commands and the interpretation of
traversing programs. Incremental position encoders can be connected to the module.
Both axes can be controlled from a programmer unit. Set points, actual values of process
parameters such as speed or position, error and other information is displayed on the screen.
Appropriate communication software is required for using the programmer unit (and for
programming) and downloading the program onto the on-board memory. The positioning
module can then be operated and tested independently of the programmable controller.
Spindle Drives
The requirements of a spindle drive are mainly to control the set speed accurately within a wide
constant power band, in the face of torque disturbances occurring with variations in material
hardness. Large speed ranges up to 10-20,000 rpm and 1:1000 rangeability is often needed. The
dc spindle drives are commonly used in machine tools. However, with the advent of
microprocessor-based ac frequency inverter, of late, the ac drives are being preferred to dc drives
as they offer many advantages. One of the main advantages with the microprocessor-based
frequency inverter is the possibility of using the spindle motor for C-axis applications for speed
control in the range of 1:10,00,000 with positioning. High overload capacity is also needed for
unintended overloads on the spindle, say, due to an inappropriate feed.
Feed Drives
A feed drive consists of a feed servomotor and an electronic controller. Unlike a spindle motor,
the feed motor needs to operate with constant torque characteristics. The drive speed should be
extremely variable with a speed range of at least 1: 20,000, which means that both at a maximum
speed, say of 2-3000 rpm, and at a minimum speed of 0.1 rpm, the feed motor must run
smoothly. Positioning resolution corresponding to angular rotations of angular minutes is needed
with quick response four-quadrant operation that needs a high torque-inertia ratio. Also, in
contouring operations, where a prescribed path has to be followed continuously, several feed
drives have to work simultaneously. This requires a fast response and matched dynamic
characteristics high bandwidth for different axes.
Variable speed dc feed drives are very common in machine tools because of their simple control
techniques. However, with the advent of the latest power electronic devices and control
techniques ac feed drives are becoming popular due to certain advantages.
Lesson Summary
In this lesson, the following topics related to CNC machines have been discussed.
Point to Ponder: 1
A. Is it possible to have a reference pulse interpolator for a CNC machine with dc drive?
Ans: Yes, it is. Consider a closed loop system with an incremental encoder feedback.
Implement an up-down counter with the pulse train from reference pulse interpolator driving
the count-up input and the pulse train from the encoder driving the count-down input. The
counter value indicates the instantaneous position error which can be used to drive say an
analog controller through a DAC.
B. What limits the speed of operation in reference word interpolator based systems?
Ans: The servo system dynamics limit it, rather than the interpolator loop execution time.
This is especially true when one is cutting angles and corners.
Point to Ponder: 2
A. Devise a scheme for changing the feedrate in an interpolator.
Ans: This can be done by generating the interpolator clock input using an DDA integrator as
shown below. Note that by changing the constant F, the interpolator clock frequency can be
changed.
System
Clock Wait to Interrupt
Interpolator No q > qM
Clock
Yes
B. How does one choose the value of α for circular reference word interpolation?
Ans: The upper bound is decided by the maximum allowable deviation from a perfect circle.
The lower bound is decided by loop execution speed of the interpolator.
Ans: May not be. One of the reasons being that with high axial velocities there would be
position overshoots. However, unless the counter can represent negative position errors
correctly correct positions would not be reached.
B. What type controllers would you prefer for a cascade position controller for a contouring
system?
Ans: Typically P or PD controllers are used in the position loop, since there is already one
speed to position integration built into the open loop dynamics. Inner velocity loop
controllers are generally proportional (usually a servo amplifier).
Point to Ponder: 4
C. For the motion control board:
a. Where is the interpolator situated?
Ans: The interpolator must be situated external to the board, such as, in a PLC
processor module.
Ans: The position loop is implemented in the on-board software. Since the board
provides velocity set points, it is assumed that the speed loop exists within the drive
system.
D. Why should a feed drive operate in constant torque mode, while the spindle drive should
operate in a constant power mode?
Ans: Because both torque on the feed drive motor and the power of the spindle motor can be
shown to be roughly proportional to the material removal rate in machining. For a required
degree of finish, a certain maximum material removal rate is possible. This is set through
speed, feed and depth of cut settings. For all possible settings, to be able to obtain the best
possible material removal rates, the feed and spindle motors should operate in their constant
torque and constant power regions, respectively.
Introduction
The control action in any control loop system, is executed by the final control element. The most
common type of final control element used in chemical and other process control is the control
valve. A control valve is normally driven by a diaphragm type pneumatic actuator that throttles
the flow of the manipulating variable for obtaining the desired control action. A control valve
essentially consists of a plug and a stem. The stem can be raised or lowered by air pressure and
the plug changes the effective area of an orifice in the flow path. A typical control valve action
can be explained using Fig. 1. When the air pressure increases, the downward force of the
diaphragm moves the stem downward against the spring.
Classifications
Control valves are available in different types and shapes. They can be classified in different
ways; based on: (a) action, (b) number of plugs, and (c) flow characteristics.
Diaphragm
Spring
Stem
Flow
Plug
Fig. 1 Control valve
(a) Action: Control valves operated through pneumatic actuators can be either (i) air to
open, or (ii) air to close. They are designed such that if the air supply fails, the control valve will
be either fully open, or fully closed, depending upon the safety requirement of the process. For
example, if the valve is used to control steam or fuel flow, the valve should be shut off
completely in case of air failure. On the other hand, if the valve is handling cooling water to a
reactor, the flow should be maximum in case of emergency. The schematic arrangements of
these two actions are shown in Fig. 2. Valve A are air to close type, indicating, if the air fails, the
valve will be fully open. Opposite is the case for valve B.
A B
• Fail open or Air to close : A
• Fail closed or Air to open : B
Fig. 2 Air to open and Air to close valves
(b) Number of plugs: Control valves can also be characterized in terms of the
number of plugs present, as single-seated valve and double-seated valve. The difference in
construction between a single seated and double-seated valve are illustrated in Fig. 3.
But the double-seated valve suffers from one disadvantage. The flow cannot be shut off
completely, because of the differential temperature expansion of the stem and the valve seat.
If one plug is tightly closed, there is usually a small gap between the other plug and its seat.
Thus, single-seated valves are recommended for when the valves are required to be shut off
completely. But there are many processes, where the valve used is not expected to operate
near shut off position. For this condition, double-seated valves are recommended.
Stem
Packing gland
Stem
Packing gland
Flow
Plug
Flow Plug
Single-seated
control valve Double-seated
control valve
(a) (b)
Fig. 3 Single-seated and double-seated valves
(c) Flow Characteristics: It describes how the flow rate changes with the movement or lift
of the stem. The shape of the plug primarily decides the flow characteristics. However, the
design of the shape of a control valve and its shape requires further discussions. The flow
characteristic of a valve is normally defined in terms of (a) inherent characteristics and (b)
effective characteristics. An inherent characteristic is the ideal flow characteristics of a
control valve and is decided by the shape and size of the plug. On the other hand, when the
valve is connected to a pipeline, its overall performance is decided by its effective
characteristic.
Let us define
q z
m= and x=
qmax zmax
where, qmax is the maximum flow rate, when the valve is fully open and zmax is the corresponding
maximum lift. So eqn. (2) can be rewritten in terms of m and x as:
m = f ( x) (3)
and the valve sensitivity is defined as dm dx , or the slope of the curve m vs. x. In this way, the
control valves can be classified in terms of their m vs. x characteristics, and three types of control
valves are normally in use. They are:
(a) Quick opening
(b) Linear
(c) Equal Percentage.
The characteristics of these control valves are shown in Fig. 4. It has to be kept in mind that all
the characteristics are to be determined after maintaining constant pressure difference across the
valve as shown in Fig.4.
For a linear valve, dm dx = 1 , as evident from Fig.5 and the flow characteristics is linear
throughout the operating range. On the other hand, for an equal percentage valve, the flow
characteristics is mathematically expressed as:
dm
=βm (4)
dx
where β is a constant.
The above expression indicates, that the slop of the flow characteristics is proportional to the
present flow rate, justifying the term equal percentage. This flow characteristics is linear on a
semilog graph paper. The minimum flow rate m0 (flow rate at x=0) is never zero for an equal
percentage valve and m can be expressed as:
m = m0 e β x (5)
Rangeability of a control valve is defined as the ratio of the maximum controllable flow and the
minimum controllable flow. Thus:
maximum controllable flow
Rangeability =
minimum controllable flow
Rangeability of a control valve is normally in between 20 and 70.
H2
Ho
Flow
ideal
qmax characteristics
Flow (m3/sec)
decreasing zmax
pipe diameters
O
Lift z (m)
Fig. 7 Effect of pipeline diameter on the effective flow characteristics of
the control valve
The nonlinearity introduced in the effective characteristics can be reduced by mainly (i)
increasing the line diameter, thus reducing the head loss, (ii) increasing the pressure of the source
H0, (iii) decreasing the pressure at the termination H2.
The effective characteristics of the control valve shown in Fig.7 are in terms of absolute flow
q
rate. If we want to express the effective characteristics in terms of m (= ) in eqn. (3)
qmax
deviation from the ideal characteristics will also be observed. Linear valve characteristics will
deviate upwards, as shown in Fig. 8. An equal percentage valve characteristic will also shift
upward from its ideal characteristic; thus giving a better linear response in the actual case.
% Flow (m)
50
ideal characteristics
0
0 50 100
% Lift (x)
Fig. 8 Comparison of ideal and effective characteristics for a linear valve
Thus linear valves are recommended when pressure drop across the control valve is expected to
be fairly constant. On the other hand, equal percentage valves are recommended when the
pressure drop across the control valve would not be constant due to the presence of series
resistance in the line. As the line loss increases, the effective characteristics of the equal
percentage valve will move closer to the linear relationship in m vs. x characteristics.
Conclusion
A control valve is the final control element in a process control. Thus the effectiveness of any
control scheme depends heavily on the performance of the control valve. The proper design and
fabrication of the valve is very important in order to achieve the desired performance level.
Moreover control valves are of different size and shapes. Only few types of control valves have
been discussed here, leaving a large varieties of valves, those are in use, to name a few, globe
valves, butterfly valves, V-port valves etc. We have discussed here the pneumatically actuated
control valves, though electrically and hydraulically actuated valves are also not uncommon.
The shape of a valve plug is not the only deciding factor for determining its effective flow
characteristics, but other equipment connected in the line along with the control valve, also affect
its flow characteristics. Thus the effective flow characteristics of a linear valve may become
nonlinear, as has been shown in this lesson. For this reason, equal percentage valves are
preferred in many cases, since their effective characteristics tend to be linear, in presence of head
loss in the pipeline. There are distinct guidelines for selecting the valve size and shape depending
on load change, pipeline diameter etc. Bypass lines are sometimes used with a control valve in
order to change the flow characteristics of the valve.
References
1. D.R. Coughanowr: Process systems analysis and control (2/e), McgrawHill, NY,
1991.
2. D.P. Eckman: Automatic process Control, Wiley Eastern, New Delhi, 1958.
3. B. Liptak: Process Control: Instrument Engineers Handbook
4. W.L. Luyben and M.L. Luyben: Essentials of Process Control, McgrawHill, NY,
1997.
5. P. Harriott: Process Control, Tata-McGrawHill, New Delhi, 1991.
• Describe the principles of operation of hydraulic systems and understand its advantages
• Be familiar with basic hydraulic components and their roles in the system
• Describe the constructional and functional aspects of hydraulic pumps and motors
• Draw the graphical symbols used to depict typical hydraulic system components
Introduction
Hydraulic Actuators, as used in industrial process control, employ hydraulic pressure to drive an
output member. These are used where high speed and large forces are required. The fluid used in
hydraulic actuator is highly incompressible so that pressure applied can be transmitted
instantaneously to the member attached to it.
It was not, however, until the 17th century that the branch of hydraulics with which we are to be
concerned first came into use. Based upon a principle discovered by the French scientist Pascal,
it relates to the use of confined fluids in transmitting power, multiplying force and modifying
motions.
Then, in the early stages of the industrial revolution, a British mechanic named Joseph Bramah
utilized Pascal’s discovery in developing a hydraulic press. Bramah decided that, if a small force
on a small area would create a proportionally larger force on a larger area, the only limit to the
force a machine can exert is the area to which the pressure is applied.
Pascal’s Law
Pressure applied to a confined fluid at any point is transmitted undiminished and equally
throughout the fluid in all directions and acts upon every part of the confining vessel at right
angles to its interior surfaces.
Amplification of Force
Since pressure P applied on an area A gives rise to a force F, given as,
F = P×A
Thus, if a force is applied over a small area to cause a pressure P in a confined fluid, the force
generated on a larger area can be made many times larger than the applied force that crated the
pressure. This principle is used in various hydraulic devices to such hydraulic press to generate
very high forces.
Pump
PA F
Q
L
Travel/unit time
Point to Ponder: 1
A. Can you give an analogy of the force amplification in hydraulic system from an electrical
system?
B. Can you imagine what would happen, if the cylinder piston in Fig. 26.1 is stopped
forcefully?
Variable Speed and Direction: Most large electric motors run at adjustable, but constant speeds.
It is also the case for engines. The actuator (linear or rotary) of a hydraulic system, however, can
be driven at speeds that vary by large amounts and fast, by varying the pump delivery or using a
flow control valve. In addition, a hydraulic actuator can be reversed instantly while in full
motion without damage. This is not possible for most other prime movers.
Stall Condition and Overload Protection: A hydraulic actuator can be stalled without damage
when overloaded, and will start up immediately when the load is reduced. The pressure relief
valve in a hydraulic system protects it from overload damage. During stall, or when the load
pressure exceeds the valve setting, pump delivery is directed to tank with definite limits to torque
or force output. The only loss encountered is in terms of pump energy. On the contrary, stalling
an electric motor is likely to cause damage. Likewise, engines cannot be stalled without the
necessity for restarting.
Point to Ponder: 2
A. Consider two types of variable speed drives. In the first one an electric motor with a
power electronic servo drive is directly coupled to the load through a mechanism. In
the second one an electric motor with a constant speed drive drives the pump in a
hydraulic system which provides the variable speed drive to the load. Which one of
these two is more energy efficient?
B. Why is stalling an electric motor is likely to cause damage? What can be done to
prevent it?
Hydraulic Fluid
Hydraulic fluid must be essentially non-compressible to be able to transmit power
instantaneously from one part of the system to another. At the same time, it should lubricate the
moving parts to reduce friction loss and cool the components so that the heat generated does not
lead to fire hazards. It also helps in removing the contaminants to filter. The most common liquid
used in hydraulic systems is petroleum oil because it is only very slightly compressible. The
other desirable property of oil is its lubricating ability. Finally, often, the fluid also acts as a seal
against leakage inside a hydraulic component. The degree of closeness of the mechanical fit and
the oil viscosity determines leakage rate. Figure 26.2 below shows the role played by hydraulic
fluid films in lubrication and sealing.
Film of hydraulic
fluid lubricates
Film of hydraulic
fluid seals passage
from adjacent
Reservoir
It holds the hydraulic fluid to be circulated and allows air entrapped in the fluid to escape. This is
an important feature as the bulk modulus of the oil, which determines the stiffness of hydraulic
system, deteriorates considerably in the presence of entrapped air bubbles. It also helps in
dissipating heat.
PUMP
Releases Bubbles
Reservoir
Dissipates
Heat
Baffle
Fig. 26.3 The functions of the reservoir
Filter
The hydraulic fluid is kept clean in the system with the help of filters and strainers. It removes
minute particles from the fluid, which can cause blocking of the orifices of servo-valves or cause
jamming of spools.
Point to Ponder: 3
A. What would happen if orifices of valves are blocked by, say, a metal chip in the
hydraulic oil?
Line
Pipe, tubes and hoses, along with the fittings or connectors, constitute the conducting lines that
carry hydraulic fluid between components. Lines are one of the disadvantages of hydraulic
system that we need to pay in return of higher power to weight ratio. Lines convey the fluid and
also dissipate heat. In contrast, for Pneumatic Systems, no return path for the fluid, which is air,
is needed, since it can be directly released into the atmosphere. There are various kinds of lines
in a hydraulic system. The working lines carry the fluid that delivers the main pump power to the
load. The pilot lines carry fluid that transmit controlling pressures to various directional and
relief valves for remote operation or safety. Lastly there are drain lines that carry the fluid that
inevitably leaks out, to the tank.
Fig 26.5 below shows a typical configuration of connecting the supply and the return lines as
well as the filter to the reservoir. The graphical symbol for a Reservoir and Filters is shown in
Fig. 26.6.
Supply Line
Pump
Return Line
Filter
Reservoir
O-Ring
Pump
Reversible
Fig. 26.8 The graphical symbol for Pumps
Drive
Free
Gear
Gear
Inlet
Fig. 26.9 The construction of a Gear Pump
A gear pump develops flow by carrying fluid between the teeth of two meshed gears. One gear is
driven by the drive shaft and turns the other, which is free. The pumping chambers formed
between the gear teeth are enclosed by the pump housing and the side plates. A low pressure
region is created at the inlet as the gear teeth separate. As a result, fluid flows in and is carried
around by the gears. As the teeth mesh again at the outlet, high pressure is created and the fluid
is forced out. Figure 26.9 shows the construction of a a typical internal gears pump; Most gear
type pumps are fixed displacement. They range in output from very low to high volume. They
usually operate at comparatively low pressure.
Point to Ponder: 4
A. Why do gear pumps usually operate at comparatively low pressure?
Vane Pumps
In a vane pump a rotor is coupled to the drive shaft and turns inside a cam ring. Vanes are fitted
to the rotor slots and follow the inner surface of the ring as the rotor turns (see Fig. 26.10).
Centrifugal force and pressure under the vanes keep them pressed against the ring. Pumping
chambers are formed between the vanes and are enclosed by the rotor, ring and two side plates.
At the pump inlet, a low pressure region is created as the space between the rotor and ring
increases. Oil entering here is trapped in the pumping chambers and then is pushed into the outlet
as the space decreases.
System Pressure
Most fixed displacement vane pumps today utilize the balanced design shown in Fig. 26.11. In
this design, the cam ring is elliptical rather than a circle and permits two sets of internal ports.
The two outlet ports are 180 degrees apart so that pressure forces on the rotor are cancelled out
preventing side loading of the drive shaft and bearings
Outlet
Vane
Sense of rotation
.
Inlet
Cylinder Block
Centerline
Centerline
Outlet
Case
Pintle
Pistons
Inlet
Cylinder Block
Reaction Ring
Determines Swash
Plate Angle that
(Maximum
Displacement)
Outlet
Port.
Inlet
Port. Drive Shaft
Swash Plate
Shoe Plate
(Retractor Ring).
Cylinder Block Bore.
Fig. 26.14 Cut-out View of Axial Piston Pump
Motors
Motors work exactly on the reverse principle of pumps. In motors fluid is forced into the motor
from pump outlets at high pressure. This fluid pressure creates the motion of the motor shaft and
finally go out through the motor outlet port and return to tank. All three variants of motors,
already described for pumps, namely Gear Motors, Vane Motors and Piston motors are in use.
Accumulators
Unlike gases the fluids used in hydraulic systems cannot be compressed and stored to cater to
sudden demands of high flow rates that cannot be supplied by the pump. An accumulator in a
Spring-Loaded Accumulators
In a spring loaded accumulator (Fig. 26.15), pressure is applied to the fluid by a coil spring
behind the accumulator piston. The pressure is equal to the instantaneous spring force divided by
the piston area. The pressure therefore is not constant since the spring force increases as fluid
enters the chamber and decreases as it is discharged.
Spring loaded accumulators can be mounted in any position. The spring force, i.e., the pressure
range is not easily adjusted, and where large quantities of fluid are spring size has to be very
large.
Spring
Piston
Port
Hydraulic
Fluid
Cylinders
Cylinders are linear actuators, that is, they produce straight-line motion and/or force. Cylinders
are classified as single-or double-acting as illustrated in Figures 26.17 and 26.18 with the
graphical symbol for each type.
Single Acting Cylinder: It has only one fluid chamber and exerts force in only one direction.
When mounted vertically, they often retract by the force of gravity on the load. Ram type
cylinders are used in elevators, hydraulic jacks and hoists.
Load Load
Symbol
Extend Retract
Fig. 26.17 Cross Sectional View of Single-acting Cylinder
Double-rod double-acting cylinders are used where it is advantageous to couple a load to each
end, or where equal displacement is needed on each end. With identical areas on either side of
the piston, they can provide equal speeds and/or equal forces in either direction. Any double-
acting cylinder may be used as a single-acting unit by draining the inactive end to tank.
Lesson Summary
In this lesson we have dealt with the following topics:
A. Basic Principles and Advantages of Hydraulic Control Systems: It is seen that force can
be effectively multiplied by Hydraulic Systems due to Pascal’s Law. Further, there are
several advantages of such systems with respect to motion control such as the ability for
sudden stalling or reversal of motion under high loads.
B. Hydraulic Fluids, Lines, Reservoirs, Filters and Seals : The functions of the fluid in the
system is explained along with the accessories that carry it, such as lines and reservoirs.
Other accessories such as filters and seals have also been presented briefly.
C. Hydraulic Pumps and Accumulators: Various types of hydraulic pumps, namely, gear
pimps, vane pumps and piston pumps have been considered and their principles of
operation and construction explained. Two types of accumulators which act as temporary
sources of fluids during transient high demand periods have also been presented.
D. Hydraulic Motors and Cylinders: Factories have been classified into four major
categories based on the product volumes and product variety. Similarly Automation
Systems are also categorized into four types and their appropriateness for the various
categories of factories explained.
Point to Ponder: 1
Can you give an analogy of the force amplification in hydraulic system from an electrical
system?
Ans: The electrical analog of force is voltage. Both are called across variables, while the
electrical analog of flow rate is current, both which are called through variables. Note that the
product of force and flow rate is power as is the product of voltage and current. Thus the
analogy of force amplification is voltage amplication as can be achieved by transformers.
A. Can you imagine what would happen, if the cylinder piston in Fig. 26.1 is stopped
forcefully?
Ans: If the cylinder is stopped, there cannot be any flow through the system. However, the
prime mover to the pump would attempt to rotate the drive shaft and deliver fluid. Thus the
operating pressure of the pump and load on the prime mover would tend to rise. Practically,
this operating pressure would be contained by a relief valve which would open a low flow
resistance path for the fluid to flow bypassing the cylinder (not shown in the Figure 26.1).
Otherwise the load on the prime mover would be so high that it would stall. Thirdly, due to
extremely high pressures fluid lines or pump may rupture.
Point to Ponder: 2
A. Consider two types of variable speed drives. In the first one an electric motor with a
power electronic servo drive is directly coupled to the load through a mechanism. In the
second one an electric motor with a constant speed drive drives the pump in a hydraulic
system which provides the variable speed drive to the load. Which one of these two is
more energy efficient?
Ans: The first one is likely to be more efficient. This is because the overall efficiency of both
the systems would include the efficiency of the motor and the efficiency of the final
mechanism that connects the load with the actuator, such a gear or a ball screw. However, the
hydraulic system would further involve the efficiency of the pump and cylinder as well as
that of other speed control equipment such control valves. For the first system this would
involve only the efficiency of the power electronic converter, which is likely to be higher.
Thus the lesson is that hydraulic systems are not used for their energy efficiency, but rather
for their small size, high power handling capacity and ease of control under high loads.
B. Why is stalling an electric motor is likely to cause damage? What can be done to prevent
it?
Ans: Stalling an electric motor reduces the back emf in the motor to zero. Therefore very
high current flows in the motor causing thermal damage. To prevent such damages, current
control techniqies are applied in all motor drives which sense the current and reduce the
motor terminal voltage whenever the current exceeds its limit. In other cases, where such rise
Point to Ponder: 3
A. What would happen if orifices of valves are blocked by, say, a metal chip in the hydraulic
oil?
Ans: Immediately the pressure difference across the hydraulic cylinder, which moves the
cylinder against load, would be neutralized. Thus the load motion would stop. At the same
time the pressure difference across the jammed orifice would rise. Sometime this resulting
force can dislodge or shear the chip that causes the jam.
Point to Ponder: 4
A. Why do gear pumps usually operate at comparatively low pressures?
Ans: The load imposed by the drive shaft depends on the operating pressure. By
construction, this load is unbalanced in the gear pump and therefore, considerable side
loading on the drive shaft exists. To limit this loading, operating pressures have to be kept
low. Note that due to the symmetry of the inlet and out let ports such forces do not arise in
balanced vane pumps.
• Describe the major types of direction control valves, their construction, operation and
symbol
• Describe the major types of pressure relief and flow control valves, their construction,
operation and symbol
• Describe pressure switches, as well as pressure and flow gauges used in hydraulic
systems
Introduction
There are two basic types of hydraulic valves. Infinite position valves can take any position
between fully open and fully closed. Servo valves and Proportional valves are in this category
and are discussed in a separate lesson. Finite position valves can only assume certain fixed
positions. In these positions the various inlet and outlet ports are either fully open or fully closed.
However, depending on the position of the valve, particular inlet ports get connected to particular
other outlet ports. Therefore flows in certain directions are established, while those in other
directions are stopped. Since it is basically the directions of the flows that are controlled and not
the magnitudes, these are called directional control valves.
Directional valves can be characterized depending on the number of ports, the number of
directions of flow that can be established, number of positions of the valve etc. They are mainly
classified in terms of the number of flow directions, such as one-way, two way or four-way
valves. These are described below.
Directional valves are often operated in selected modes using hydraulic pressure from remote
locations. Such mechanisms are known as pilots. Thus a valve that may be blocking the flow in a
certain direction in absence of pilot pressure, may be allowing flow, when pilot pressure is
applied. This enables one to build greater flexibility in the automation of system operation.
Check Valve
In its simplest form, a check valve is a one-way directional valve. It permits free flow in one
direction and blocks flow in the other. As such is analogous to the electronic diode.
In Out
Flow Blocked As
Valve Seats
Fig. 27.2b A Check Valve blocks flow in the reverse direction
The construction of a pilot operated check valve is shown in Fig. 27.3. With no pilot pressure,
the valve functions as a normal check valve. Flow to bottom is permitted but the reverse is
blocked. If pilot pressure is applied, the valve is open at all times, and flow is allowed freely in
both directions as shown in Fig 27.3b.
Drain
Free Flow
Fig. 27.3a Unidirectional flow without pilot pressure
No Pilot Pressure
Drain
No Flow
Fig. 27.3b Unidirectional flow without pilot pressure
Drain
Possible application of the valve can be to permit free flow to the accumulator, while blocking
flow out of it. If the pilot is actuated the accumulator can discharge if the pressure at the inlet
port is lower than the accumulator pressure.
Point to Ponder: 1
A. Can you draw an inlet pressure flow characteristics of the ball type check valve?
B. What should be the nature of the spring used in the check valves, hard or soft?
These valves can be classified either as rotary or as spool valves, depending on the mechanism
that creates the connections in the various positions of the valve. These are conceptually
Rotary Valve
A rotary valve consists simply of a rotor closely fitted in a valve body. Passages in the rotor
connect or block the ports in the valve body to provide the desired flow paths. They are used
principally as pilot valves to control other valves.
A B
P T
Fig 27.4a Symbol for a two-way valve
A B
T P T
Fig 27.4b A two-way valve with the spool to the left
T P T
Fig 27.4c A two-way valve with the spool to the right
Four way valve
In two-way valves the pump port is connected to ports A and B in the two positions and the tank
port serves only to drain leakage from within the valve. Thus the return flow does not take place
through the valve. In the four-way valve the ports P and T are connected to the ports A and B,
respectively, in one position, and to B and A respectively, in the other. Thus, both the flow from
the pump and the return flow to the reservoir are directed through the valve.
Most of these valves are of the spool type. They are available both in two-position or three-
position versions. The three-position valve has a center or neutral position. Methods of actuation
include manually operated levers, cams and linkages, solenoids, hydraulic or pneumatic pilot
pressure etc.
A B
P T
Fig 27.5a Symbol for a four-way valve
A B A B
P T T P
Fig 27.5b A four-way valve with the Fig 27.5c A four-way valve with the
spool to the left spool to the left
A B
P T
Open Center, all ports connected
A B
P T B
Pump (P) and “B” Closed-“A” Open to Tank (T)
A B
T A B
P T
Pump (P) and “B” Closed-“A” Open to Tank (T)
A B
P T
Pump (P) Closed-“A” & “B” Open to Tank (T)
A B
T A B
P T
“B” Closed-Pump (P) Open to Tank (T) Thru “A”
A B
P T A B
Tandem
Spools may be held in the center positions by centering springs, by spring-loaded detents or by
oil under pressure. The terms “spring-centered” and “spring-offset” refer to the use of springs
returning valve spools to their normal position. A spring centered valve is returned to the center
position by spring force whenever the actuating effort is released. A spring-offset valve is a two
position valve returned to one extreme position by a spring whenever the actuating effort is
released. It is shifted to the other position by one of the actuating methods mentioned above. A
valve without a spring has to be actuated throughout the cycle by an external actuation, without
which, it may “float” unless retained by detents or friction pads.
Operating Controls
As mentioned above, spool valves can be actuated in a number of ways. A typical manually-
operated four-way valve is shown with its graphical symbol in Figure 27.7a; a mechanically-
operated valve in Figure 27.7b. Figure 27.7c illustrates a spool type four-way valve that is shifted
by air pressure against a piston at either end of the valve spool. A common method of actuating a
small spool valve is with a solenoid as shown in Fig. 27.7d. Note that the appropriate controlling
symbol is added with the basic valve symbol.
A B
P T
Fig. 27.7a A solenoid operated three-position four-way directional valve symbol
In larger valves, the force required to shift the spool is more than what can be obtained
practically from a solenoid. Large directional valves are, therefore, actuated by pilot pressure
(Fig. 27.7b). The pilot pressure, in turn, can be directed from a hydraulic pressure source by a
smaller four-way valve called a pilot valve, which may be actuated by a solenoid.
A B
P T
Fig. 27.7b A solenoid operated three-position four-way directional valve symbol
Relief Valves
Relief valves are used for regulation of pressure in hydraulic systems for protection of equipment
and personnel. The simplest relief valve is the spring and plug arrangement of Fig. 27.8a. The
spring keeps the valve shut until a pressure set by an adjustable spring tension is reached which
pushes the spring up to relief the pressure by connecting the inlet to the drain.
Adjust Spring
Preloading
Plug Drain
Inlet
Fig 27.8a Relief valve
Fig 27.8b is a symbol for a relief valve. The arrow on the spring shows adjustable tension. Pilot
operated relief valves are shown with a dotted line and without a spring symbol.
Pilot
Fig 27.8b Relief valve symbols
Infinite position valves (example relief valves) have a single arrow. The arrow shows flow
direction and are generally drawn in non operated condition.
The operating principle of a pressure switch is shown in Figure 27.9. This design contains two
separate electrical switches. Each is operated by a push rod which bears against a plunger whose
position is controlled by hydraulic and spring forces. The pressure at which the switches operate
is selected by turning the adjusting screw to increase or lessen the spring force.
It should be noted that in this design the switches are actuated by the springs when the unit is
assembled. Thus the normally open contacts are closed and vice versa.
When the preset pressure is reached the plunger will compress the spring and allow the push rods
to move down causing the snap action switches to revert to their normal condition.
By using both switches in conjunction with an electrical relay, system pressures may be
maintained within widely variable high and low ranges.
Instruments
Flow rate, pressure and temperature measurements are required in evaluating the performance of
hydraulic components. All three can be helpful too in setting up or trouble-shooting a hydraulic
system. Due to the difficulty in installing a flow meter in the circuit, flow measurements are
Version 2 EE IIT, Kharagpur 12
often determined by timing the travel or rotation of an actuator. Pressure and temperature are
determined in the usual manner by means of gauges and thermometers.
Pressure Gauges
Pressure gauges are needed for adjusting pressure control valves to required values and for
determining the forces being exerted by a cylinder or the torque of a hydraulic motor.
A typical pressure gauge used is a Bourdon tube. In the Bourdon tube gauge (Fig. 27.10), a
sealed tube is formed in an arc. When pressure is applied is applied at the port opening, the tube
tends to straighten. This actuates linkage to the pointer gear and moves the pointer to indicate the
pressure on a dial. Most pressure gauges read zero at atmospheric pressure and are calibrated in
pounds per square inch, ignoring atmospheric pressure throughout their range.
Pump inlet conditions are often less than atmospheric pressure. They would have to be measured
as absolute pressure, sometimes referred to as psia, but more often calibrated in inches of
mercury with 30 inches of mercury considered a perfect vacuum. A vacuum gauge calibrated in
inches of mercury is shown in figure 12-11.
Tube tends to
straighten under
50 pressure causing
40 60 pointer to rotate.
30 70
20 80
10 90
Pressure inlet
Flow Meters
Flow meters are coupled into the hydraulic piping to checkihe volumetric efficiency of a pump
and determining leakage paths within the circuit.
A typical flow meter used is a rotameter, which consists of a weight in a calibrated vertical tube.
Oil is pumped into the bottom and out the top and raises the weight to a height proportional to
the flow. For more accurate measurement, a fluid motor of known displacement can be used to
drive a tachometer.
More sophisticated measuring devices are turbine type flow meters which generate an electrical
impulse as they rotate and pressure sensing transducers which may be located at strategic points
Version 2 EE IIT, Kharagpur 13
within the system where they send out electrical signals proportional to the pressures
encountered. These signals can be calibrated and observed on an oscilloscope or other readout
devices.
Point to Ponder: 3
A. Consider the type 4 and type 6 centre conditions of the 3-position 4 way valve shown
above. Imagine that a double acting hydraulic cylinder is connected across the ports A
and B. Comment on the possible motion of the load when the valve is at the center.
B. Can you justify, why the bourdon tube is perhaps the most suitable of the pressure sensor
sin this application?
Lesson Summary
In this lesson we have dealt with the following topics
A. Basic types of direction control valves, such as one-way, two-way and four-way valves.
B. Introduced the concept of pilot operation of valves in the context of check valves and
relief valves.
C. Described various center conditions as well as operating controls for fourway valves.
D. Described typical types of instruments and switches used in hydraulic circuits.
Point to Ponder: 1
A. Can you draw an inlet pressure flow characteristics of the ball type check valve?
Ans: Let a positive pressure drop correspond to the forward flow direction. Then, because of
spring force, a minimum positive pressure drop would be needed to establish full flow.
Similarly, below a minimum pressure drop, no flow would take place. For negative pressure
drop, the flow is zero.
B. What should be the nature of the spring used in the check valves, hard or soft?
Ans: With a hard spring, because of spring force, the minimum positive pressure drop
needed to establish full flow would be high. Therefore the spring should be soft, only
ensuring that when the pressure drop across the valve is very small, the flow is cut off.
Point to Ponder: 2
A. In Fig. 27.7b, what is the position of the valve when there is no pressure at both the pilot
ports?
Ans: The valve shown is a two-position four-way valve. The spring symbol indicates that if
no pilot pressure exists at either port, the position is determined by the spring. Since the
spring is shown at the left, the left box shows the position of the valve when pilot pressures at
the ports are zero.
Ans: The valves can easily be connected in parallel, provided the pump is capable of
delivering the required flow. In case they are connected in series, the tank port of the first
valve is connected to the pump port of the other. For two position valves this is possible.
However for three position valves, for independent operation of the two loads, the valve
should be open center type, that is the pump and tank ports should be connected. If these
ports remain plugged then independent operation of loads would not be possible.
Point to Ponder: 3
A. Consider the type 4 and type 6 centre conditions of the 3-position 4 way valve shown
above. Imagine that a double acting hydraulic cylinder is connected across the ports A
and B. Comment on the possible motion of the load when the valve is at the center.
Ans: For the type 4 valve, the load is locked, since both the ports A and B are plugged. For
the type 6 valve, the load is floating, since both the ports A and B are connected and are at
tank pressure. Therefore with any pressure applied on the load, the cylinder can shift without
resistance.
Ans: For hydraulic circuits, continuous pressure monitoring is not needed. Generally
intermittent manual monitoring is needed for maintenance and trouble shooting. Therefore
gauges such as diaphragm gauges, which can operate at similar ranges of pressure and can
provide continuous electrical signals is a more expensive alternative. Bourdon gauges are
inexpensive, rugged and fairly accurate for the application.
Introduction
Typical hydraulic circuits for control of industrial machinery are described in this lesson.
Graphical hydraulic circuit diagrams incorporating component symbols are used to explain the
operation of the circuits.
E
C
A M B
Points to Ponder: 1
A. Can you imagine what would happen, if the check valve was not present?
B. How would you modify the system if you wanted to unload pump B instead of pump A?
Venting Mode
In Figure 28.2, both solenoids a and b of the directional valve D are de-energized. The open-
center spool is centered by the valve springs, and the vent port on the relief valve is opened to
tank. Therefore, the pump flow opens to tank at a very low pressure.
D
A B
a b
P T
C
To System
B M
D
A B
a b
P T
C
To System
B M
A
Fig. 28.3 Operating Mode with Intermediate Maximum Operating Pressure
Version 2 EE IIT, Kharagpur 5
High Maximum Pressure
In Figure 28.4, the right solenoid b of the directional valve is energized. The spool now shifts
right to connect the relief valve vent port to a plugged port in the directional valve. The relief
valve C now functions at the setting of its integral pilot stage.
D
A B
a b
P T
C
To System
B M
Points to Ponder: 2
A. Why are lines connecting C to D and D to E marked in dashed lines?
B. Can you briefly describe a scheme to automate the above system such that whenever, in
the intermediate pressure mode, pressure setting is exceeded, the system would
automatically switch to the low pressure mode?
G
F
A B
b
E
D P T
Retraction Stroke
At the extreme end of the extension stroke, the limit switch is made on by the cylinder rod to
break the solenoid circuit for the directional valve F. The directional valve now shifts to its right
position and the pump gets connected to the rod end of the cylinder which now retracts. Note that
the relief valve vent connection is still blocked.
A B F
E
D P T
DR
to shift valve G. The relief valve vent port is thus connected, through E and G, to the line from
the cap end of the cylinder, and to tank through the F and the inline check valve C. This vents the
relief valve D and unloads the pump.
Points to Ponder: 3
A. How does the solenoid get energized if the limit switch is made?
B. Is the speed of the cylinder going to be equal during extension and retraction? If not,
then what decides the speeds?
G
1
2
A B F
E
D P T
DR
G
1
2
F
A B
E
D P T
DR
Regenerative Advance
In Figure 28.9, the “B” port on the directional valve C, which conventionally connects to the
cylinder, is plugged and the rod end of the cylinder is connected directly to the pressure line.
With the valve shifted to the left most position, the “P” port is connect to the cap end of the
cylinder. If the ratio of cap end area to rod end annular area in the cylinder is 2:1, the pressure
being the same at both end, the force at the cap end is double that at the rod end. There is
therefore a net force on the cylinder to move the load. Similarly, at any speed of the cylinder, the
flow into the cap end would be double that of the rod end. However, in this connection, the flow
out of the rod end joins pump delivery to increase the cylinder speed. Thus only half of the flow
into the cap end is actually supplied by the pump. However, the pressure during advance will be
double the pressure required for a conventional arrangement for the same force requirement. This
is because the same pressure in the rod end, effective over half the cap end area, opposes the
cylinder’s advance.
In the reverse condition shown in Figure 28.10, flow from the pump directly enters the rod end
of the cylinder through two parallel paths, one through the directional valve and the other
directly. Exhaust flow from the cap end returns to the tank conventionally through the directional
valve. Note that, in contrast to the conventional case, the force on the cylinder as well as the
pump flow remains unchanged during extension and retraction. Thus, the speed of the piston
during both advancement and retraction remain same.
A B
a b
P T
A B
a b
P T
The sequence of operation realized by the circuit shown in Figure 28.11-28.14 is:
Step A – Extend Cylinder H
Step B – Extend Cylinder J while holding pressure on Cylinder H
Step C – Retract Cylinder J
Step D – Retract Cylinder H
D
F1
E
B J
P A
C T B
G H
F2
Step B
Once H reaches its rod end, the pressure builds up and now the flow develops through F1 into
the cap end of J and out through the rod end to go back directly to tank through F2, E and C. Note
that a pressure equal to the setting of the valve F1 is maintained on H. When J is fully extended,
pressure increases further and is limited by the setting of D, providing overload protection to B.
D
F1
E
B J
P A
C T B
G H
F2
In the above circuit, sequencing is achieved by grading the pressure settings of the relief valves.
Note that sequencing can also be achieved electronically by PLC control of the solenoids of
separate directional valves driving H and J.
D
F1
E
B J
G H
F2
G H
F2
Lesson Summary
In this lesson we have presented industrial hydraulic circuits for following applications:
A. Unloading of pumps based on relief valve and check valve to avoid overloading.
B. Selection of system operating pressure from two values based on settings of relief valves
and their selection with a directional valve.
C. Extension-retraction Circuit for one cylinder with automatic unloading of pump at the
end of cycle
D. Extension-retraction Circuit for one cylinder with regenerative feedback
E. Sequenced extension-retraction circuit for two cylinders.
Points to Ponder: 1
A. Can you imagine what would happen, if the check valve was not present?
Ans: Then, if the setting of the relief valve C is reached, both pumps would have unloaded.
B. How would you modify the system if you wanted to unload pump B instead of pump A?
Ans: Then, a check valve is to be placed between pump B and the system, after the relief
valve D. The relief valve after C would be removed. Finally, the setting of D would
have to be set lower than that of C.
Points to Ponder: 2
A. Why are lines connecting C to D and D to E marked in dashed lines ?
Ans: Because these are pilot lines for the relief valve.
B. Can you briefly describe a scheme to automate the above system such that whenever, in
the intermediate pressure mode, pressure setting is exceeded, the system would
automatically switch to the low pressure mode?
Ans: One of the ways is to devise an automated logic for exciting the solenoids of the
directional valve. The above feature can be implemented by using a pressure switch
which would be made if the pressure setting is exceeded. This pressure switcvh
contacts can then be incorporated into a relay circuit or a PLC program that would drive
the solenoid of the directional valve corresponding to high pressure.
Points to Ponder: 3
A. How does the solenoid get energized if the limit switch is made?
Ans: The limit switch contacts can be incorporated into a relay circuit or a PLC program that
would drive the solenoid of the directional valve.
B. Is the speed of the cylinder going to be equal during extension and retraction? If not,
then what decides the speeds?
Ans: The speed of the cylinder is going to be different during extension and retraction. Note
that the cross-sectional areas of the two sides of the piston are different because of the
single-rod configuration. During extension, the pump pressure acts on the cap end of
the cap end of the cylinder which has higher area than the rod end. Therefore, the net
force acting on the piston during extension is more than that during retraction. The
speeds reached during these strokes depend on the load that exists during these
Points to Ponder: 4
A. Explain all parts of the symbol of the directional valve C in Figures 28.9-28.10.
Ans: The directional valve has two positions and is a four-way valve with the pump port and
the tank port on one side and the two load side ports A and B on the other. The valve is
not spring loaded and therefore requires two solenoids for moving it to the two
positions. The solenoid moves a hydraulic pilot valve spool, which, in turn, moves the
main valve spool. The valve is called detented because it has a mechanism that locks
the piston into the position it moves into and holds it there. In the circuit in which the
valve is used, in the left position, one port of the valve is plugged, as marked by a
cross.
Ans: In a regenerative circuit higher cylinder speed can be reached with a lower pump flow
rate. However, for a given force requireent to move the load, higher pup pressures are
needed, since there exists a back pressure at the rod end of the piston, unlike in a
conventional reciprocation circuit. In the retraction stroke, however, regeneration is
not possible. In both cases, regenerative and conventional, cylinder speeds during
retraction and extension are different in general. Or the regenerative case, however,
they may be made equal with area ration of 2:1 of the cap and the rod ends of the
piston.
Introduction
A number of pneumatic components are present in a process control scheme. In earlier days, the
complete control system was built up on these components; with the advent of electronics many
of them are now replaced by electronic components. Still then, the importance of the pneumatic
components cannot be underestimated. Many of the industrial actuators used in steel and
automobile industries nowadays are pneumatic. The major advantages of using pneumatic
systems are (i) they are intrinsically safe and can be used in hazardous atmospheres, (ii) cheap
compared to hydraulic systems (air costs nothing) and (iii) a pneumatic actuator can generate
more torque (force) to its own weight and thus have a better torque-weight ratio compared to an
electrical actuator. However pneumatic components are slow in response. In this lesson we will
discuss different pneumatic components used in process control.
Nozzle
Air Flapper
Supply
xi
Output
pressure po po
(3-15psi)
po(psi)
20
15 Approximate
linear range
10
0 5 10
xi (mil)
Performance Analysis
The performance analysis of the flapper nozzle amplifier can be carried out in two ways:
neglecting the compressibility of air and taking compressibility of air into account. For the sake
of simplicity, we shall neglect the compressibility in this section and carry out the simplified
analysis.
The mass flow rate through the orifice can be expressed as:
Cd π d s2
Gs = 2 ρ ( ps − po ) (1)
4
Gn = Cd π d n xi 2 ρ ( po − pamb ) (2)
We have assumed air to be incompressible. The discharge coefficient is also assumed to be the
same for both the orifice and the nozzle. So at steady state,
Gs = Gn , and pamb = 0 .
Equating (1) and (2) and simplifying, one can obtain:
d s4
( ps − po ) = d n2 xi2 po
16
po 1
or, = (3)
ps 16d n2 2
1 + 4 xi
ds
po d
Now denoting the normalized pressure pn = , and the normalized displacement as xn = n2 xi ,
ps ds
we can write,
1
pn = (4)
1 + 16 xn2
The pn vs. xn characteristics is similar to that shown in Fig.2. The sensitivity can be obtained as:
dpn 1
= −32 xn (5)
dxn (1 + 16 xn2 )2
For sensitivity to be maximum,
d 2 pn 32(1 + 16 xn2 ) 2 − 32 xn .2(1 + 16 xn2 ).32 xn
= 0 = −
dxn2 (1 + 16 xn2 ) 4
Solving, one obtains the condition for maximum sensitivity as:
1
xn2 = ; or xn ≈ 0.144
48
The maximum sensitivity, at xn = 0.144 is
Air Relay
The major limitation of a flapper nozzle amplifier is its limited air handling capacity. The
variation of air pressure obtained cannot be used for any useful application, unless the air
handling capacity is increased. The situation can be compared with an operational amplifier in an
electronic circuit. Though the operational amplifier is useful in amplifying small voltage signals,
the output current delivered by the operational amplifier is limited and a power amplifier is used
at the output stage in order to drive any device. An air relay serves the similar purpose as a
power amplifier. It is used after the flapper nozzle amplifier to enhance the volume of air. The
principle of operation of an air relay can be explained using the schematic diagram shown in Fig.
3.
double
seated
valve
pout
Air
vent
y
p2
p2
Diaphragm
xi
PS (20psi)
Air Relay po
Input
pressure Feedback Bellows
(Area AB2)
a b
pi po
xi
4-20 mA
Air Relay
Output
(3-15psi)
Permanent
magnet
PS (20psi)
Fig. 5 Electro-pneumatic Signal Converter
Air
Diaphragm
Spring
Stem
Flow
Plug
Fig. 6 Direct acting type valve positioner
Spring To valve
Diaphragm
Feedback link
vent
20psi
vent
Power cylinder
Fig. 7 Feedback type valve positioner
The feedback type valve positioner (Fig.7) has a pilot cylinder with which the diaphragm is
attached. The piston of this pilot cylinder opens or closes the air supply and vent ports to the
main cylinder whose piston is connected to the stem of the control valve (not shown). There is a
mechanical link connected to the stem that adjusts the fixed end of the spring connected to the
diaphragm. This link provides the feedback to the postioner. As the control pressure increases,
the diaphragm moves down, so is the piston of the pilot cylinder. This causes the lower chamber
of the main cylinder to be connected to the 20 psi line and the upper chamber to the vent line.
Compressed air enters the bottom of the main cylinder and the piston moves up. As the piston
moves up, the feedback link compresses the spring further and this causes the diaphragm to
move back to its original position. The air supply and the vent ports are now closed and the
piston of the main cylinder remains at its previous position. The relationship between the control
pressure and movement of the stem in this case is more or less linear. Moreover due to presence
of power cylinder, the scheme is more suitable to position large control valves.
References
1. D.R. Coughanowr: Process systems analysis and control (2/e), McgrawHill, NY, 1991.
2. D.P. Eckman: Automatic process Control, Wiley Eastern, New Delhi, 1958.
3. B. Liptak: Process Control: Instrument Engineers Handbook
4. W.L. Luyben and M.L. Luyben: Essentials of Process Control, McgrawHill, NY, 1997.
5. P. Harriott: Process Control, Tata-McGrawHill, New Delhi, 1991.
6. J.P. Bentley: Principles of Measurement Systems (3/e), Longman, U.K., 1995.
Review Questions
1. Explain with a simple sketch the principle of operation of a flapper nozzle amplifier.
2. Sketch the input-output characteristics of a flapper nozzle amplifier.
3. Identify the factors those affect the sensitivity of a flapper nozzle amplifier.
4. What is the function of air relay in pneumatic control?
5. What is the major advantage of using a flapper nozzle amplifier in closed loop?
6. Sketch and explain the working principle of a pneumatic torque balance transducer.
7. Explain the construction and working principle of a direct acting type pneumatic valve
postioner. What are the limitations of this type of positioners?
8. How can you convert a 4-20mA current signal to a 3-15 psi pressure signal? Explain with
a schematic.
Introduction
In the last lesson we have discussed on the construction and principles of operation of various
pneumatic components. In this lesson, we shall try to understand how these components can be
combined to make a complete pneumatic control system. We shall particularly concentrate on the
working of various PID controllers. These controllers together with the final control elements
(diaphragm type valve positioners) provide the essentials of a pneumatic control system.
Pneumatic controllers are the earliest type of controllers used in industry and still find regular
use in many applications. But probably the more interesting part of pneumatic control is its
principle of operation and how the derivative and integral parts can be generated by simply
throttling the valves in the air line. The implementation issues of PID controllers have been
discussed in Lesson 14. The details of the implementation of a pneumatic PID controller have
been elaborated in this lesson.
Ps P2 x Pivot
A2 β Af
Kf
K2 p0
z
y Output
Feedback bellows
P0 to system
Air Relay
∂P2,o
The term indicates the slope of the flapper nozzle characteristics at the operating point.
∂X i , o
This slope can be taken as constant and is denoted here by − K1 , indicating a negative slope.
Slope = -K1
Operating point
P2, 0
0 Xi,0
Xi
Fig. 2 Characteristics of a flapper nozzle amplifier.
Similarly, for the air relay we can obtain linearised characteristics as given by:
po = − Ko y (2)
indicating decrease in output pressure for positive (downward) y.
Now the two bellows move against two springs. Let the constants of the springs be K2 and Kf.
We assume the areas of the bellows be A2 and Af.
Then,
A
K 2 y = p2 A2 ; or, y = 2 p2 (3)
K2
Similarly,
A
K f z = po Af ; or, z = f po . (4)
Kf
In all the cases the variables represented by small letters denote the deviations from the values at
the operating points.
Now consider the movement of the link. It has two independent inputs (e and z). Applying
superposition, the net displacement signal at the flapper nozzle is given by:
β α
x= e− z (5)
α+β α+β
Now we can draw the block diagram of the closed loop feedback using the above expressions
and as shown in Fig. 3 (a).This block diagram can be further simplified as shown in Fig. 3(b)-(d),
where
α z Af
α+β Kf
(a)
β α +
e K' po
α α+β -
α Af
α+β Kf
(b)
β + α
e K' po
α - α+β
Af
Kf
(c)
β
e K'' po
α
(d)
A2
K ' = K1 K o
K2
and
Kf Af
Pf Restrictor
z
Now the change in volume inside the bellows is due to the displacement of the free end, and
v f = Af z (12)
Again the force balance condition at the feedback bellows gives:
K f z = p f Af ,
Kf
or, pf = z (13)
Af
Equating (11) and (13), one can obtain:
z (s) =
( Af / K f ) p (s) , (16)
1 + sτ d
o
where,
1 + C4 A2f / K f
τd =
C1C3
Compare (16) with the relationship obtained z and po in (4) in a proportional controller as:
Af
z= po .
Kf
It is clear that the introduction of the restrictor in the feedback bellows introduces a time constant
in the feedback path. Further, by varying the restrictor area, C1 can be changed (refer (8)), thus
changing the time constant τ d . Other parts in the block diagram for P-controller shown in Fig. 3
remains the same.
For the sake of simplicity, let us assume the link lengths α = β . In that case we can develop the
simplified block diagram for the system shown in Fig. 1 with the modified feedback bellows
configuration shown in Fig. 4. The simplified block diagram can be expressed as shown in Fig.5,
wherefrom we obtain,
+
e K′ po
2
-
z
Af K f
(1 + sτ d )
x
Af, Kf
Af
PI Po
z
From Restrictor
Air relay
Po to system
K′
po '
K /2 (1 + τ d s )
( s) = = 2 (17)
e ⎛ K ' Af ⎞ ⎛ K ′Af ⎞
1+ ⎜ ⎟ (1 + τ d s ) ⎜1 +
⎜ ⎟ +τ d s
⎜ 2K f ⎟
⎝ ⎠ ⎝ 2 K f ⎟⎠
Further, if we assume that,
( K ' Af ) /(2 K f )〉〉τ d and also 〉〉 1, (18)
then (17) simplifies to:
po Kf
(s) ≈ (1 + τ d s ) (19)
e Af
that is similar to the transfer function of a standard P-D controller as: K p (1 + τ d s) . Thus by
simple introduction of a restrictor in the line connecting the feedback bellows can transform the
pneumatic P-controller in Fig. 1 to a P-D controller.
Note that with a lagged feedback signal (as seen from the transfer function of the feedback
block) the closed loop transfer function provides a net lead, with the same time constant as the
lag time constant of the feedback path.
The closed loop block diagram for P-D controller (shown in Fig.5) now gets modified for P-I
controller as shown in Fig.7. The overall transfer function can be obtained as:
The above transfer function is clearly of a P-I controller. The time constant can be varied by
varying the restrictor opening. The reader can now easily understand the action of a complete
pneumatic P-I controller shown schematically in Fig. 4 of Lesson14.
Here again, the feedback path dynamics (given in (23)) is approximately of a differentiator. The
effect is inverted in the closed loop, generating integral action, having a reset time equal to the
lag time constant of the feedback path.
+
e K′ po
2
-
z
KI s
(1 + τ I s )
Conclusion
In this lesson we have discussed the working principles of pneumatic P, PD and PI controllers.
PID action can also be generated by combining Fig. 4 and Fig.6. The major issues of a pneumatic
controller we have learnt are (i) the proportional gain of a pneumatic proportional controller can
be adjusted by adjusting the segment lengths α and β of the link, (ii) the proportional gain is
independent of the flapper nozzle and relay gains, (iii) the derivative and integral actions can be
generated by putting restrictors in the feedback bellows and their time constants τ d and τ I can be
adjusted by throttling the restrictors. While deriving the working relationship of these controllers,
we have also learnt how to linearise the characteristics of a nonlinear linear device. This
Version 2 EE IIT, Kharagpur 11
knowledge reminds us that all the variables in the transfer functions developed are actually the
changes from the nominal operating points and the linearised transfer function is valid for small
deviations from operating points only.
Pneumatic control system is free from electromagnetic hazards and the problem of short circuit;
thus can be used as an intrinsically safe system where the ambient may contain highly
combustible vapours as in a petrochemical and natural gas processing unit. The major limitation
of this type of systems are that they are slow in response. Regular maintenance for keeping the
control elements free from dust and moisture is also necessary fro proper operation of the
controllers.
References
1. F.H. Raven: Automatic Control Engineering (4/e), McGraw-Hill, NY, 1987.
2. D.P. Eckman: Automatic process Control, Wiley Eastern, New Delhi, 1958.
3. K. Ogata: Modern Control engineering (2/e), Prentice Hall of India, New Delhi, 1995.
Review Questions
1. What is the function of air relay in Fig.1?
2. Sketch the schematic arrangement of a pneumatic proportional controller and draw
the closed loop block diagram.
3. A high gain feedback system reduces the effect of parameter variations on the
performance. Can you justify the statement with a pneumatic proportional controller?
4. Identify the element that you should vary for adjusting the derivative time τ d .
Answer
Q5. C1= 4, C2=2.
Introduction
The AC induction motor is the major converter of electrical energy into mechanical and other
useable forms. For this purpose, about two thirds of the electrical energy produced is fed to
motors. Much of the power that is consumed by AC motors goes into the operation of fans,
blowers and pumps. It has been estimated that approximately 50% of the motors in use are for
these types of loads. These particular loads — fans, blowers and pumps, are particularly
attractive to look at for energy savings. Several alternate methods of control for fans and pumps
have been advanced recently that show substantial energy savings over traditional methods.
Basically, fans and pumps are designed to be capable of meeting the maximum demand of the
system in which they are installed. However, quite often the actual demand could vary and be
much less than the designed capacity. These conditions are accommodated by adding outlet
dampers to fans or throttling valves to pumps. These control methods are effective, inexpensive
and simple, but severely affect the efficiency of the system.
Others forms of control are now available to adapt fans and pumps to varying demands, which
do not decrease the efficiency of the system as much. Newer methods include direct variable
speed control of the fan or pump motor. This method produces a more efficient means of flow
control than the existing methods. In addition, adjustable frequency drives offer a distinct
advantage over other forms of variable speed control.
Fig. 31.2 shows a typical system pressure-flow characteristics curve intersecting a typical fan
curve.
Many systems however require operation at a wide variety of points. Fig. 31.3 shows a profile of
the typical variations in flow experienced in a typical system.
There are several methods used to modulate or vary the flow to achieve the optimum points.
Apart from the method of cycling, the other methods affect either the system curve or the fan
curve to produce a different natural operating point. In so doing, they also may change the fan's
efficiency and the power requirements. Below these methods are explained in brief.
Points to Ponder: 1
A. Why is it that typically load requirements are stated in terms of flow rates?
B. Why is it that the load requirements are generally show a parabolic pressure flow
characteristics?
Version 2 EE IIT, Kharagpur 5
On-Off Control
This is typically done in home heating systems and air conditioners. Here, depending on
temperature of the space in question and the desired temperature setting, the fan is switched on
and off, cyclically. Although the average temperature can be maintained by this method, this
produces erratic airflow, causes temperature to oscillate and is generally unacceptable for
commercial or industrial use.
Points to Ponder: 2
A. Why is this system acceptable for home HVAC (the acronym for Heating Ventilation
and Air Conditioning)?
B. Is it energy efficient?
Outlet Dampers
The outlet dampers affect the system curve by increasing the resistance to air flow. The system
curve is a simple function that can be stated as
P = K × Q2,
where P is the pressure required to produce a given flow Q in the system. K is a characteristics of
the system that represents the resistance to airflow. For different values of outlet vane opening,
different values of K are obtained. Fig. 31.5 shows several different system curves indicating
different outlet damper positions.
2 3
Q2 N 2 P2 ⎛ N 2 ⎞ W2 ⎛ N 2 ⎞
= =⎜ ⎟ =⎜ ⎟
Q1 N1 P1 ⎝ N1 ⎠ W1 ⎝ N1 ⎠
where N= Fan Speed, Q= Volume Flow Rate, P= Pressure, W= Power. Note that eliminating
speed from the above equations gives back the law, P = K×Q2 for the system. Thus, by this
method, the operating point for a given system load shifts along the system characteristic curve
as the speed of the fan is varied. Fig. 31.7 is a representation of the variable speed method.
Fig. 31.7 shows the significant reduction in horsepower achieved by this method. Thus, in this
method a desired amount of flow is achieved with the minimum of input power. The other two
Version 2 EE IIT, Kharagpur 8
methods modify some system parameter, which generally results in the reduction of efficiency of
the fan. This is why the power demand is greater than the variable speed method.
Points to Ponder: 4
A. Can you identify, which of three system curves shown in Figure 31.8 correspond to
the minimum speed of the pump?
B. Assume that the pressure-flow curve C shown in Figure 31.6 represent the
characteristics of the output element f the system. Then,
a. Find the system efficiency at 60% of rated flow.
b. Does the efficiency increase, or decrease with pump speed?
Outlet Damper
In this section the power consumption for two of the above methods, namely the variable speed
method and the outlet damper method, and their associated costs of operation are estimated for a
given load profile and a fan curve (shown in Appendix 1). Assume the fan selected has a rated
speed of 300 RPM and 100% flow is to equal 100,000 CFM as shown on the chart. Assume the
following load profile.
For each operating point, one can obtain the required power from the fan curve by locating the
corresponding fan pressure. Note that, at all these operating points the speed is assumed constant.
This power is multiplied by the fraction of the total time, for which the fan operates at this point.
These "weighted horsepowers" are then summed to produce an average horsepower that
represents the average energy consumption of the fan.
100 10 35 3.5
80 40 35 14.0
60 40 31 12.4
40 10 27 2.7
Total 32.6
From the fan curve, 100% flow, (say Q1) at 100% speed, (say N1) requires 35 HP. Now since,
Q2/Q1 = N2/N1, the new value of speed N2 required to establish Q2 can be obtained easily. This
value of N2, substituted into the power formula, (P2/ P1) = (N2/N1)3 would then yield the new
value of P2 needed to establish Q2 at speed N2. When Q1 = 100% and W1 = 35 HP, the values of
W2 for various values of Q2 are shown below.
Q2 80 60 40
W2 18 7.56 2.24
These calculated values do match the points available on the fan curve. Now it is possible to cal-
culate the average horsepower.
100 10 35 3.5
80 40 18 7.2
60 40 7.56 3.024
40 10 2.24 0.224
TOTAL 13.948
Comparing the above figure with that calculated for the outlet damper method indicates the
difference in energy consumption. The variable speed method requires less than half the energy
of the outlet damper method (based on the typical duty cycle).
As an example of the cost difference between these methods, let's assume the system operates
twenty-four hours per day (730 hours per month), and the cost of electricity is Rs. 2.00 per
kilowatt-hour.
The cost of electricity is determined in terms of the energy in kilowatt hour per month.
There is over a 20,000 Rs. per month savings available by using the variable speed method in-
stead of the outlet damper method.
Points to Ponder: 5
A. Is energy saving the only factor to determine which technology to adopt in a given
industrial situation? If not, mention at least three other issues that also need to be
considered, let us say, to decide whether to go for a throttling or a variable speed
drive flow control system ?
B. How does the flow-demand profile affect the extent of energy savings? For example,
would the energy saving be larger if the ratio of the minimum demand to maximum
demand be high? How do the durations of these demand affects the saving?
Fig. 31.8 again shows two independent curves. One is the pump curve which is solely a function
of the physical characteristics of the pump. The other curve is the system curve. This curve is
completely dependent on the size of pipe, the length of pipe, the number and location of elbows,
etc.
Where these two curves intersect is called the natural operating point. That is where the pump
pressure matches the system losses and everything is balanced. Note that this balance only
occurs at one point (or at least should for stable system operation). If that point does occur at or
at least come close to the desired point of operation, then the system is acceptable. If it does
not come close enough then either the pump or the system physical arrangement has to be
altered to correct to the desired point.
The following laws govern, similar to the case of fans, the operation of centrifugal pump
characteristics at various pump speeds.
2 3
Q 2 N 2 P2 ⎛ N 2 ⎞ W2 ⎛ N 2 ⎞
= =⎜ ⎟ =⎜ ⎟
Q1 N1 P1 ⎝ N1 ⎠ W2 ⎝ N1 ⎠
where, N= Pump Speed
Q= Flow
P= Pressure
W= Horsepower
Throttling
Consider a throttling system shown in Fig. 31.9. Two conditions of the system curve are shown,
one with the valve open and the other with the valve throttled or partially closed. The result is
that when the flow in the system is decreased, the pump head increases.
Points to Ponder: 1
A. Why is it that typically load requirements are stated in terms of flow rates?
Ans: Major applications for fans, blowers and pumps are for cooling, combustion, heat
exchange, as feed mechanisms for chemical process etc. Notice that in all these applications
the volumetric flow rate of the fluid is what needs to be controlled.
B. Why is it that the load requirements generally exhibit a parabolic pressure flow
characteristics?
Ans: Because that is the characteristics of pressure drops whenever turbulent flow occurs,
by Bernoulli’s principle. Δ P ∝ V 2 ∝ Q2
Points to Ponder: 2
A. Why is this system acceptable for home HVAC?
Ans: Because the large thermal capacitance of home spaces is high compared to the
heat loads. Therefore, even with on-off control, temperature oscillations are
small. Finally, the cost saving is acceptable to customers in comparison with
comfort requirements which are non critical.
B. Is it energy efficient?
Ans: It is more energy efficient compared to the outlet damper method. However it
has some disadvantages compared to the variable speed drive method. Firstly
the continuous start-stop process causes additional energy loss. It also causes
maintenance problems. For these reasons, on-off control is not employed in
large pumps and fans.
Points to Ponder: 3
A. Can you identify, which of three system curves shown in Fig. 31.6 correspond to the
maximum opening of the output damper?
Ans: Curve A, because it has the lowest pressure drop for a given flow.
B. Assume that the pressure-flow curve C shown in Fig. 31.6 represent the
characteristics of the output element f the system. Then,
a. Find the system efficiency at 60% of rated flow.
Ans: Assume that in the fully open position, the pressure drop across the valve is zero, so
that, the characteristics of the output element is given by Curve A. From curve C,
the pressure drop across the output element is about 45%. Therefore the drop across
Ans: The efficiency of the system obviously increases with flowrate. Check for the
efficiencies for 80% and 100% flows.
Points to Ponder: 4
A. Can you identify, which of three system curves shown in Fig. 31.8 correspond to the
maximum speed of the pump?
Ans: Curve A, because it has the highest flow for a given pressure and the highest
pressure for a given flow. That is consistent with the laws.
B. Assume that the pressure-flow curve C shown in Fig. 31.8 represent the
characteristics of the output element f the system. Then,
a. Find the system efficiency at 60% of rated flow.
Ans: The efficiency is always 100 %, if we ignore the pipe losses and the efficiency of
the motor and the drive. This is because there is never any pressure drop across a
damper, and so the whole of the pump power is deployed in the load.
Ans: The efficiency of the system remains more or less constant, notwithstanding the
efficiency of the motor and the drive which are likely to fall to some extent with
speed.
Points to Ponder: 5
A. Is energy saving the only factor to determine which technology to adopt in a given
industrial situation? If not, mention at least two other issues that also need to be
considered, let us say, to decide whether to go for a throttling or a variable speed
drive flow control system ?
B. How does the flow-demand profile affect the extent of energy savings? For example,
would the energy saving be larger if the ratio of the minimum demand to maximum
demand be high? How do the durations of these demand affects the saving?
Ans: The energy saving of the variable speed drive system is realized if the ratio of
the maximum to minimum loads is high and also if the system operates at less
than maximum load for a significant fraction of time.
Introduction
Step motors (often referred as stepper motors) are different from all other types of electrical
drives in the sense that they operate on discrete control pulses received and rotate in discrete
steps. On the other hand ordinary electrical a.c and d.c drives are analog in nature and rotate
continuously depending on magnitude and polarity of the control signal received. The discrete
nature of operation of a step motor makes it suitable for directly interfacing with a computer and
direct computer control. These motors are widely employed in industrial control, specifically for
CNC machines, where open loop control in discrete steps are acceptable. These motors can also
be adapted for continuous rotation. In this lesson we would discuss about the construction and
principle of operations of different type of step motors and elaborate on the drive schemes used.
Construction
Step motors are normally of two types: (a) permanent magnet and (b) variable reluctance type. In
a step motor the excitation voltage to the coils is d.c. and the number of phases indicates the
number of windings. In both the two cases the excitation windings are in the stator. In a
permanent magnet type step motor the rotor is a permanent magnet with a number of poles. On
the other hand the rotor of a variable reluctance type motor is of a cylindrical structure with a
number of projected teeth.
Phase 1
Phase 2
A1
N
S
N
N
B1 B2
A2
Switching Sequence
+ +
V V
- -
Q8
Q1 Q4 Q5 Q7
Q2
Q3 Q6
A1 A2 B1 B2
Fig. 2 Switching sequence for Fig. 1.
Now consider Fig. 3. Let Winding A be energised and the induced magnetic poles are as shown
in Fig. 3(a) (we will denote the switching condition as S1=1). The other winding B is not
energised. As a result the moving permanent magnet will align itself along the axis of the stator
poles as shown in Fig. 3(a). In the next step, both the windings A and B are excited
simultaneously, and the polarities of the stator poles are as shown in Fig. 3(b). We shall denote
S2=1, for this switching arrangement for winding B. The rotor magnet will now rotate by an
angle of 45o and align itself with the resultant magnetic field produced. In the next step, if we
now make S1=0 (thereby de-energising winding A), the rotor will rotate further clockwise by 45o
and align itself along winding B, as shown in Fig. 3(c). In this way if we keep on changing the
switching sequence, the rotor will keep on rotating by 45o in each step in the clockwise direction.
The switching sequences for the switches Q1 to Q8 for first four steps are tabulated in Table 1.
N N
Pole Pole
S S
S N
Pole N Pole
N
S2 = 0 S2 = 1
S S
Pole Pole
(a) (b)
Step 3 S1 = 0 Step 4 S1 = -1
S
Pole
S N S N N
N S
Pole Pole Pole S Pole
S2 = 1 S2 = 1
N
Pole
(c) (d)
Fig. 3 Stepping sequence (half-stepping) for a two-phase two-pole PM step
motor for clockwise rotation.
Table 1
Switching sequence corresponding to the movement shown in Fig.3
Step 1 Step 2 Step 3 Step 4
Q1-Q2 ON ON
(S1=1) (S1=1)
Q3-Q4 ON
(S1= -1)
Q5-Q6
Q7-Q8 ON ON ON
(S2=1) (S2=1) (S2=1)
θ r = 600 ; the full step angle is given by θ f s = θ s ∼ θ r = 300 and the half step angle
A1
S N
N S
B1 S
B2
N
A2
3600 3600
θr = = = 450
Number of rotor pole teeth 8
So the full step angle θ f s = θ s ∼ θ r = 450 - 300 = 150 .
Similar to the earlier case, we can also have half stepping where step angle of 7.5o can be
achieved. Te switching sequence for rotation in the counter clockwise direction with half
stepping would be 1-(1,2)-2-(2,3)-3-(3,1)-1….
Further reduction of step angle is possible by increasing the number of stator and rotor teeth.
Besides, multi-stack stators are also used for achieving smaller step angle, where there are
several stacks of stator windings skewed from each other by a certain angle. It has been already
mentioned that the VR motors do not have any holding torque. It is natural because, when the
stator coils are de-energised there is no magnetic force present and the rotor is free. Hybrid step
motors are improved versions of single stack VR motors, where the basic constructions are
modified slightly in order to achieve holding torque. However this part will not be discussed in
this lesson. Interested readers may consult the books given in the reference
1
3 2
N
2 3
1 S S 1
3 2
2 N 3
1
Driving Circuit
The switches shown in Fig.2 are essential for energising the coils of the step motor. In present
day applications, semiconductor switches are universally employed fro this purpose. A typical
transistor switch arrangement is shown in Fig.6(a). A positive going pulse will turn on the
transistor and energise the coil. When the base voltage is withdrawn, the current through the coil
stops. A free wheeling diode is normally provided across the coil so that when the current
through the coil is suddenly withdrawn, the large induced emf finds a return path for current and
its magnitude is reduced. Note that the developed torque would always be restorative, i.e. of
signal so that it tends to bring back the rotor to equilibrium, i.e. θ = 0 . Now suppose, we give a
rectangular pulse to the base of the transistor. Ideally the current through the coil will be as
shown by the dotted lines in Fig. 6(b). But the current cannot rise instantaneously due to the
presence of inductor and the actual current pulse will be as shown by the continuous line in Fig.
6(b). As a result sufficient torque will be generated only when the current reaches the steady
state value. Thus the time constant (T0) of the winding limits the frequency of switching. For
proper operation, the width of each pulse should be at least 6-8 times the time constant of the
winding.
Coil
95%
Pulse
3T0
-
(a) (b)
Fig. 6 (a) Driving circuit of a coil (b) Current pulse: line – ideal, dotted - actual
Phase-1
Torque
Operating zone
Phase-2
Phase-3
Phase-3 + 60º
0 + 90º
Phase-2 - 90º - 60º θ
Phase-1
θ = 0º
(b)
(a)
Fig. 7 (a) Three phase two pole VR-type step motor (b) Its torque vs displacement
characteristics corresponding to phase-1.
Subsequently phase-3 takes up and the rotor rotates further to +1200. The overall torque vs.
displacement characteristics is shown in Fig. 8.
Now the number of rotor poles considered above is two. It should be noted that if the number of
rotor poles were four, the range of angle for which torque curve will cover a full cycle will
reduce to ±450 and the operating zone for each phase will reduce to Δθ = 300 for clockwise
rotation, where Δθ is the full step angle. Thus the operation of each phase in the torque-
displacement characteristics in Fig. 8 is shown to be Δθ . But the curve corresponding to
excitation of only one phase for each phase will be sinusoidal in nature.
TL
0
-θe ∆θ 2.∆θ 3.∆θ Angle θ
Tmax
TL
-θe 0 Angle θ
Start-stop
θ
Slewing
t
Continuous Operation
It has been mentioned earlier that though the step motors are normally used for discrete step
operations, they can be used for continuous rotation also. A train of control pulses will rotate the
motor continuously. Continuous operation can be achieved in two ways: start-stop and slewing
mode of operation. In the first case, one pulse is applied, the rotor rotates through one step,
settles at its stable location and then another pulse is sent to rotate it by one more step. Thus in
each step the rotor comes to a halt before the next pulse is received. On the other hand, the pulses
received are at much faster rate in slewing mode and the control circuit generates a pulse before
the rotor comes to a steady state. As a result, the rotor runs at uniform speed without stopping
after each step. The inertia effect is absent because of the continuous rotation and the motor can
take more load when it is slewing. The displacement vs. time characteristics in start-stop and
slewing modes are shown in Fig.11. The torque vs. speed characteristics under these two modes
have been shown in Fig.12. From this figure it is clear that at a particular speed the torque
generated in slewing mode is more in slewing mode.
Slewing
Start
stop
Speed
Command
Pulse Translator Amplifiers Step Motor To
Generator Load
Direction Currents to
Pulse Train Windings
Motion Control
Commands Control Pulse Train Drive Step Response
Computer System Motor
Measured
Pulse Train Incremental
Encoder
References
1. C.W. de Silva: Control Sensors and Actuators, Prentice Hall, New Jersey, 1989.
2. T. Wildi: Electrical Machine Drives and Power Systems
Review Questions
1. Indicate the correct answer:
(a) The major advantage of a permanent magnet step motor is that it can provide holding
torque (True/ False).
(b) The torque generated in a step motor under start-stop mode is more than under
slewing mode (True/ False).
Answer
1. (a) True, (b) False, (c) True, (d) True, (e) False.
2. 1365 pulse/sec.
3. Pulse duration should be at least 30 msec.
5. 150 clockwise direction.
Introduction
Motion control and drives are very important actuation subsystems for Process and Discrete
Manufacturing Industries. As we have already seen in Lessons 23, 24 and 31, motion control
systems are critical for product quality in discrete manufacturing, while variable speed drives
lead to significant energy savings in common industrial loads such as pumps, compressors and
fans.
Variable speed drives can be categorized into Adjustable Speed Drives and Servo Drives. In
adjustable speed drives the speed set points are changed relatively infrequently, in response to
changes in process operating pints. Therefore transient response of the drive system is not of
consequence. In servo drives, as in CNC machines, set points change constantly (as in
contouring systems).
While ac motors have replaced dc motors in most of the adjustable speed drive applications. For
servo drive applications, dc motors are still used, although they are also being replaced by BLDC
motors. In this lesson we discuss speed and position control with dc motors. The next lesson
discusses adjustable speed drives using induction motors, while Lesson 35 discusses BLDC
servo drives.
DC Servomotors
Direct current servomotors are used as feed actuators in many machine tool industries. These
motors are generally of the permanent magnet (PM) type in which the stator magnetic flux
remains essentially constant at all levels of the armature current and the speed-torque
relationship is linear.
Direct current servomotors have a high peak torque for quick accelerations. A cross-sectional
view of a typical permanent magnet dc servomotor is shown in Fig. 33.1.
Mechanical Construction
Stator consists of Yoke and Poles and provides mechanical support to the machine. The yoke
provides a highly permeable path for magnetic flux. It is made of cast steel. Field poles are
made of thin laminations stacked together. This is done to minimize the magnetic losses due to
Field winding: DC excitations are provided to field windings wound on pole shoes to create
electromagnetic poles of alternating polarity. Depending on the connections of field windings
DC motors may be termed as shunt, series, compound or separately excited. Shunt motors have
field winding connected in parallel with the armature winding while series motors have the field
winding connected in series with the armature winding. A compound dc machine may have both
field windings wound on the same pole. Smaller DC servomotors generally have permanent
magnets for poles.
Armature – The rotating part of a dc machine is called the armature. The length of the armature
is usually the same as that of the pole. It is made of thin, highly permeable, and electrically
insulated circular steel laminations that are stacked together and rigidly mounted on the shaft.
The laminations have axial slots on their periphery to house the armature coils. Insulated copper
wires are typically used for the armature coils to achieve a low armature resistance.
Brushes: Brushes are held in a fixed position by means of brush holders and remain in sliding
contact with the commutator segments. An adjustable spring inside the brush holder exerts a
constant pressure on the brush in order to maintain a proper contact between the brush and the
commutator. The brushes are connected to the armature terminals of the machine. The material
for the brush is normally carbon or carbon-graphite.
Flux lines
Field winding
Frame or
Air gap N yoke
• • •
• •
S • • S
Pole • Shaft •
• •
θr
core
Pole
shoe
Laminated
N
armature core
Field pole
Fig. 33.2 Diagrammatic sketch of a D.C. machine.
Version 2 EE IIT, Kharagpur 5
Principle of Operation
The cross-sectional view of a DC motor has been shown in Fig. 33.2. Consider a particular
position in space between stator and rotor. Whichever conductor is present there, will have
current flowing through it, which depends on the applied armature voltage. This current would
produce a flux which would interact with the field flux to produce torque. In course of rotation of
the armature adjacent conductors will occupy this position in space. No matter which conductor
comes to that particular position at any given point of time, it will have same current flowing
through it. This is true for all the positions although the magnitude and polarity of the torque
produced by individual conductors in different positions may be different. The polarity of the
torque is identical for conductor positions under north or south pole, since the direction of the
current flowing through it at that position is unique, given the direction of rotation and the
applied armature voltage due to the commutators slipping over the brushes, as shown in Fig.
33.3.
-a
-
Rotation
Carbon brush
Copper
commutator
+
segments.
Points to Ponder: 1
A. Why is it that dc motors are preferred for control applications, such as actuation, but ac
motors are preferred for high power applications, such as compressors and fans ?
B. In a dc motor, is the field flux stationary or rotating? Is the armature flux stationary or
rotating?
F D
The principle has been demonstrated in Fig. 33.4. If the armature current is Ia, then conductor
I
current Ic = a where c is the number of parallel paths. If z be the total number of conductors,
c
1 I
then total torque developed T = . a .z.p.Φ Nm, if Ia is in Ampere and Φ is in Wb.
π c
1I I
T = a .z.p.Φ = 0.318 a zpΦ Nm.
π c c
One can therefore see that the torque produced is proportional to the armature current, if the flux
can be assumed to be constant.
φ V
If
E
-
+ Vf - -
n
T
P
Fig. 33.5 Schematic of a separately excited DC motor
Two equations are required to define the behavior of a dc machine: the torque and the voltage
equations. Fig. 33.5 describes a schematic of a separately excited DC motor. Where T =
magnetic torque, N.m
φ = flux per pole, Wb
/a = current in armature circuit, A
E = induced voltage (emf), V
φ = angular velocity, rad/s
Kf = constant determined by design of winding
If = Field current
n = speed of the motor in rpm
Vf = field voltage
P = mechanical power
The torque equation relates the torque, to the armature current:
T = K f φ Ia (33.1)
and the voltage equation relates the induced voltage in the armature winding to the rotational
speed:
E = K f φω (33.2)
For a motor, an input voltage V is supplied to the armature, and the corresponding voltage
equation becomes
E = V − I a Ra = K f φω (33.3)
where Ra is the resistance of the armature circuit and IaRa is the voltage drop across this
resistance. The armature inductance is negligible in Eq.(33.1). Equation 33.3 multiplied by
Armature current Ia, yields the power equation,
P = ωT = VI a − I a2 Ra (33.4)
where P is the mechanical output power, VIa is the electrical input power, and I a Ra is the
2
Power, P
Torque, T
0 Speed, ω
Armature
current, Ia
Field current, If
0 Speed, ω
Constant Constant
torque power
Fig. 33.6 Speed, torque and power characteristics of separately
excited DC motors
Modern dc motors often use a permanent-magnet (PM) field, rather than an externally excited
field. Both types are referred to as dc servomotors and are characterized by Eqs. (33.5) and
(33.6). The PM obviates the need for a field voltage source and results in higher efficiency and
fewer thermal problems.
The dc servomotor drives a mechanical load consisting of dynamic and static components:
dω
T=J + Ts ………………………………...(33.7)
dt
Where J is the combined moment of inertia of the motor and load, and Ts is the static load due to
friction and cutting forces in NC systems.
Elimination of Ia and T from Eqs. (33.5) through (33.7), and rearrangement of the terms so as to
separate the independent variables, gives the speed equation
dω 1 R
τm +ω = V − a Ts …………………………(33.8)
dt Kv Kt K v
where τm is the mechanical time constant of the loaded motor and is defined by
JRa
τm = ……………………………………(33.9)
Kt K v
The Laplace transform of Eq. (33.8) is
Version 2 EE IIT, Kharagpur 9
K mV ( s ) − ( Ra K m / K t ) Ts ( s )
ω (s) = ………………..(33.10)
1 + sτ m
where Km is the gain of the motor and is defined by Km = 1/KV.
Points to Ponder: 2
A. Can you identify some of the assumptions that have been made in the derivation of the
above model?
B. What can you say about the input-output transfer function of the dc motor?
Ia A If Ia If
F A1 F
Ra Ra
Lf Lf
V Vf Rb
Vf
E +M Rf E +M Rf
A2 F2 A2 F2
Dynamic braking (Fig. 33.7(b)) Braking is realized by shorting the armature leads through
contactor and dissipating the kinetic energy stored in the motor into the Dynamic Braking
Resistor (DBR) in the form of heat. During this period, reverse torque will be generated which
will bring the motor to a stand still faster. This type of braking is a fail safe braking and finds
application particularly during mains failure and emergency situations.
Regenerative braking (Fig. 33.7(a)): Regenerative braking is possible if the motor is driven by
the stored mechanical energy of the load and energy is returned to the source, i.e., dc link or the
mains. The feeding of power back to dc source raises the dc link voltage. Depending on the load
conditions and speed, this can reach dangerous levels unless the additional energy is returned to
ac mains by using the converter in the inverter mode. Thus, regenerative braking is possible only
with fully controlled drives.
Q1 E Q4
iC Fig. Ia D4
L1 +
L2 VC C
L3 - Q2 La Ra Q3
D2 D3
V
Figure 33.9 shows the four-quadrant operation of a dc drive. Four-quadrant operation of a drive
is enables it for:
(a) Forward running—quadrant I
(b) Reverse running—quadrant III
(c) Forward braking—quadrant II
(d) Reverse braking—quadrant IV
Fig. 33.8 shows the basic diagram of a transistor dc four-quadrant amplifier. A rectifier is fed
from the three phase ac line and delivers power into a dc bus. The buffer capacitor C can supply
stored energy for acceleration and can accept energy as long as the motor absorbs mechanical
energy during braking. The buffer capacitor is thus working as generator and supplies electrical
energy. The capacitor is so chosen that the dc bus voltage changes only slightly. The motor can
be controlled selectively for clockwise or counterclockwise rotation and can be accelerated or
braked by controlling two diagonally opposite transistors (Q1 - Q3 or Q2 - Q4). The magnitude of
the armature voltage V and thus the speed n is determined by pulse width modulation of
transistors acting as switches for a switched transistor chopper. Two energy storages are
necessary to operate a transistor controller in all four quadrants:
• a large capacitor C which maintain the voltage VC constant and is capable of accepting
energy to store and to deliver.
• an inductance, which smoothens the motor current and acts as an energy storage element.
This is especially important during braking mode. At high switching frequencies of the
drive, the armature inductance La of the motor is generally sufficient.
Regeneration Motoring
inverting II I rectifying
Torque Torque
-T III IV +T
Reverse driving Reverse braking
Motoring Regeneration
rectifying inverting
-n
Speed
The mean value of the motor voltage V depends on the ratio between the switch ‘ON’ time tON
and the switch OFF time tOFF. During the switch ON time tON the energy is derived from the dc
bus while during the period tOFF, assuming the current does not go to zero, the current is driven
by the energy stored in the inductance. The motor thus maintains a positive product from voltage
V and current Ia during both the periods tON and tOFF and thus converts electrical energy into me-
chanical energy. For simplicity the drop across the motor (Ia Ra) is neglected since it is small
compared to the induced voltage E in the motor. Driving in the CCW direction is similar.
V V V
E
V
tE tA E
tE tA
Ia Ia Ia
Ia
iZ iZ
Q2 Q2
Q3 Q3
Q4 Q4
V V V
E
V
E
Ia
Ia
Fig. 33.10 Voltage and the current wave forms for Fomquadrant Drive.
At time t2, switch Q2 is OFF and current Ia commutates over to diode Dl and flows into the dc
bus charging the capacitor and then returns through D3 to the motor. The voltage induced in the
inductance and the induced motor voltage is in series. Their sum is larger than the voltages
delivered from the dc bus. Energy is thus fed back into dc bus and stored in the capacitor as
given by
1
WC = I A CVC2
2
where WC = energy stored
C = capacitance and
VC = dc link voltage
Thus, the voltage of the dc link increases. If now at time t3, the switch Q4 is turned ON, the
armature current will flow in the upper circuit through Ra, La, Dl and Q4 and energy will again be
stored in La. This energy in turn is fed into the dc bus at time t4 via diodes D1 and D3. This cycle
is repeated periodically.
The time period t4 is for storing the energy in the inductance and period tON is for feeding the
energy back into dc bus. The mean values of the motor current and motor voltage have opposite
polarity. The motor is braked with mean constant torque because the actual power is fed back to
the source. Again, the cycle of operation during CCW braking is similar.
Points to Ponder: 3
A. Can you describe what happens in dynamic braking?
B. There are drives that are cheaper and permit restricted operations, such as operation
only in 2 quadrants or even a single quadrant. Study the operation if the dc motor is fed
from a single phase fully controlled rectifier. Compare the resource requirements of this
configuration with the one presented above.
Having presented the basic principles of armature voltage control using a controlled variable
voltage source such as the PWM switching converter, below we describe the over all control
loops for speed control.
K1
The basic structure of the control loop is shown in Fig. 33.11. For servo drives, the speed control
loop is an inner loop of the cascade structure and is generally proportional in nature. In
independent speed control applications this may be designed as a PI loop also. Speed may be fed
back from a tachogenerator, or derived from position measurements by differentiation. A
practical implementation structure of the above control loop is shown below in Fig. 33.12. This
typically includes a current control loop for torque control as well as a field voltage control loop.
Note the PI speed and current control loops. Additional circuitry needed for practical
implementations, such a filters for noise removal in current and speed feedback channels as well
as current limiters in set points to avoid phenomena such as integrator windup.
Ia Filter
Ra
- Va Va
+ ac supply
E(ref) E Vcf αf Ir
Field Firing M
+ controller circuit
Filter
Techno generator
Fig. 33.12 Schematic of practical implemented of closed loop control for separately
excited DC motor.
Points to Ponder: 3
A. Draw the control loop structure for a position control application
B. Explain why the need for the filters and the current limiter in the block diagram of Fig.
33.12.
Lesson summary
In this lesson, the following topics related to CNC machines have been discussed.
Ans: Dc motors have simpler control and faster dynamic response, which is why it is
preferred for servo applications. AC motors, on the other hand have better size to power
ratio and lesser maintenance problems than DC motors, which is why they are preferred
for large power applications.
B. In a dc motor, is the field flux stationary or rotating? Is the armature flux stationary or
rotating?
Ans: In a DC motors both the field and armature fluxes are stationary in space, although
the armature is rotating.
Points to Ponder: 2
A. Can you identify some of the assumptions that have been made in the derivation of the
above model?
Ans: There are several assumptions. The first one is that of linearity which implies,
among other things, that there is no flux saturation. Many factors are neglected, such
armature inductance, armature reaction, brush drops. Friction is assumed viscous too.
Many other assumptions can be found.
B. What can you say about the input-output transfer function of the dc motor?
Ans: The transfer function is first order. This is the result of neglecting the armature
electrical time constant in comparison with the mechanical time constant. The transfer
function would be second order too for a position control application, since the integrator
between speed and position would now be included.
Points to Ponder: 3
A. There are drives that are cheaper and permit restricted operations, such as operation
only in 2 quadrants or even a single quadrant. What are the quadrants of operation if the
dc motor is fed from a single phase fully controlled thyristor rectifier. Compare the
resource requirements of this configuration with the one presented above.
Ans: A single phase fully controlled rectifier can operate only in Quadrant I and IV. This
is because, with such drives, while voltage can be reversed by controlling the firing
angle, current cannot be reversed. Note that such drives can only be used for forward
motoring, but not forward braking. The quadrant IV operation of regenerative braking
can be used with loads that can drive the load in opposite directions, such as overhauling
loads. For four-quadrant operation, two such drives must be connected in antiparallel.
Ans: In dynamic braking the armature is connected across a braking resistor. The current
continues in the same direction till the magnetic energy stored in the armature inductance
is spent. Then, the back emf drives current in the reverse direction and mechanical power
is spent as heat in the resistor, thus braking the motor.
Points to Ponder: 4
A. Draw the control loop structure for a position control application.
TL(s)
Vr(s) Ve Va Ia -
θr + + 1 Td ω(s) θ(s)
1 1
K4 K2 R a (sτ a + 1) KT B L (sτ L + 1) S
- + - - +
Vb E(s)
KB
K1
K3
Fig. 33.13 Block diagram of closed-loop position control of separately excited DC motor.
B. Explain why the need for the filters and the current limiter in the block diagram of Fig.
33.12.
Ans: The current limiter is needed to avoid integrator windup in the current loop as well
as to prevent peak current surges in the motor for large speed errors, while maintaining a
high loop gain in steady state operations. The filters are needed to prevent sensor noise
from causing noisy inputs into the motor.
A. Concept of slip
B. Equivalent circuit of induction motor.
C. Torque-speed characteristics.
D. Methods of induction motor speed control.
E. Principles of PWM inverter.
F. Implementation of constant V/f control.
Introduction
For adjustible speed applications, the induction machine, particularly the cage rotor type, is most
commonly used in industry. These machines are very cheap and rugged, and are available from
fractional horsepower to multi-megawatt capacity, both in single-phase and poly-phase versions.
In this lesson, the basic fundamentals of construction, operation and speed control for induction
motors are presented.
In cage rotor type induction motors the rotor has a squirrel cage-like structure with shorted end
rings. The stator has a three-phase winding, and embedded in slots distributed sinusoidally. It can
be shown that a sinusoidal three-phase balanced set of ac voltages applied to the three-phase
stator windings creates a magnetic field rotating at angular speed ωs = 4πfs /P where fs is the
supply frequency in Hz and P is the number of stator poles.
If the rotor is rotating at an angular speed ωr , i.e. at an angular speed (ωs - ωr) with respect to the
rotating stator mmf, its conductors will be subjected to a sweeping magnetic field, inducing
voltages and current and mmf in the short-circuited rotor bars at a frequency (ωs - ωr)P/4π,
known as the slip speed. The interaction of air gap flux and rotor mmf produces torque. The per
unit slip ω is defined as
ω − ωr
S= s
ωs
Equivalent Circuit
Figure 34.1 shows the equivalent circuit with respect to the stator, where Ir is given as
Vm
Ir ==
⎛ Rr ⎞
⎜ ⎟ + jωe Llr
⎝ S ⎠
and parameters Rr and Llr stand for the resistance and inductance parameters referred to to the
stator.
Since the output power is the product of developed electrical torque Te and speed ωm, Te can be
expressed as
RS Lls Llr
lr
VS Rr
Lm
S
Vs
Ir =
( R s + R r S) + ω e2 ( L ls + Llr )
2 2
⎛P⎞ R Vs2
Te = 3 ⎜ ⎟ r ⋅
⎝ 2 ⎠ Sω e ( R s + R r S ) + ω e2 ( L ls + L lr )
2 2
Torque-Speed Curve
The torque Te can be calculated as a function of slip S from the equation 1. Figure 34.2 shows the
torque-speed (ω r / ω e = 1 − S ) curve. The various operating zones in the figure can be defined as
plugging (1.0 < S < 2.0), motoring (0 < S < 1.0), and regenerating (S< 0). In the normal motoring
region, Te = 0 at S = 0, and as S increases (i.e., speed decreases), Te increases in a quasi-linear
curve until breakdown, or maximum torque Tem is reached. Beyond this point, Te decreases with
the increase in S.
Torque (Tem)
breakdown torque
Torque
Tes
Synchronous speed
1 Slip(S) 0
2
Starting 0 1
torque ⎛ω ⎞
Speed ⎜ r ⎟ pu
⎝ ωe ⎠
Teg
Fig. 34.2 Torque-speed curve of induction motor
In the regenerating region, as the name indicates, the machine acts as a generator. The rotor
moves at supersynchronous speed in the same direction as that of the air gap flux so that the slip
becomes negative, creating negative, or regenerating torque (Teg). With a variable-frequency
power supply, the machine stator frequency can be controlled to be lower than the rotor speed
(ωe < ωr) to obtain a regenerative braking effect.
Speed Control
From the torque speed characteristics in Fig. 34.2, it can be seen that at any rotor speed the
magnitude and/or frequency of the supply voltage can be controlled for obtaining a desired
torque. The three possible modes of speed control are discussed below.
Variable-Frequency Operation
Figure 34.4 shows the torque-speed curve, if the stator supply frequency is increased with
constant supply voltage, where ωe is the base angular speed. Note, however, that beyond the
rated frequency ωb , there is fall in maximum torque developed, while the speed rises.
0.75
⎛ T ⎞ 0.75 Vs
Torque ⎜ e ⎟ pu
⎝ Tem ⎠
0.50
0.50 Vs
0.25 0.25 Vs
Tem
1.0
Rated curve
0 1 2 3
⎛ω ⎞
Frequency ⎜ e ⎟ pu
⎝ ωb ⎠
⎛ T ⎞ 0.50
Torque ⎜ e ⎟ pu
⎝ Tem ⎠
0 0.5 1.0
⎛ω ⎞
Frequency ⎜ e ⎟ pu
⎝ ωb ⎠
Fig. 34.5 Torque-speed curves at constant V/f
Majority of industrial variable-speed ac drives operate with a variable voltage variable frequency
power supply.
Points to Ponder: 1
A. In what type of applications, would it make sense to prefer a simple stator voltage
control, rather than a constant V/f control ?
B. How can you be in the plugging region of the torque speed curve shown in Fig. 34.2 ?
Three-phase + Induction
supply Cf Vdc
Motor
On the other hand, a controlled rectifier can be used to vary the dc link voltage, while a square
wave inverter can be used to change the frequency. This configuration is shown in Fig. 34.7.
Controlled
Rectifier -II
(regeneration)
Three-phase +
ac power
Cf Vdc Motor
supply V
Controlled Induction
dc link filter PWM or
Rectifier -I Inverter
(motoring) Synchronous
+ ib
∗
i as -
ic
∗ + -
i bs
∗ +
i cs
Fig. 34.9 Current-controlled voltage-source-driven induction motor drive
Points to Ponder: 2
A. Why is it that drive with the single controlled rectifier shown in Fig. 34.7 cannot be used
for regenerative braking?
B. How does one generate a controlled current source out of a voltage source inverter?
+ a b c
Vdc
-
T4 D4 T6 D6 T2 D2
Induction
Motor
Vca
0
2Vdc/3
Vdc/3
Vas
0
-Vdc/3
-2Vdc/3
Vbs
0
Vcs
0
Fig. 34.11 Inverter gate (base) signals and line-and phase-voltage waveforms
The square wave inverter control is simple and the switching frequency and consequently,
switching losses are low. However, significant energies of the lower order harmonics and large
distortions in current wave require bulky low-pass filters. Moreover, this scheme can only
Version 2 EE IIT, Kharagpur 11
achieve frequency control. For voltage control a controlled rectifier is needed, which offsets
some of the cost advantages of the simple inverter.
PWM Principle
It is possible to control the output voltage and frequency of the PWM inverter simultaneously, as
well as optimize the harmonics by performing multiple switching within the inverter major cycle
which determines frequency. For example, the fundamental voltage for a square wave has the
maximum amplitude (4Vd/π) but by intermediate switching, as shown in Fig. 34.12, the
magnitude can be reduced. This determines the principle of simultaneous voltage control by
PWM. Different possible strategies for PWM switching exist. They have different harmonic
contents. In the following only a sinusoidal PWM is discussed.
V1
+Vd
Vao
0
π
Sinusoidal PWM
Figure 34.13(a) explains the general principle of SPWM, where an isosceles triangle carrier
wave of frequency fc is compared with the sinusoidal modulating wave of fundamental frequency
f, and the points of intersection determine the switching points of power devices. For example,
for phase-a, voltage (Va0) is obtained by switching ON Q1 and Q4 of half-bridge inverter, as
shown in the figure 13. Assuming that f << fc , the pulse widths of va0 wave vary in a sinusoidal
manner. Thus, the fundamental frequency is controlled by varying f and its amplitude is
proportional to the command modulating voltage. The Fourier analysis of the va0 wave can be
shown to be of the form:
v a0 = 0.5mVd sin ( 2πft + φ ) + harmonic frequency terms
t
0
Sinewave
signal
vao
+0.5Vd
0 Vd t
-0.5Vd
+Vd
Vab
0
ωt
where m = modulation index and φ = phase shift of output, depending on the position of the
modulating wave. The modulation index m is defined as
V
m= P
VT
where Vp = peak value of the modulating wave and VT = peak value of the carrier wave. Ideally,
m can be varied between 0 and 1 to give a linear relation between the modulating and output
wave. The inverter basically acts as a linear amplifier. The line voltage waveform is shown in
Fig. 34.13(b).
Kdc
Tach
+ + *
fs
V0 Kvf
1
2π
* *
+ Te ωsl
* PI
ω r controller Limiter
+
- +
ωr
Fig. 34.14 Closed-loop induction motor drive with constant volts/Hz control strategy.
An outer speed PI control loop in the induction motor drive, shown in Figure 34.14 computes the
frequency and voltage set points for the inverter and the converter respectively. The limiter
ensures that the slip-speed command is within the maximum allowable slip speed of the
induction motor. The slip-speed command is added to electrical rotor speed to obtain the stator
frequency command. Thereafter, the stator frequency command is processed in an open-loop
drive. Kdc is the constant of proportionality between the dc load voltage and the stator frequency.
Points to Ponder: 3
A. Explain how the scheme in Fig. 34.10 achieves constant V/f.
B. Name two advantages and two disadvantages of a PWM inverter over a square wave
inverter.
Lesson Summary
In this lesson, the following topics related to Induction Motor Drives have been discussed.
a. Concept of slip
b. Equivalent circuit of induction motor.
c. Torque-speed characteristics.
d. Methods of induction motor speed control.
e. Principles of PWM inverter.
f. Implementation of constant V/f control.
Points to Ponder: 1
A. In what type of applications, would it make sense to prefer a simple stator voltage
control, rather than a constant V/f control?
Ans: For very simple applications with low torque demands and/or speed ranges a stator
voltage control scheme would be adequate. Domestic fan controllers are of this type.
Note that, for such applications, the cost of the controller is much more important than
the improvement in efficiency, from a commercial point of view. The principle of stator
voltage control is also used for soft starting of motors.
B. How can you be in the plugging region of the torque speed curve shown in Fig. 34.2?
Ans: Suppose the motor is rotating in the forward direction with a slip s. If suddenly the
phase sequence of the three-phase supply is reversed, the slip would be equal to (1+(1-s)),
or 2-s. Thus the motor would be in the plugging region of the torque speed curve.
Points to Ponder: 2
A. Why is it that drives with the single controlled rectifier shown in Fig. 34.7 cannot be used
for regenerative braking in the forward direction?
Ans: Because the current through the controlled rectifiers cannot be reversed. One thus
needs another rectifier connected in anti-parallel.
B. How does one generate a controlled current source out of a voltage source inverter?
Ans: By feedback control of the voltage input to the inverter. Thus the duty ratio of the
PWM control input, which basically changes the voltage and thereby the current, is
manipulated to make a current equal to the set point flow.
Points to Ponder: 3
A. Explain how the scheme in Fig. 34.10 achieves constant V/f.
Ans: Note that the voltage setpoint to the rectifier and the frequency setpoint to the
inverter are related by a constant. Thus constant V/f is maintained.
B. Name two advantages and two disadvantages of a PWM inverter over a square wave
inverter.
Ans: Advantages are simultaneous voltage and frequency control, and control over
harmonic content. Disadvantages are complexity of switching law and requirement of fast
switching.
Introduction
Brushless DC motors, rather surprisingly, is a kind of permanent magnate synchronous motor.
Permanent magnet synchronous motors are classified on the basis of the wave shape of their
induce emf, i.e, sinusoidal and trapezoidal. The sinusoidal type is known as permanent magnet
synchronous motor; the trapezoidal type goes under the name of PM Brushless dc (BLDC)
machine. Permanent magnet (PM) DC brushed and brushless motors incorporate a combination
of PM and electromagnetic fields to produce torque (or force) resulting in motion. This is done in
the DC motor by a PM stator and a wound armature or rotor. Current in the DC motor is
automatically switched to different windings by means of a commutator and brushes to create
continuous motion. In a brushless motor, the rotor incorporates the magnets, and the stator
contains the windings. As the name suggests brushes are absent and hence in this case,
commutation is implemented electronically with a drive amplifier that uses semiconductor
switches to change current in the windings based on rotor position feedback. In this respect, the
BLDC motor is equivalent to a reversed DC commutator motor, in which the magnet rotates
while the conductors remain stationary. Therefore, BLDC motors often incorporate either
internal or external position sensors to sense the actual rotor.
In addition, the ratio of torque delivered to the size of the motor is higher, making it useful in
applications where space and weight are critical factors.
Stator
The stator of a BLDC motor consists of stacked steel laminations with windings placed in the
slots that are axially cut along the inner periphery (as shown in Figure 2). Traditionally, the stator
resembles that of an induction motor; however, the windings are distributed in a different
manner. Most BLDC motors have three stator windings connected in star fashion. Each of these
windings are constructed with numerous interconnected coils, with one or more coils are placed
in the stator slots. Each of these windings are distributed over the stator periphery to form an
even numbers of poles. As their names indicate, the trapezoidal motor gives a back trapezoidal
EMF as shown in Figure 35.1.
Phase A-B
Phase B-C
Phase C-A
Rotor
The rotor is made of permanent magnet and can vary from two to eight pole pairs with alternate
North (N) and South (S) poles. Based on the required magnetic field density in the rotor, the
proper magnetic material is chosen to make the rotor. Ferrite magnets were traditionally used to
make the permanent magnet pole pieces. For new design rare earth alloy magnets are almost
universal. The ferrite magnets are less expensive but they have the disadvantage of low flux
density for a given volume. In contrast, the alloy material has high magnetic density per volume
and enables using a smaller rotor and stator for the same torque. Accordingly, these alloy
magnets improve the size-to-weight ratio and give higher torque for the same size motor using
ferrite magnets. Neodymium (Nd), Samarium Cobalt (SmCo) and the alloy of Neodymium,
Ferrite and Boron (NdFeB) are some examples of rare earth alloy magnets. Figure 35.3 shows
cross sections of different arrangements of magnets in a rotor.
N
S N S S
N
S S
N N
S
N S
N N
S
Circular core with magnets Circular core with rectangular Circular core with rectangular
on the periphery magnets embedded in the rotor magnets inserted into the rotor core
d
v a n = R a ia + ( L a a i a + L b a ib + L c a ic ) + e a
dt
d
v b n = R b ib + ( L a b ia + L b b ib + L c b ic ) + e b
dt
d
v cn = R c ic + ( L a c ia + L b c ib + L c c ic ) + e c
d t
Ra =Rb =Rc =R
Laa =Lbb =Lcc =Ls
Lba =Lab =Lca =Lac =Lbc =Lcb =M
⎡ v an ⎤ ⎡ R 0 0⎤
⎡ ia ⎤ ⎡ L s M M⎤ ⎡ ia ⎤ ⎡ e a ⎤
⎢ ⎥ ⎢ 0 ⎥⎥
⎢i ⎥ + ⎢ M ⎥ d ⎢i ⎥ + ⎢e ⎥
⎢ vbn ⎥ = ⎢ 0 R ⎢ b⎥ ⎢ Ls M⎥ dt ⎢ b ⎥ ⎢ b ⎥
⎢⎣ v c n ⎥⎦ ⎢⎣ 0 0 R ⎥⎦
⎢⎣ i c ⎥⎦ ⎢⎣ M M ⎥⎦
Ls ⎢⎣ i c ⎥⎦ ⎢⎣ e c ⎥⎦
Since, i a + i b + i c = 0 , and with ( L s - M ) = L , we have,
⎡ v an ⎤ ⎡ R 0 0 ⎤ ⎡ ia ⎤ ⎡ L 0 0⎤ ⎡ ia ⎤ ⎡ e a ⎤
⎢v ⎥ = ⎢ 0 d ⎢ ⎥ ⎢ ⎥
⎢ bn ⎥ ⎢ R 0 ⎥⎥ ⎢⎢ ib ⎥⎥ + ⎢⎢ 0 L 0⎥ ⎥ ib + e b
dt ⎢ ⎥ ⎢ ⎥ where,
⎢⎣ v cn ⎥⎦ ⎢⎣ 0 0 R ⎥⎦ ⎢⎣ ic ⎥⎦ ⎢⎣ 0 0 L ⎥⎦ ⎢⎣ ic ⎥⎦ ⎢⎣ e c ⎥⎦
R : Stator resistance per phase, assumed to be equal for all phases
Ls : Stator inductance per phase, assumed to be equal for all phases.
M : Mutual inductance between the phases.
ia , ib , ic : Stator current/phase.
The instantaneous induced emfs can be written as given in equation (35.1), (35.2) and (35.3).
ea = f a (θ r )λ p ωm (35.1)
eb = fb (θr )λ p ωm (35.2)
The machine is represented in the figure 35.4 by a three-phase equivalent circuit, where each
phase consists of stator resistance Rs, equivalent self inductance Ls, and a trapezoidal CEMF
wave in series. Figure 5 shows the phase diagram of Van, Vbn, Vcn.
Id
BLDC Motor
Q1 D1 Q3 D3 Q5 D5
b
b - eb
+ e
c n a Ls
Vd +ia +
- a -- + a
Q2 ec
Q4 D4 Q6 D6 D2 +
1GB
Switch c
G
Vbn Q3 R
0
Q6 Q6
Vcn
Q5
0
Q2 Q2
π
3
a+
T3T2 T5T4
c - b+ c+
b-
a-
a-
T3T6 T6T5
where, P is the number of rotor poles. The state variable ( θr ), rotor position, is required to have
the function f a (θr ) , which is given as the trapezoidal function :
f a (θr )= 1 0 < θr < π 3
π 6
=( -θr )* π 3 < θr < 2π 3
2 π
= -1 2π 3 < θr < π
= -1 π < θr < 4π 3
π 6
= (θr -3* )* 4π 3 < θr < 5π 3
2 π
=1 5π 3 < θ r < 2π
Similarly
π
fb (θr )= f a (θr +2 )
3
Points to Ponder: 1
A. Why is a BLDC motor called a dc motor?
B. Why does a BLDC motor come with an integrated hall sensor?
C. Can you name other purposes which Hall sensors serve in BLDC drives?
ia, ib, ic
Sensors
ωm Speed
Tacho
θr Angle
LVDT
T e* 1 i *p
ω *
r
+ PI Reference i bs*
Controller
- 2λ p generator
Reference i cs*
ωr generator
θr
d
+ filter
dt
Points to Ponder: 2
A. Why is a PD controller used in the position loop ?
B. Explain how the current control loop works
Positioning Applications
Most of the industrial and automation types of application come under this category. The
applications in this category have some kind of power transmission, which could be mechanical
gears or timer belts, or a simple belt driven system. In these applications, the dynamic response
of speed and torque are important. Also, these applications may have frequent reversal of
rotation direction. A typical cycle will have an accelerating phase, a constant speed phase and a
deceleration and positioning phase. The load on the motor may vary during all of these phases,
causing the controller to be complex. These systems mostly operate in closed loop. There could
be three control loops functioning simultaneously: Torque Control Loop, Speed Control Loop
and Position Control Loop. Optical encoder or synchronous resolvers are used for measuring the
actual speed of the motor. In some cases, the same sensors are used to get relative position
information. Otherwise, separate position sensors may be used to get absolute positions.
Computer Numeric Controlled (CNC) machines are a good example of this. Process controls,
machinery controls and conveyer controls have plenty of applications in this category.
Points to Ponder: 3
A. What are the reasons behind the popularity of BLDC motors over dc motors for servo
applications?
B. Name application areas where a BLDC motor drive is preferable over an ac drive.
Lesson Summary
In this lesson, the following topics related to PM BLDC motor have been discussed.
Points to Ponder: 1
A. Why is a BLDC motor called a dc motor?
Ans: Because in a BLDC motor the stator and the rotor fluxed maintain a constant angle,
although both are rotating in space. This is similar to the dc motor, but in the dc motor,
both the armature and the field flux are stationary in space.
Ans: Because, to maintain a constant angle difference between the stator and the rotor
flux, the stator current has to be switched from winding to winding depending on the
rotor position. So the rotor position is sensed in all BLDC motors, by the Hall sensors.
C. Can you name other purposes which Hall sensors serve in BLDC drives?
Ans: Hall sensors are also used in many drives to sense stator current to implement a
current loop for fast torque control.
Points to Ponder: 2
A. Why is a PD controller used in the position loop ?
Ans: Since the velocity to position dynamics already contains an integral dynamics, no
integrator needs to be introduced n the controller for achieving zero steady state error.
Thus, to improve the control bandwidth, only a PD controller is used.
Ans: As explained for dc motors in an earlier lesson, switching the supply across the
BLDC motor makes the current increase linearly, since the back emf, being proportional
to speed can be assumed to remain constant. When the current crosses upper trip point of
a hysteresis block set around the current set point, the supply is switched off, making the
current free wheel through one transistor and one diode, and reduce linearly. Again, when
the current crosses the lower trip point, the supply is switched on. Thus, the current
oscillates at the PWM switching frequency around the current set point.
Points to Ponder: 3
A. What are the reasons behind the popularity of BLDC motors over dc motors for servo
applications?
Ans: Higher torque to weight ratio, due to rare earth magnets which have less weight and
have much higher operating flux density limits. This leads to faster dynamic response.
Also, the lack of brushes and commutators reduce maintenance problems.
Ans: Most control applications are examples, such as, CNC control, Avionic controls etc.
Introduction
Definition
A Real Time Embedded System (RTES) an RTES is essentially a special-purpose computational
system built into another machine with the sole purpose of controlling the embedder. Below we
explain the key terms used in the above definition.
Real Time
“Real’-time usually means time as prescribed by external sources”. For example the time struck
by clock (however fast or late it might be). The timings are generated by the requirements of the
over all system. This external timing requirements imposed by the user is the real-time for the
embedded system.
Embedded
Embedded, as per the Collins Cobuild dictionary, means, “firmly and deeply fixed within a
surrounding mass”. Thus, an embedded system is deep within a surrounding system so that, from
an external appearance such a system is not visible. For example, a CNC system controller is not
apparent in the overall machine. On the other hand, a standalone system such as the PC does not
have any such surrounding and is visible by itself. The system is firmly fixed, in the sense that it
is an integral part of the overall system, both functionally and structurally.
Thus “A Real Time Embedded System” (RTES), in our context, is a computational subsystem
within an overall system built to discharge a specific industrial task (such as precision
machining), that is to be carried out in a definite manner with respect to time. Henceforth we
refer to them as RTES.
RTES as a generic term may mean a wide variety of systems in the real world. However we will
be concerned about those, which use programmable devices such as microprocessors or
microcontrollers and have specific functions. We shall also restrict ourselves mainly to industrial
RTES applications although not explicitly so. Much of the discussion is also applicable to other
application domains of RTES, and is therefore presented in a general setting.
Single-Functioned
Here “single-functioned” means specific functions. The RTES is usually meant for very specific
functions. Generally a special purpose microprocessor executes a program over and over again
for a specific purpose. The same program is executed repeatedly throughout almost the whole
life of the systems, unless reprogrammed for upgrading.
These operations are monitored and controlled by an operating system called as Real Time
Operating System (RTOS) which is simpler, than a general purpose OS like Windows because
these are built for a specific set of functionality, use a specific set of computing resources and try
to achieve specific performance metrics.
Tightly Constrained
The constraints on the design of RTES are more severe than their non-real-time non-embedded
counter parts. Time-domain constraints are the first thing that is taken care while developing
such a system. Size, weight, power consumption and cost are the other major factors. However,
RTES often turned out to be quite complex to achieve performance in the face of resource and
timing constraints. The major burden of complexity often goes to the software.
Point to Ponder: 1
A. Give one example of an embedded system and of one that is not. Justify your examples.
B. Name an industrial embedded system. Explain whether the above characteristics hold for
it.
C. Name an Industrial Real Time systems, which may not be called embedded. Explain your
answer.
Common Architecture
Unlike general-purpose computers, a generic architecture cannot be rigidly defined for Real
Time Embedded System. There are many types of architecture proposed by manufacturers of a
spectacular variety of embedded processors. However for the sake of our understanding we can
discuss some common form of systems at the block diagram level. Any system can hierarchically
divided into subsystems. Each sub-system may be further segregated into smaller systems. Each
of these smaller systems, in turn, consists of discrete parts. Together, this is referred to as the
hardware configuration.
Some of these parts may be programmable and therefore must have memory to store the
programs. In an RTES the on-chip or on-board non-volatile memory is used to store these
programs. These programs constitute both a Real Time Operating System (RTOS) as well as the
application programs. The overall software system continually runs, as long as the RTES
receives power. Particularly, for industrial applications, embedded systems often runs for days
and even months on end.
hardware
software
digital
mechanical
subsystem
optical
…
subsystem sensors analog
subsystem
actuators
1. Microprocessor
The microprocessors used in RTES are different from the general-purpose microprocessors
like Pentium etc. They are often designed to meet specific application requirements. For
example, a special function module for a PLC card may contain a special processor for high
speed, real time, multi-channel I/O.
2. Memory
The microprocessor and memory must co-exit on the same PCB or same chip. Compactness,
speed and low power consumption are the characteristics required for the memory to be used
in an RTES. For housing the operating system, Read Only Memory (ROM) is used.
Sometimes it is required to load-reload programs more often than never. The program or data
loaded might exist for considerable duration. In these cases the memory should be capable of
retaining the information even after the power is removed. In other words the memory should
4. Software
The software in an RTES can be classified as System and Application Software. A Real Time
Operating System sitting on the non-volatile memory of the RTES, The application software
are essentially cyclic or interrupt driven programs that execute read-compute-write cycles.
Multiple such programs execute under a priority driven scheduling policy managed by the
RTOS. These issues are discussed in the next lesson.
Besides the above, an RTES may have various other components and Application Specific
Integrated Circuits (ASIC) for specialized functions such as motor control or counting. In the
sequel, in this lesson, we shall discuss the main hardware components of an RTES.
Point to Ponder: 2
A. State one characteristics each of industrial embedded systems in respect of Processors,
Memory and I/O.
B. Describe typical i/o organization of industrial embedded systems.
Processors
The central processing unit is the most important component in an embedded system. It exists in
an integrated manner along with memory and other peripherals. Depending on the type of
applications the processors are broadly classified into 3 major categories
1. General Purpose Microprocessors
2. Microcontrollers
3. Digital Signal Processors
In most of the applications, the design is carried out using already available processors in the
market. However, the Field Programmable Gate Arrays (FPGA) can be used to implement
simple customized processors easily. An FPGA is a type of logic chip that can be programmed as
a sequential machine. FPGA’s support thousands of gates which can be connected and
disconnected like an EPROM (Erasable Programmable Read Only Memory). They are especially
Registers
P IR
I/
Memory
Microcontroller
Just as you put all the major components of a Desktop PC on to a Single Board Computer (SBC)
if you put all the major components of a Single Board Computer on to a single chip it will be
called as a Microcontroller. Because of the limitations in the VLSI design most of the
input/output functions exist in a simplified manner. Typical architecture of such a
microprocessor is shown in Fig.36.4.
Interrupt
Address Bus
IRAM XRAM
Serial Controller
Port
Parallel
Port
ROM
C500 Core
(1 or 8 Datapointer)
Timers
Peripheral
Parallel
Bus
Port
Access
Control Control
A
D
Housekeeper
RST
EA
Ext.
Data Bus
MDU PSEN
Control
ALE
Port0/Port2 XTAL
WDU
Result/Operands
Processing Data
Unit Memory
Dual Port
Address Bus 2 Memory Data Bus 2
The Very Long Instruction Word (VLIW) architecture is also suitable for Signal Processing
applications. This has a number of functional units and data paths as seen in Fig.5. The long
instruction words are fetched from the memory. The operands and the operation to be performed
by the various units are specified in the instruction itself. The multiple functional units share a
common multi-ported register file for fetching the operands and storing the results. Parallel
random access to the register file is possible through the read/write cross bar. Execution in the
functional units is carried out concurrently with the load/store operation of data between RAM
and the register file
Instruction Cache
The prime use of a microcontroller is to control the operations of a machine using a fixed
program that is stored in ROM and does not change over the lifetime of the system. The
microcontroller is concerned with getting data from and to its own pins; the architecture and
instruction set are optimized to handle data in bit and byte size.
The contrast between a microcontroller and a microprocessor is best exemplified by the fact that
most microprocessors have many operation codes (opcodes) for moving data from external
memory to the CPU; microcontrollers may have one or two. Microprocessors may have one or
two types of bit-handling instructions; microcontrollers will have many.
Program
Memory
Processor Memory Processor
Data
Memory
Fig. 36.8 The Von Neumann and the Harvard architechtures
DSPs, make concurrent, multiple memory accesses per cycle. GPPs use a multi-level hierarchy
of memory, with an elaborate virtual memory system. Dedicated DSP hardware performs all key
arithmetic operations in 1 cycle. This involves features such as, complex addressing of multiple
data streams for each instruction, hardware loop control unit, typically unavailable for GPPs.
DSPs support a narrower range of on-chip peripherals.
Point to Ponder: 3
Memory
Memory serves processor’s short and long-term information storage requirements while registers
serve the processor’s short-term storage requirements. Both the program and the data are stored
in the memory. In the Princeton Architecture the data and program occupy the same physical
memory. In Harvard Architecture the program and the data occupy separate memory blocks. The
former leads to simpler architecture. The later needs two separate connections and hence the data
and program can be made parallel leading to parallel processing. General-purpose processors
typically have a Princeton Architecture.
The memory may be Read-Only-Memory or Random Access Memory (RAM). It may exist on
the same chip with the processor itself or may exist outside the chip. The on-chip memory is
faster than the off-chip memory. To reduce the access (read-write) time a local copy of a portion
of memory can be kept in a small but fast memory called the cache memory. The memory also
can be categorized as Dynamic or Static. Dynamic memory dissipate less power and hence can
be compact and cheaper. But the access time of these memories are slower than their Static
counter parts. In Dynamic RAMs (or DRAM) the data is retained by periodic refreshing
operation. While in the Static Memory (SRAM) the data is retained continuously. SRAMs are
much faster than DRAMs but consume more power. The intermediate cache memory is an
SRAM.
When the CPU needs data, it first looks in its own data registers. If the data isn’t there, the CPU
looks to see if it’s in the nearby Level 1 cache. If that fails, it’s off to the Level 2 cache. If it’s
nowhere in cache, the CPU looks in main memory. If not there, the CPU gets it from disk. All
the while, the clock is ticking, and the CPU is sitting there waiting.
Point to Ponder: 4
A. State with justification if the following statements are right (or wrong)
a. Cache memory can be a static RAM
b. Dynamic RAMs occupy more space per word storage
c. The full-form of SDRAM is static-dynamic RAM
d. BIOS in your PC is not a Random Access Memory (RAM)
B. Order the following in the increasing order of their access speed Flash Memory, Dynamic
Memory, Cache Memory, CDROM, Hard Disk, Magnetic Tape, Processor Memory
Besides the above units some real time embedded systems may have specific circuits included on
the same chip or circuit board. They are known as Application Specific Integrated Circuit
(ASIC). Some examples are
1. Filters: Filters are used to condition the incoming signal by eliminating the out-band noise
and other unnecessary signals. A specific class of filters called Anti-aliasing filters, are used
before the A-D converters to prevent aliasing while acquiring a broad-band signal.
2. Controllers: These are specific circuits for controlling, motors, actuators and light-intensities
etc.
Lesson Summary
The following topics were covered.
Point to Ponder: 1
A. Give one example of an embedded system and of one that is not. Justify your examples.
Ans: The controller for a microwave oven is an embedded system. Its existence is deep
within the oven casing and not immediately visible at all. However, it controls each
functionality of the microwave oven. On the other hand a pocket calculator is not an
embedded system although it has very similar structural characteristics and handles similar
kind of i/o, like LCD display and keypad. The calculator is a standalone computing device,
which does not have a embedding environment.
B. Name an industrial embedded system. Explain whether the above characteristics hold for
it.
Ans: Consider a CNC milling machine controller. One such machine is shown. Note that the
controller is not seen on the machine, although a display and a keyboard
are. The controller is custom designed to control the CNC milling machine. It cannot be used,
as a PC for example. Thus it is single-functioned. It is clearly reactive and real-time, since it
interacts with sensors every sampling cycle. Its design is likely to be constrained by cost.
However, design of industrial systems is less constrained compared to other categories, in
respect of power, size, weight and consequently, memory, processor speed etc.
Point to Ponder: 2
A. State one characteristics each of industrial embedded systems in respect of Processors,
Memory and I/O.
Ans: I/O in industrial embedded systems can be divided into field i/o and device i/o. Field i/o
typically means signals from sensors and signals to actuators and indicators. These are
generally sensed cyclically, as for every scan of an RLL. Other kinds of i/o involve data
exchange with various system devices such as programmers, MMI devices or communication
processors, keyboards and displays. Finally the last kind of i/o involves network i/o
following standard protocols such as the Ethernet or the fieldbus.
Point to Ponder: 3
A. Give one example each of an embedded system that can use a GPP, a microcontroller
and a DSP. Justify your examples.
Ans: A large industrial controller like a rack-based PLC can use a GPP. Motor drive
controllers often use DSPs. A single-loop temperature controller can use a microcontroller.
These are chosen depending on the number of computing tasks, special kind of floating point
computational requirements and the need for a simple system with limited off-chip resource
requirement.
B. Name one each of commercial versions of a GPP, a microcontroller and a DSP that is
used in industrial embedded applications.
Ans: 80186 processors have been used in the past to build embedded controller cards. More
recently processors like the Power-PC may be used for industrial applications. Similarly,
8031 processors have been used for building small industrial controllers. More recently one
can use ARM processors to build industrial embedded devices like intelligent sensors. Texas
instruments has a special category of DSPs that have been designed for motor control (TMS
658030)
Point to Ponder: 4
A. State with justification if the following statements are right (or wrong)
a. Cache memory can be a static RAM
b. Dynamic RAMs occupy more space per word storage
c. The full-form of SDRAM is static-dynamic RAM
d. BIOS in your PC is not a Random Access Memory (RAM)
Ans: a. Yes, because it is very fast and limited in density; b. No, they have the highest
densities among memory technologies; c. No. it is synchronous dynamic RAM; d. Yes, BIOS
cannot be on volatile memory like RAM.
Ans: CDROM, Magnetic tape, Hard disk, Flash memory, Dynamic memory, Cache memory,
Processor memory
Introduction
Embedded Computing Applications exist in a spectacular range of size and complexity for areas
such as home automation to cell phones, automobiles and industrial controllers. Most of these
applications demand such functionality, performance and reliability from the software that
simple and direct assembly language programming of the processors is clearly ruled out.
Moreover, as a distinguishing feature from general purpose computing, a large part of the
computation is “real-time” or time constrained and also reactive or “external event driven” since
such systems generally interface strongly with the external environment through a variety of
devices. Thus, an operating system is generally used. An operating system facilitates
development of application program by making available a number of services, which, otherwise
would have to be coded by the application program. The application programs “interface” with
the hardware through a operating system services and functions. It is therefore important
understand the basic features of such operating systems. In this chapter we present the
fundamental concepts of a real-time operating system in a generic context. Most large industrial
controllers employ such operating systems. Before we undertake the discussion, we briefly
review the nature of computation in industrial automation systems.
Nature of IA computation
Computation for industrial automation are typified by the following characteristics:
• The computation is reactive in nature, that is, the computation is carried out with respect
to real-world physical signals and events. Therefore industrial computers must have
extensive input-output subsystems that interface it with physical signals
• In general speed of computation is not very high. This is because dynamics for variables
such as temperature are very slow. For electromechanical systems speed requirement is
higher. However, there processing is often done by dedicated coprocessors.
• The algorithmic complexity of computation is generally not very high, although it is
increasing due to the deployment of sophisticated control and signal processing
algorithms. Therefore general-purpose processors are sufficient, almost in all cases.
In this lesson the basic features of a Real-Time Operating System (RTOS) are introduced and
motivated from the demands of typical real-time applications. Before the RTOS is discussed the
typical functionalities of a general Operating System (OS) reviewed briefly. While the RTOS has
some distinguishing features, it is also largely similar to general purpose operating systems. The
discussion here is necessarily brief and user oriented, rather than designer oriented. For a detailed
exposition on OS any standard textbook on the subject may be referred to.
The natural way to view computation in a typical modern computer system is in the form of a
number of different programs, all of which, apparently, run in parallel. However, very often, all
the programs in the system are executed on a single physical CPU or processor. Each program
runs for a small continuous duration at a time, before it is stopped and another program begins to
execute. If this is done rapidly enough, it appears as if all programs are running simultaneously.
These programs very often perform independent computations, such as the programs executing
in different windows on a PC. In real time systems, most often, such programs cooperate with
each other, by exchanging data and synchronizing each other’s execution, to achieve the overall
functionality and performance of the system.
Point to Ponder 1
A. What are the factors on which the execution time of a program depends on?
B. While a task is executing, is the CPU continuously busy?
C. Suppose there are two mutually independent programs A and B. If only program A (B)
executes on the processor P, it takes tA ( tB) units of time. If these programs are fired
B
Real-time systems can be categorized as Hard or Soft. For a Hard RTS, the system is taken to
have failed if a computing deadline is not met. In a Soft RTS, a limited extent of failure in
meeting deadlines results in degraded performance of the system and not catastrophic failure.
The correctness and performance of an RTS is therefore not measured in terms of parameters
such as, average number of transactions per second as in transactional systems such as databases.
A Good RTOS is one that enables bounded (predictable) behavior under all system load
scenarios. Note however, that the RTOS, by itself cannot guarantee system correctness, but only
is an enabling technology. That is, it provides the application programmer with facilities using
which a correct application can be built. Speed, although important for meeting the overall
requirements, does not by itself meet the requirements for an RTOS.
Multitasking
A multitasking environment allows applications to be constructed as a set of independent tasks,
each with a separate thread of execution and its own set of system resources. The inter-task
communication facilities allow these tasks to synchronize and coordinate their activity.
Multitasking provides the fundamental mechanism for an application to control and react to
multiple, discrete real-world events and is therefore essential for many real-time applications.
Multitasking creates the appearance of many threads of execution running concurrently when, in
fact, the kernel interleaves their execution on the basis of a scheduling algorithm. This also leads
to efficient utilisation of the CPU time and is essential for many embedded applications where
processors are limited in computing speed due to cost, power, silicon area and other constraints.
In a multi-tasking operating system it is assumed that the various tasks are to cooperate to serve
the requirements of the overall system. Co-operation will require that the tasks communicate
with each other and share common data in an orderly an disciplined manner, without creating
Version 2 EE IIT, Kharagpur 6
undue contention and deadlocks. The way in which tasks communicate and share data is to be
regulated such that communication or shared data access error is prevented and data, which is
private to a task, is protected. Further, tasks may be dynamically created and terminated by other
tasks, as and when needed. To realise such a system, the following major functions are to be
carried out.
A. Process Management
• interrupt handling
• task scheduling and dispatch
• create/delete, suspend/resume task
• manage scheduling information
– priority, scheduling policy, etc
B. Interprocess Communication and Synchronization
• Code, data and device sharing
• Synchronization, coordination and data exchange mechanisms
• Deadlock and Livelock detection
C. Memory Management
• dynamic memory allocation
• memory locking
• Services for file creation, deletion, reposition and protection
D. Input/Output Management
• Handles request and release functions and read, write functions for a variety of
peripherals
The following are important requirements that an OS must meet to be considered an RTOS in the
contemporary sense.
A. The operating system must be multithreaded and preemptive. e.g. handle multiple
threads and be able to preempt tasks if necessary.
B. The OS must support priority of tasks and threads.
C. A system of priority inheritance must exist. Priority inheritance is a mechanism to
ensure that lower priority tasks cannot obstruct the execution of higher priority tasks.
D. The OS must support various types of thread/task synchronization mechanisms.
E. For predictable response :
a. The time for every system function call to execute should be predictable and
independent of the number of objects in the system.
b. Non preemptable portions of kernel functions necessary for interprocess
synchronization and communication are highly optimized, short and deterministic
Point to Ponder: 2
A. What are possible reasons for which execution time for a can be unpredictable?
B. Why preemptive multi-tasking is such an important requirement for an RTOS?
C. Suppose there are two mutually independent tasks A and B. Let B be the higher priority
task. If only task A (B) executes on the processor P, it takes tA ( tB) units of time. If
B
these tasks are run under multi-tasking, neglecting time related to task switching, can
the execution time for task A be less than (tA + tB ) ?
B
Process Management
On a computer system with only one processor, only one task can run at any given time, hence
the other tasks must be in some state other than running. The number of other states, the names
given to those states and the transition paths between the different states vary with the operating
system. A typical state diagram is given in Figure 4 and the various states are described below.
Task States
♦ Running: This is the task which has control of the CPU. It will normally be the task
which has the highest current priority of the tasks which are ready to run.
♦ Ready: There may be several tasks in this state. The attributes of the task and the
resources required to run it must be available for it to be placed in the 'ready' state.
♦ Waiting: The execution of tasks placed in this state has been suspended because the
task requires some resources which is not available or because the task is
waiting for some signal from the plant, e.g., input from the analog-to-digital
converter, or the task is waiting for the elapse of time.
♦ New: The operating system is aware of the existence of this task, but the task has not
been allocated a priority and a context and has not been included into the list of
schedulable tasks.
interrupt
admitted exit
new terminated
ready running
scheduler dispatch
I/O or event completion I/O or event wait
waiting
Fig. 37.1 The various states a task can be in during its execution life cycle under an
RTOS Task State Transitions
When a task is “spawned”, either by the operating system, or another task, it is to be created,
which involves loading it into the memory, creating and updating certain OS data structures such
as the Task Control Block, necessary for running the task within the multi-tasking environment.
During such times the task is in the new state. Once these are over, it enters the ready state where
it waits. At this time it is within the view of the scheduler and is considered for execution
according to the scheduling policy. A task is made to enter the running state from the ready state
by the operating system dispatcher when the scheduler determines the task to be the one to be
run according to its scheduling policy. While the task is running, it may execute a normal or
abnormal exit according to the program logic, in which case it enters the terminated state and
then removed from the view of the OS. Software or hardware interrupts may also occur while the
task is running. In such a case, depending on the priority of the interrupt, the current task may be
transferred to the ready state and wait for its next time allocation by the scheduler. Finally, a task
may need to wait at times during its course of execution, either due to requirements of
synchronization with other tasks or for completion of some service such as I/O that it has
requested for. During such a time it is in the waiting state. Once the synchronization requirement
is fulfilled, or the requested service is completed, it is returned to the ready state to again wait its
turn to be scheduled.
TB, respectively, and tA ≤ TA and tB ≤ TB. If these tasks are to be run under multi-
B B B
tasking with negligible task switching time, state any one condition under which task
preemption would be essential for the task dead lines to be met.
D. In the above case state a condition under which even with preemption, task deadlines
cannot be met.
Task Context
Whenever a task is switched its execution context, represented by the contents of the program
counter, stack and registers, is saved by the operating system into a special data structure called
a task control block so that the task can be resumed the next time it is scheduled. Similarly the
context has to be restored from the task control block when the task state is set to running. The
information related to a task stored in the TCB is shown below.
Cyclic Executive
This is the simplest of the models in which all the computing tasks are required to be run
periodically in cycles. The computing sequence is static and therefore, a monolithic program
called the Cyclic Executive runs the tasks in the required order in a loop. At times the execution
sequence may also be determined in accordance with models such as an FSM. The execution
sequences and the times allocated to each task are determined a priori and are not expected to
vary significantly at run time. Such systems are often employed for controllers of industrial
machines such as Programmable Logic Controllers that perform fixed set of tasks in fixed orders
defined by the user. These systems have the advantage of being simple to develop and configure
as well as faster than some of the more complex systems since task context switching is faster
and less frequent. They are however suitable for static computing environments only and are
custom developed using low level programming languages for specific hardware platforms.
Coroutines
In this model of cooperative multitasking the set of tasks are distributed over a set of processes,
called coroutines. These tasks mutually exchange program control rather than relinquish it to the
Version 2 EE IIT, Kharagpur 11
operating system. Thus each task transfers control to one of the others after saving its data and
control state. Note that the responsibility of scheduling, that is deciding which task gets control
of the processor at a given time is left to the programmer, rather than the operating system. The
task which is transferring control is often left in the waiting or blocked state. This model has now
been adapted to a different form in Multithreading.
Interrupts
In many cases task scheduling and dispatch needs to be made responsive to external signals or
timing signals. In other cases running tasks may not be assumed to be transferring control to the
dispatcher on their own. In such cases the facility of interrupts provided on all processors can be
used for task switching. The various tasks in the system can be switched either by hardware or
software interrupts. The interrupt handling routine would then transfer control to the task
dispatcher. Interrupts through hardware may occur periodically, such as from a clock, or
asynchronously by external devices. Interrupts can also occur by execution of special software
instructions written in the code, or due to processing exceptions such as divide by zero errors.
Interrupt-only systems are special case of foreground/background systems, described below,
which are widely used in embedded systems.
Foreground / Background
Typically, embedded and real-time applications involve a set of tasks, some of which are
periodic and must be finished within deadlines. Others may be sporadic and may not have such
deadlines associated with them. Foreground/background systems are common and simple
solutions for such applications. Such systems involve a set of interrupt driven or real-time tasks
called the foreground and a collection of non-interrupt driven tasks called the background. The
foreground tasks run according to some real-time priority scheduling policy. The background
tasks are preemptable by any foreground task.
In response to the first condition the scheduler searches for work starting with the highest
priority task and checking each task in priority order. Thus if tasks with a high repetition rate
are given a high priority they will be treated as if they were clock-level tasks, i.e., they will be
run first during each system clock period. In response to the second condition a search for
work is started at the task with the next lowest priority to the task which has just been running.
There cannot be another higher priority task ready to run since a higher priority task becoming
ready always preempts a lower priority running task.
task scheduler/
dispatcher
System Services
kernel
external interrupts
clock/timer interrupts application
i/o interrupts tasks
The typical structure of an RTOS kernel showing the interaction between the System and the
Application tasks.
Hard Real-Time Level: At this level are the tasks which are periodic, such as the sampling
and control tasks, and tasks which require accurate timing. The scheduling of these tasks is
carried out based on the real-time system clock. A system clock device consists of a counter, a
timer queue and an interrupt handler. Content of counter gives the current time, timer queue has
Version 2 EE IIT, Kharagpur 14
pending timers associated with the clock device. Each system clock interrupt is known as a tick
and represents the smallest time interval known to the system. Since most programs in real-time
applications make use of time, virtual software clocks and delays can also be created by tasks
and associated with the system clock device. The system clock device raises interrupts
periodically and the kernel updates the software clock according to current time. Also every few
clock cycles a new task gets dispatched according to the scheduling policy adopted. The lowest
priority task at this level is the base level scheduler. Thus if at a clock level interrupt, the clock
level scheduler finds no request for higher priority clock level tasks pending, the base level
scheduler is dispatched.
Soft/Non-Real Time Level: Tasks at this level are of soft or non-real-time in that they either
have no deadlines to meet or are allowed a wide margin of error in their timing. These are
therefore taken to be of low priority and executed only when no request for a higher priority task
is pending. Tasks at this level may be allocated priorities or may all run at a single priority level
- that of the base level scheduler in a round robin fashion. These tasks are typically initiated on
demand rather that at some predetermined time interval. The demand may be a user input from a
keypad, some process event such as the arrival of a packet or some particular requirement of the
data being processed. Note that, since the base level scheduler is the lowest priority clock level
task, the priorities of all base level tasks are lower than those at clock levels.
Each of the above priority levels can support multiple task priorities. For an RTOS to be
compliant with the RT-POSIX standard, number of priority levels supported must be at least 32.
Among commercial RTOS, the priority levels supported can be as low as 8 for Windows CE or
256 for VxWorks. For scheduling of equal priority threads, FIFO or Round-Robin policy is
generally applied. Thread priorities be changed at run-time.
Point to Ponder: 5
A. Give example of hard, soft and non-real-time computing tasks. In what ways are they
different?
B. Can interrupt level priorities be seen as very high priority levels?
C. What happens if the user sets priorities in a manner that deadline would be violated
for other tasks?
Lesson Summary
In this lesson, we have dealt with the following topics.
Point to Ponder: 1
A. What are the factors on which the execution time of a task depends on?
Ans: The execution time of a task can be divided into two types of activities, namely, CPU
time and I/O time. In a multi-tasking operating system a third kind of time is added to this,
namely the time spent by the task in waiting for the resources needed, that is CPU, or I/O.
This may depend on a variety of factors, such as the other tasks running in the environment,
priority, scheduling policies etc.
Ans: The CPU is always doing something except during the times when it is fetching
address or data from memory or devices. But since it may require sometime for the device to
send the data, during that time, the CPU may do tasks other than the one for which it
requested the device. In this sense the CPU may not be continuously busy.
C. Suppose there are two mutually independent tasks A and B. If only task A (B) executes on
the processor P, it takes tA ( tB) units of time. If these tasks are fired simultaneously and
B
run under multi-tasking, neglecting time related to task switching, would the execution
time for both tasks taken together be greater than, equal to or less than (tA + tB ) ?
B
Ans: That depends on the scheduling policy. If the policy is non-preemptive, it will take time
equal to (tA + tB ). If it is preemptive, however, it is expected to take less time than (tA + tB ).
B B
Point to Ponder: 2
A. What are possible reasons for which execution time for a task can be unpredictable?
Ans: Basically due to variations in its execution environment. This includes factors such as
the other tasks which are executing at the same time, there priorities related to the task in
question, the nature and frequency of interrupts coming from the environment etc. Note that,
even apart from these environmental factors, the execution time of a task depends on the
input data set used for the run. However, this cannot be termed “unpredictable”.
B. Why preemptive multi-tasking is such an important requirement for an RTOS?
Ans: The first reason is that, without it, the concept of priority cannot be implemented
properly. Thus without preemption, a task, that may have started when no other higher
priority task was present, can block such higher priority tasks for long times, thus violating
the principle of priority scheduling. Secondly, with a given computing speed the CPU
utilization that can be realised with preemption cannot be utilised without it. Even if limited
preemption, (namely that, only a task waiting for I/O is preempted) is used, a given set of
tasks that is schedulable with respect to their deadlines under preemptive scheduling, may not
be so without premption. It is for these reasons that it is an indispensable feature for an
RTOS.
tasks are run under multi-tasking, neglecting time related to task switching, can the
execution time for task A be less than (tA + tB ) ?
B
Ans: Yes, because, while task B is waiting for I/O, it would be removed to a waiting queue
and task A would be scheduled till the time the interrupt for I/O completion is received and
task B is put into a ready queue.
Point to Ponder: 3
A. What are the situations under which a running task can go to the ready state?
Ans: From the new state, after it is initialised. From the waiting or blocked state, after I/O
completion. From the running state, after its allocated time-slice is spent.
B. What are the situations under which a running task can go to the waiting state?
C. Suppose there are two mutually independent tasks A and B, which are invoked
periodically with periods TA (TB). If only task A (B) executes on the processor P, it
B
takes tA (tB) units of time. Naturally, tA ≤ TA and tB ≤ TB. If these tasks are to be run
B B B
under multi-tasking with negligible task switching time, state any one condition under
which task preemption would be essential for the task dead lines to be met.
Ans: tB ≤ TA.
B
D. In the above case, let B be the higher priority task which can preempt the execution of
task A whenever it is ready. State a condition under which even with preemption, task
deadlines cannot be met.
Point to Ponder: 4
A. State one factor in respect of which, threads are similar to coroutines. State one factor in
respect of which they are different.
Ans: In the sense that they do not involve process management overheads on the OS, such as
creation and management of TCB, run-time synchronization management etc. They are
different in the sense that, there is RTOS support for thread scheduling. Co-routines are
entirely managed by the programmer.
B. State one situation under which a cyclic executive is adequate? State one situation under
which it is not and why not?
C. State one way in which are interrupt service routines different from other tasks?
Ans: They are different in the sense that they receive an immediate response from the
processor, if they are sensed (i.e. they are not masked). This is by the hardware design of the
processor. Tasks on the other hand receive response from the CPU only when they are
appropriate to be run under the scheduling policy.
D. Can you give an example of a practical embedded application, for which an Foreground /
Background model of multi-tasking is adequate?
Ans: Consider an embedded CNC machine controller. The tasks in the machine can typically
be divided into two categories. In the first category are real-time supervisory control tasks
that generate the references for the two dimensional motion of the job as well as for the
spindle speed. These references are generated by interpolating the cutting profiles
programmed in the machine. On the other hand there are other tasks which are soft/non-real
time, such as servicing the operator input console and updating the display. We do not need a
full features RTOS here since the nature of tasks and the task loading level is fairly
deterministic and predictable.
E. Under what situations is a full-featured RTOS an appropriate choice? Can you illustrate
your answer with the example of a practical embedded application?
Ans: A full featured RTOS is the choice for a complex embedded system where the task
loading can vary a lot and can consist of hard real-time tasks of various periods and
deadlines. A typical application area is avionics, such as, say, for a fighter aircraft. The task
loading levels can vary widely depending on mission profiles as well as emergency
situations. Many of these tasks are mission critical. Also the expertise level of people
building these is very high and therefore the complexity of such systems can be handled.
Point to Ponder: 5
A. Give example of hard, soft and non-real-time computing tasks. In what ways are they
different?
Ans: Consider a digital camera. Among the various tasks that are performed by the
embedded processor, the shutter control functions which essentially compute the necessary
exposure based on the light conditions and opens and closes the shutter is a hard real-time
task. If the task does not execute in time, the exposure would change. On the other hand, the
task that displays the picture on the display, as one reviews the pictures already taken, is a
non-real-time task, because there is no fixed deadline for the task. Note that this task also
must execute reasonably fast (otherwise the camera would not sell). On the other hand, the
auto-focus task, on such a camera which allows one to zoom on a target may be classified as
soft-real-time because if the camera does not focus exactly before the shutter is pressed, the
B. Can interrupt level priorities be seen as a task at real-time level with very high priority?
Ans: Interrupts differ from high priority real-time tasks, although in many cases a part of an
interrupt service routine may actually be spawned as a real-time high priority task. Firstly,
the interrupt response is built in into the hardware, whether it is generated through a
hardware pin or a software instruction, and is automatic, once the interrupt is sensed. It is not
computed using a scheduling policy as is the case for an RT task. Thus an interrupt does not
have a deadline associated with it like an RT task. It may or may not be periodic.
C. What happens if the user sets priorities in a manner that deadline would be violated for
other tasks?
Ans: RT systems generally do not admit of “users” who can set priorities of tasks at run-
time. However, an application programmer can write code that spawns new tasks at specified
priorities. If these are not set properly deadlines would indeed be failed and the system would
be considered to have been implemented according to specifications. In fact, it is for this
reasons that embedded systems are tested extensively to ascertain that the all deadlines can
be met under all kinds of task scenarios.
1. Introduction
Embedded electronics technology has given rise to significant rise in the number of automatic
devices for industrial data acquisition, transmission, monitoring, diagnostics, control and
supervision. Each of these devices is configurable and capable of two way communication with
other devices. Effective use of their capabilities can only be enabled by reliable and high speed
communication architecture for extensive and rapid information exchange among automation
devices for coordination and control. Below we introduce some of the major motivations that
led to major users and suppliers from the U.S., Japan and Europe coming together to establish
the Fieldbus Foundation in 1994. Their objective has been to develop a worldwide, unified
specification of "Fieldbus", a network communication architecture for field devices for process
control and manufacturing automation.
In industrial automation systems, the field signals have been traditionally transmitted to the
control room using point-to-point communication methods that employ analog technologies such
as the 4-20 mA current loop or, more recently, digital ones such as the RS-422 or RS-485. The
main disadvantages of this are the highly increased cost of cabling due to the need for a separate
pair of wires for each device connected to the mainframe. Apart from this, with 4-20 mA analog
current loop, signals can be transmitted only in one direction. With the need for more complex
monitoring and control of a process plant, installation and maintenance of these point to point
communication media and their signal integrity become more and more difficult. As an
alternative the network communication architecture presents an attractive option. Firstly the
cabling requirements are marginally increased as more and more devices are added to the
Marsh
Wiring -alling
Junction Box box
Duct
Device
Controller I/o card
A Wire Duct
JB Local
Controller
Field HMI
Bus A
Device
Fig. 38.1 Wiring system for conventional point-to-point communication systems and the
Fieldbus
Fieldbus is a standard for Local Area Network (LAN) of industrial automation field devices that
enables them to intercommunicate. Typical Fieldbus devices are sensors, actuators, controllers of
various types, such as PLCs, and DCS, and other computer systems such as human-machine
interfaces, process management servers etc. It includes standards for the network protocol as
well as standards for the devices on the network.
Fieldbus allows many input and output variables to be transmitted on the same medium such as,
a pair of metallic wires, optical fibre or even radio, using standard digital communication
technologies such as baseband time-division multiplexing or frequency division multiplexing.
Thus sensors transmit the measured signal values as well as other diagnostic information; the
controllers compute the control signals based on these and transmit them to actuators. Further,
advanced features such as process monitoring can be carried out leading to increased fault
tolerance. Online process auto-tuning can be performed leading to optimized performance of
control loops.
Table 1 compares some of the key features of 4-20mA and Fieldbus technology. It should be
mentioned that Fieldbus becomes cost-effective only beyond a certain scale of operations.
Fieldbus technology was designed for geographically distributed harsh environment of process
control applications. Also, it was conceived that there would be frequent changes in the
installations. To meet these requirements the protocol includes the following aspects which are
not necessarily found in other Protocols:
2. Fieldbus Topology
As shown in Figure 38.1, Fieldbus generally uses one of the two topologies - Bus and Tree. With
the Bus Topology, devices are connected to the network 'back-bone'. Either through a 'Drop
Cable' Device, or are directly connected to the Bus by a 'Splice' connection. The Tree
arrangement is used where a number of Devices share a similar location remote from the
equipment room. A junction box, installed at the geographic center of gravity of the Devices,
communicates with each Device is connected to it via a cable. In general Fieldbuses can use a
combination of both topologies. Thus, trees can be hung from network buses.
Remote
I/O
Drop cable
Device Remote
Flow Positioner Thermo I/O
meter Couple
The first two layers, namely the Physical and the Data Link layers incorporate the technologies
to realize a reliable, relatively error free and high speed communication channel among the
communicating devices. It provides support for all standard and medium dependent functions for
In Fieldbus, since the communication takes place over a fixed network routing and transport
layers are made redundant. Moreover, in an industrial control environment, the network software
entities or processes are also generally invariant. Under such a situation, requirements of the
session and the presentation layers are also minimized. Therefore, the third, fourth, fifth and
sixth layers of the ISO protocols have been omitted in the Field bus protocol. In fact the
requirements of the omitted layers, although limited, have been included within the Fieldbus
Application Layer (FAL) (7), which is sub-divided into two sub-layers, namely the Fieldbus
Message Sub-layer (FMS) Fieldbus Message Sub-layer (FMS) that builds up a message data
structure for communication as per requirements of user layer and includes the roles of the
session and presentation layers of the ISO-OSI model , and the Field Access Sub-layer (FAS)
that manages the functionality of the networking and transport layers to the extent needed and
provides a virtual communication channel. Thus, the Foundation Fieldbus utilizes only three ISO
model Layers (1, 2 and 7), plus an additional Layer referred to as the User Layer (8).
In the Fieldbus standard, the User Layer (8) is also included in the specification. In this it differs
from other communication standards. A typical function of the User Layer is to define control
tasks for a process plant. These are achieved through abstract software units called Function
Blocks. Defining the User Layer functionality in terms of the open and published standards of
Function Blocks enables interoperability of devices from different vendors. This is because any
two devices that implement the standard abstract function block interface would interoperate,
irrespective of their internal implementations.
Fieldbus Foundation has standardised a range of Function Block communications interfaces. The
content of a Function Block is not standardised. For example: Company A and Company B may
both supply PID control algorithms within their products. The Fieldbus Foundation specification
dictates how each vendor's PID Function Block shall communicate Set-point, Controlled
Variable, P, I &D constants etc., but not how the Function Block's internal algorithms would be
realised.
The fieldbus protocol structure is shown alongside with that of the ISO-OSI model in Fig. 2.
Below we discuss each of the above layers of the Fieldbus in more detail.
7. Application Layer
FAL (FMS)
Message Sub layer
6. Presentation Layer
Network Management
5. Session Layer FAL (FAS)
Access Sub layer
4. Transport Layer
Omit Layer 3 thru 6
3. Network Layer
Point to Ponder: 2
A. Why are network and transport layers absent in a Fieldbus network?
B. Why are session and presentation layers absent in a Fieldbus network?
The MIS ensures that the selected Media interfaces in a consistent way with the Data Link Layer
(2), regardless of the media used. The lower sections define the communications mechanism and
media. For example, for wire medium they describe signal amplitudes, communication rate,
waveform, wire types, etc.
An area-wide network can be implemented through the compartmentalization of the bus system
in the bus segments that can be connected over repeaters. Standard-transmission rates can be in
the range of from about 10KBaud 10 MBaud. The topology of the single bus segment is the line
structure (up to 1200 m) with short drop cables (<0.3m). Transmission distances to 12 km are
possible by electrical configuration and to 23.8 km with optical configuration. The distances are
dependent on the transmission rate. With the help of repeaters, a tree structure can also be
constructed as shown:
4 5 6
7 8 9 10 11 12 13 14
The maximum number of nodes per bus segment amounts to 32. More lines can connected
under one another through performance enhancements (repeaters) where by it is noted that each
repeater counts as a node. In total a maximum of 128 nodes are connectable (over all bus
segments).
Point to Ponder: 3
A. Why are repeaters required for extending the bus in a network?
B. Why does the maximum bus length depend on the transmission rate?
Idle LAS
LD Idle
LAS BD BD BD LAS
LM LM
Fig. 38.5 Link Active Scheduler, Link Masters and Basic Devices for a Fieldbus
implemented on a High Speed Ethernet
Basic devices are those devices not capable of becoming the LAS. They receive and send
published data, and they receive and use tokens. When they hold the token, they are capable of
initiating communications with all devices on the network.
Bridge devices connect link segments together. Bridged networks are configured into a
spanning tree in which there is a single root link segment and a series of downstream link
segments. Bridges interconnect the link segments. Each bridge may have a single upstream port
(in the direction of the root) and multiple downstream ports (away from the root). The root port
behaves as a basic device and the downstream ports are each the LAS for their downstream link.
Bridges are responsible for republishing scheduled transfers and forwarding all other
traffic. Configured republishing and forwarding tables identify the packets that are to receive and
republish or forward. Bridges are also responsible for synchronizing time messages received on
their root port before regenerating them on their downstream ports.
1. It detects the connection and disconnection of devices to the network, in order to maintain a
"Live List" of functional devices and ensure they receive the "Right to transmit" when
appropriate. Redundant LAS's maintain their own Live Lists in readiness to take over when
the on-line LAS fails
2. It distributes time on the bus that can be used for scheduling and time stamping.
3. It polls device buffers for data according to a predefined schedule. This capability is used to
support publisher/subscriber virtual communication relationships.
4. It distributes a token to devices in its live list that they can use for asynchronous transfers.
This capability is used to support client/server and report distribution virtual communication
relationships.
As mentioned before, the Link Active Scheduler (LAS) controls communications traffic on the
Fieldbus. This is also called "Bus master function". The active LAS grants a "right to transmit"
to each device on Fieldbus in a pre-defined manner. Devices other than LAS can communicate
only when they have the "right to transmit". There are two ways of granting a "right to transmit".
One is a polling method, which grants a right to transmit in sequence to each device. Another is a
time slot method, which grants a right to transmit at a fixed time interval. The LAS uses these
two methods combined to meet the requirements of precise cyclic updates and unscheduled
traffic, for example, alarm reporting.
The device transmitting the data is referred to as the "Publisher" and those who take copies are
called "Subscribers". The publisher may not know which devices are subscribers. The publisher's
data is referred to as a Data Transfer Process Data Unit, or DT for short.
Host
Execution of PID Control
and Communication
HMI
PID 101 AO 101
H1
AI 101
If a control loop requires a measured variable to be updated on a cyclic basis, the LAS instructs
the source of the signal to transmit the variable by sending a special message called the Compel
Data (CD) token. On receiving this message, the source transmits the variable on the bus. All
devices on the bus receive the message, but only those with a use for the information take a copy.
• Alarm
• Operator Data Update
• Trend Data Update
• Set Point changes
• Controller Tuning
Once the requirements for cyclic data transmission have been met, the LAS will issue a Pass
Token (PT) to each device in turn, thereby allowing them access to the bus to transmit data (a
DT) or request data from another device, utilizing the bus up to an allocated time limit.
Macro Cycle
Each EC within an MC begins with the set of periodic tasks that is to be scheduled within that
EC according to its update time period. The EC is chosen to be of such a duration that even after
processing of the periodic tasks some time is left for servicing aperiodic tasks, should it be
necessary, due to the occurrence of some event in the system.
CD.1 DT.1 CD.2 DT.2 PT.n DT.n CD.1 DT.1 PTn+1 DTn+1 PTn+2 DTn+2 CD.1 DT.1
Note that the time available for unscheduled traffic varies from one Elementary Cycle to another.
For example in the first EC of an MC in the example, both periodic updates takes place, while in
the second EC only one does, since the update requirement of device 2 is lower. Also, the CD's
requiring the shortest update intervals are dealt with first in each Elementary Cycle. Thereby
ensuring the interval between subsequent updates remains constant.
Point to Ponder: 4
A. How does the LAS know how much time to give to which process and in what sequence?
B. Is the proposed medium access strategy adequate for industrial automation?
C. Can you think of an alternative strategy for network communication?
Unlike QUB, BNU is initiated cyclically according to schedule, not by a request for data. Neither
does it involve a response from the server. This is an unconfirmed communication service in
single direction. BNU uses a connection-oriented service in the data link layer.
Point to Ponder: 5
A. What is the advantage of implementing a virtual field device?
B. Why are most of the communications unidirectional in Fieldbus?
8. Fieldbus Devices
Field devices are control devices connected to Fieldbus network. They execute analog and
discrete I/O functions plus the algorithms necessary for closed loop distributed control.
From a communications perspective, field devices are composed of three components, namely,
the function block application, the system management agent, and the communication stack,
which includes the network management agent. This architecture for a field device, and its
components, is described in detail by the Fieldbus Foundation Specifications. An overview is
presented below.
A function block is essentially a program that contains a set of network visible input parameters,
output parameters, internally contained parameters, and an algorithm to process them.
Parameters are identified by an index or a name (not recommended) that locates them in the
object dictionary associated with the function block application. The object dictionary contains
information used to encode and decode parameters, such as type and length, and also is used to
map the parameter index to a local memory address. To promote interoperability, interface
devices can access the object dictionary.
Function blocks are connected to the physical hardware they represent through transducer
blocks. Devices can be configured across the network through the use of contained block
Transducer Resource
Block Block
Function
Block
View
Alert
Objects Trend
Objects
Object
FMS Interface
Clock
Scheduling Acyclic Communication
Cyclic Communication
System Management
Point to Ponder: 6
A. What is the difference between trend data and control data?
B. Explain the i/o connections for alert, link, trend and view objects.
To other Function
Blocks
Input Output
Parameter Parameters
Physical
Sensor Transducer
Inputs Block
Linkage
Contained Object
Parameters
Object Dictionary
Encoding/Decoding Info
Object Name (opt)
Object Index
Fig. 38.11 Function Block execution and communication sequence for a control loop.
Point to Ponder: 7
A. Is there any impact of the delay between input sampling and valve output, as shown in
Fig. 11?
B. What is the relationship between the object dictionary and a function block?
To support these functions, the System Management Kernel communicates directly with the data
link layer.
Electronic Device Description Language (EDDL) is the mechanism that allows vendors to
describe their products in a way that may be interpreted by any compliant host system. Thereby
enabling compatibility and interoperability of devices. Also, the language allows vendors to
include their specific product features while remaining compatible. Furthermore, the use of
EDDL allows the development of new devices while still maintaining compatibility.
The Device Description (DD) may be supplied with the device on a disk, or down loaded from
the Fieldbus Foundation web site, and loaded into the host system.
Point to Ponder: 8
A. Device description languages enhance configurability and interoperability - justify or
contradict.
B. What is the difference between Link Schedule Time and Application Time?
Lesson Summary
In this lesson we have dealt with the following topics:
Point to Ponder: 1
A. How exactly does a network lead to reduced cabling over a point-to-point communication
topology?
Ans: The answer would be clear if you consider the sum of the lengths of line segments
joining points on the circumference of a circle. This length grows proportional to the number
of points. For a number of points more than 6, it crosses the length of the circumference of
the circle. This is why the cabling requirement for point-to-point systems grows beyond that
of a network.
B. Can you cite three reasons why the reduction in cabling is considered a significant
advantage of the Fieldbus?
Ans:
1. Cost of data quality cables
2. Probability of interference and noise increasing with length of cable.
3. Complexity of maintaining a complicated hardware network of cables
Ans:
1. Lower cost due to increased market competition
2. Better product functionality and quality of products
D. For what kind of factories is a Fieldbus implementation for plant automation justified?
Ans: For large factories employing sophisticated manufacturing processes, where the return
on investment can be justified.
Point to Ponder: 2
A. Why are network and transport layers absent in a Fieldbus network?
Ans: Because the routing of messages in the network is fixed. Therefore the network layer is
redundant. Also since the traffic is nearly fixed, transport layer functionality, such as flow
control, are redundant.
Ans: Because the task composition in the system and their communication requirements are
fixed at configuration time. Also because the limited requirements of the layer are clubbed
into the Application Layer.
Ans: Repeaters clean up the distortion of digital data which increases with the length of the
transmission channel.
B. Why does the maximum bus length depend on the transmission rate ?
Ans: Firstly because of increasing series mode interference along the channel. Secondly
because of the increasing load capacitance seen by the channel drivers which needs to be
driven at the higher data rates.
Point to Ponder: 4
A. How does the LAS know how much time to give to which process and in what sequence?
Ans: This is prefixed at configuration time by the configuration of the function blocks in the
system.
Ans: Yes it is. Since the sampling and control update rates are sufficiently low.
Ans: There are several other real-time networking protocols employed by networks such as
Devicenet, Canbus etc.
Point to Ponder: 5
A. What is the advantage of implementing a virtual field device?
Ans: The advantage is that the network device tags and other communication parameters
such as addresses, communication modes etc. can be made transparent to the high level
function blocks.
Ans: Firstly because the nature of the typical application tasks are unidirectional. For
example a transmitter only transmits data out to controllers. Secondly, communication takes
place over short network channels and therefore in most cases data is received properly and
the requirements for acknowledgements necessitating bidirectional communication does not
exist.
Ans: Trend data is generally averaged over several control data samples. Also requires a
slower update rate.
B. Explain the i/o connections for alert, link, trend and view objects.
Ans: Alert objects report malfunctions in the device itself or abnormalities in the process.
Thus it requires input from the hardware resources and function blocks. Link objects take
input from all other blocks and outputs these in appropriate forms to the FMS. Trend and
objects compute trend and view data based on the control data. Thus they take input from the
function blocks.
Point to Ponder: 7
A. Is there any impact of the delay between input sampling and valve output, as shown in
Fig. 11?
Ans: Introduces a time delay into the loop. However, the value of this delay is generally
negligible in comparison with the dominant time constants of the control loop.
B. What is the relationship between the object dictionary and a function block?
Ans: The detailed communication and other parameters corresponding to function block
parameters is stored in the object dictionary.
Point to Ponder: 8
A. Device description languages enhance configurability, interoperability and
maintainability - justify or contradict.
Ans: Yes it does. The Device description is read by a host to re-configure the system to
include the device and support its communications. Interoperability is enhanced, since the
DDL provides a uniform syntax for describing products from all vendors.
B. What is the difference between Link Schedule Time and Application Time?
Ans: Link schedule time is relative time for scheduling tasks over elementary and
macrocycles. Application time is running time until it is reset by specific events defined for
the device.
Introduction
The major activities that define the manufacturing enterprise in direct relation to the
manufacturing of products include (i) Production Management, and (iii) Manufacturing. The first
function is incorporated in Level 3 automation while the second one refers to Level 1 and Level
2 functions of a hierarchical Industrial Automation System. In the earlier lessons of this course
we have predominantly been concerned with Level 1 Automation for manufacturing. In this
lesson we briefly discuss these other aspects and particularly Level 2 and Level 3 Automation in
more detail below. Finally a typical implementation of the functionality of Level 2 and 3
automation, under the technological platform known as Distributed Control Systems (DCS).
Production planning is concerned with: (1) deciding on the set of products to be manufactured,
along with their production volumes, over a certain duration which is called the planning
horizon; (2) scheduling, i.e., determining the sequence of production of the set of parts and
products over the time duration and (3) allocation of the necessary manpower, raw material and
equipment resources needed to accomplish the production plan. Activities within the scope of
production planning include the following.
• Aggregate production planning. This involves determination of the target production
output levels. The word aggregate means that planning is conducted at a gross level to
meet the total demand collected over all products consolidated into product groups,
utilizing the total human, equipment and material resources. These plans must be made in
cognizance of various functions of the firm other than manufacturing, such as product
design, production, inventory, marketing, and sales for the plan to be feasible and
effective for the overall business objectives of a firm. Further, it must be made based on
an accurate forecast of the demand for the products.
• Master production planning. In the next stage, the aggregate production plan must be
detailed into a master production schedule (MPS), which includes specification of target
production volumes of individual product types and their production schedules. In turn,
Production control is concerned with providing for the necessary resources to implement the
production plan. The major aspects of production planning include:
• Shop floor control transforms the planning decisions into control commands for the
production process. It also involves collection of data related to shop floor operations and
processing and communication of the data on to higher control levels. Also termed as,
Production Activity Control, it consists of three activities: order release, order scheduling,
and order progress.
o The purpose of the order release module is to provide the necessary
documentation that accompanies an order as it is processed through the shop
floor. This documentation consists of route sheet, material requisitions, job cards,
parts list, etc.
o Order scheduling involves assignments of orders to various machines and
manufacturing units, so that the delivery schedules are met, in-process inventory
is minimized, and machine utilization is maximized. Order scheduling involves
two steps: (1) machine loading, and (2) job sequencing. Machine loading involves
allocating jobs to machines, and job sequencing determines the order in which the
jobs are processed through a work center. Several priority rules could be used for
job sequencing. These include shortest processing time, first-come-first-served,
least slack, etc.
o The purpose of the order progress module is to continuously acquire and
communicate data relating to work-in-process and shop order status.
• Inventory control. Inventory control is concerned with maintaining certain levels of stock
for raw material, semi-finished parts, subassemblies, and finished goods. This is needed
to create a buffer between the company and its suppliers and consumers and also between
different stages of the manufacturing system. Such a buffer can provide insurance against
The activities in a modem PPC system and their interrelationships are depicted in Figure 39.1. A
sophisticated automation system that combines MRP and capacity planning as well as shop floor
control and other functions related to PPC is known as Manufacturing resource planning and a
standard for the same is called MRP II. As the figure indicates, PPC ultimately extends to the
company’s supplier base and customer base. This expanded scope of PPC is known as supply
chain management.
Points to Ponder: 1
A. How is ERP (short for Enterprise Resource Planning), popular software based
technology related to Level 3 automation ?
B. The above description of Level 3 automation is given mainly in the context of discrete
manufacturing. Do you expect different features for continuous manufacturing processes,
such as a refinery or a steel plant ?
Aggregate
Product
production
design
planning
Aggregate
planning
Master
production
schedule
Inventory Capacity
planning
Detailed Material
planning requirements Engineering
planning data base
Fig. 39.1 Activities for Production Planning and Control and their
relationships with other functions in the firm, customers and suppliers
Data
Data
Plant inputs
Stand-alone Process
(level 1) Controllers
Process
For a large manufacturing complex there is need not only for vertical command/feedback
communication among the levels, there is also need for horizontal level communications for
coordination among automation systems for various units. Such communications are shown in
Fig. 39.3. The level 2 and level 3 automation functionalities are therefore split into two distinct
blocks, namely, 2A/2B and 3A/3B. While the blocks 2A and 3A interact vertically within the
same area control system, the blocks 2B and 3B interact horizontally across operational areas.
Operational Production
and scheduling and Communications
(level 3A) production operational with Supervisory
management System
Communications
(level 2B) Supervisor’s Intra-area with Supervisory
console coordination Systems of other
areas
Stand-alone digital
(level 1) controllers
Process
The Level 2 automation systems offer the following two main capabilities:
1. Tight optimized control of each operating unit of the plant based upon the production
levels and constraints set by Level 3 PPC system by providing optimal operating set
points to the manufacturing processes. This control reacts directly to any emergencies
that occur in its own unit.
2. Improved overall reliability and availability of the total control system through fault
detection, fault tolerance, redundancy, and other applicable techniques built into the
system’s specification and operation.
A. Control Enforcement
1. Respond to any emergency condition in its scope of
plant operation.
2. Locally optimize the operation of units under its control
within limits of established production schedule;
B. Plant coordination and Information management
3. Collect and maintain data related to production,
inventory, and raw material and energy usage for the
units under its control.
4. Maintain communications with higher and lower levels.
5. Service man/machine interfaces
C. System Reliability Assurance
6. Perform diagnostics on itself and lower-level machines.
7. Manage system redundancies.
Table 39.1 Main tasks of the Supervisory Level
Details of how the operations are actually carried out will vary significantly, particularly at the
lowest levels, because of the nature of the actual processes being controlled.
To perform the above tasks, the system must sample each important plant or process variable
continuously. Plant variables are normally sampled at variable rates depending upon the type of
variable being sensed, and the dynamics or speed of response of the process being and monitored
and controlled. The sampled values of the variables are processed to compute diagnostic
features, such as average/rms values and compared with a set of thresholds to detect the presence
of any abnormal operating condition. These may also be compared with operating set point to
compute controls.
In addition to being used for emergency detection and control corrections, the values of the
process variables are stored in the computer’s memory in a process database. These data are then
used for operator’s console read-out functions, for data logging for historical records, for process
efficiency calculations, and for read-out to higher level computers for optimization calculations,
inventory monitoring, overall plant production status and historical file updates, and other
necessary calculations. An equally important task is to maintain the plant’s production data base
for the company’s production, financial, and personnel reports.
Points to Ponder: 2
A. Note that while Level 1 automation is mostly free of human intervention, in Levels 2 and
3, appreciable human interaction with automation systems may be needed. Considering
this what do you think would be some desirable features of man-machine interfaces for
these levels ?
Finally we discuss the technology platform that realizes the Level 1 and Level 2 automation,
namely Distributed Control Systems (DCS)
Brief History
Distributed control system (DCSs) have been evolving rapidly since the mid 1980s from being
essentially panelboard replacement at their inception to become comprehensive plant
information, computing, and control networks fully integrated into the mainstream of plant
operations. This progress has been fueled in part by the technological revolution in
microprocessor and software technology and in part, by economic necessity.
Microprocessor-based DCSs made their debut in the mid-1970s. Initially they were conceived as
functional replacements for electronic panelboard instrumentation and were packaged
accordingly. The initial systems utilized discrete panelboard displays similar to their electronic
instrumentation counterparts. These systems evolved quickly, adding video-based workstations
and shared controllers capable of expressing complex unit-operations-oriented regulatory and
sequence control strategies containing scores of functional elements, such as PID (proportional-
integral-derivative), lad/lag/totalizers, dead-time elements, elapsed timer, logic circuits and
general-purpose calculators
By the early to mid-1980s the personal computer industry matured into a multibillion dollar per
year marked with the IBM PC disk operating system (DOS) as the standard. This gave birth to
the software industry that delivered feature-laden high quality inexpensive software packages.
The opportunity for system integrators and value-added resellers was clear. One could devolop
an relatively-inexpensive scan control alarm, and data acquisition (SCADA) package for a
personal computer platform and integrate it with these general-purpose shrink wrap software
packages, such as spreadsheet, desktop publishing, or database management, and one could have
a very cost-effective alternative to DCS. Because of performance and the general suitability
limitations of these PC offerings, this approach had appeal mostly in cost-sensitive noncritical
applications and where these existed a low safety or hazard risk. This concept, however, created
an expectation and vision of the future, that is, open architectures.
DCS vendors felt a compulsion to enrich their arsenal of tools to address real-time process
control applications by incorporating the low-cost shrink-wrap packages into their systems.
Such packages included:
♦ Relational database management
♦ Spreadsheet packages
♦ Statistical process control capabilities
♦ Expert systems
♦ Computer-based process simulation
♦ Computer-aided design and drafting
During the last 1980s and early 1990s the computer industry continued its transformation.
Networking of systems into a cohesive whole promised to (again) revolutionize an industry,
which has barely absorbed the impact of the PC revolution. Software and communications
standard began to take hold, making interoperability among disparate computing platforms and
application software a near-term reality. The business enterprise, including the factory floor,
could be molded into a cohesive whole by making the various departmental systems work
cooperatively at an acceptable integration cost. These added new technological features to DCS
including:
♦ Open operating system standards, such as UNIXC ir POSIX
♦ Open system interconnect (OSI) communiations model
♦ Client server cooperative computing model
♦ X-window protocols for workstation communications
♦ Distributed relational database management systems
♦ SQL access to distributed relational databases
♦ Object oriented programming and platform independent languages
♦ Computer-aided software engineering (CASE)
These characterize the modern DCS technology. DCSs, today are distributed computing
platforms with sufficient performance to support large-scale real-time process applications.
Structurally DCSs traditionally are organized into five major subsystems, namely (1) operations
workstations that act as the MMI and provide visualisation capability, (2) controller subsystems
that perform direct digital control, (3) data collection subsystems, (4) process computing
subsystems for process optimisation and supervision, and (5) communication networks. Open
system communication standards are enabling DCSs to receive information from a set of similar
compatible computing platforms, including business, laboratory information, maintenance, and
other plant systems as well as to provide informations in support of applications, such as:
♦ Automated warehousing and packaging line systems so that a complete order can be
coordinated from the receipt of raw materials to the shipment of the final product.
Laboratory information management systems (LIMs), which perform in-process analysis
as well as quality assurance inspections.
♦ Automated production scheduling for a plant accessing the business system and tying into
MRP II systems and finite-capacity scheduing packages.
Each of the automation systems of the Plant shall be subdivided in accordance with the
functional requirements and shall cover the open loop and closed loop control functions of the
different sections of the line and the mill.
Modes of Operation: The systems shall basically have two modes of operation. In the semi-
automatic mode the set point values shall be entered manually for different sections of the line
through VDU and the processors shall transmit these values to the controls in proper time
sequence. In fully automatic mode the process control system shall calculate all set point
values through mathematical models and transfer the same to the subordinate systems over data
link.
Functionality at Basic Level (Level 1): The Basic Level shall cover control of all equipment,
sequencing, interlocking micro-tracking of strip for specific functions, dedicated technological
functions, storage of rolling schedules and look-up tables, fault and event logging etc. Some of
these are mentioned below.
♦ All interlocking and sequencing control of the machinery such as for entry and exit
handling of strips, shear control etc. Interlocking, sequencing, switching controls of the
machines. This shall also cover automatic coil handling at the entry and exit sides,
automatic sequencial operation of welding machine and strip threading sequence control
as well as for acid regeneration plant.
♦ Calculation of coil diameter and width at the entry pay-off reels.
♦ Position control of coil ears for centrally placing of coils on the mandrels.
♦ Generation of master speed references for the line depending on operator's input and line
conditions and down loading to drive control systems.
♦ Speed synchronising control of the drives, as required.
♦ Strip tenstion, position and catenary control through control of related drives and
machinery.
♦ Initiation of centre position control for PORs, steering/dancer rolls; Looper car position
control. Automatic pre-setting control, measurement and control of tension and
elongation for tension leveller. Auto edge position control at tension reels if required.
♦ Control of entry shear for auto-cutting of off-gauge strip.
♦ Control of pickling parameters for correct pickling with varying speed of strip in the
pickling section.
♦ Side trimmer automatic setting contro.
♦ Interlockings, sequencing and control of scrap baller, if provided.
♦ Auto calibration for position control/precision positioning shall be provided as necessary.
Version 2 EE IIT, Kharagpur 12
♦ Manual/Auto slowdown/stoppage of strip at weld point at tension leveller, side trimmer,
mill and exit shear.
♦ Control of technological functions for tandem mill such as :
o Automatic gauge control along with interst and tension control.
o Shape control
o Roll force control
♦ Storage of tandem mill rolling schedules, for the entire product mix and all possible
variations. Suitable look-up tables as operators guidance for line/equipment setting.
♦ Automatic roll changing along with automatic spindle positioning.
♦ Constant pass line control based on roll wear as well as after roll change.
♦ Automatic control of rotary shear before tension rells.
♦ Automatic sequence control of inspection reel.
♦ Provision of manual slow down/stoppage of strip as well as chearing for `run' for
inspection of defects at tension leveller, side trimmer entry and exit of the Tandem
Mill throuth push button stations.
♦ Micro-tracking of strip and flying gauge change (set point change) for continuous
operation with varying strip sizes.
♦ Setting up the mill either from the stored rollings schedule with facility for modification
by the operator of down-loading from process control level system.
♦ Automatic control of in-line coil weighing, marking and circumferential banding after
delivery tension reels.
Supervisory Functions at Basic Level A: Centralised supervisory and monitoring control system
shall be provided under basic level automation with dedicated processors and MMI. All
necessary signals shall be acquired through drive control system as well as directly from the
sensors/instruments as, required. The system shall be capable of carrying out the following
fuctions.
♦ Centralised switching and start up of various line drives and auxiliary systems through
mimic displays.
♦ Status of plant drives and electrical equipment for displaying maintenance information.
♦ Monitoring and display of measured values for tandem mill main drives and other
large capacity drives such as winding temperature, for alarm and trip conditions.
♦ Centralised switching and status indication of 33 kV and 6.6 kV switchboards.
♦ Display of single line diagram of 33 kV and 6.6 kV switchboards, main drives, in-line
auxiliary drives etc.
♦ Acquisition of fault signals from various sections of the plant with facility for display
and print-out of the fault messages in clear text.
♦ Coil strip tracking inside the process line/unit by sensing punched holes at weld seams.
♦ Primary Data Input (PDI) of coils at entry to PL-TCM with provision for down loading
of data from production control level.
♦ Generation of all operating set points for the mill using PDI data, mill model, roll
force model, power model, strip thickness control model, shape/profile control model
with thermal strip flatness control as well as for other sections of the line.
♦ Learning (Adaptive) control using actual data and the mathematical model for set-up
calculations.
♦ Storage of position setting values of levellers, side trimmer. Input of strip flaw data
manually through inspection panel at the inline inspection facility after side trimmer.
♦ Processing of actual data on rolling operation, generation of reports logs and sending
data to production control level.
Information System Functions: The information system shall generally comply with the
following features.
♦ Data of importance shall be available with the concerned personnel in the form of logs
and reports.
♦ Output of logs and reports at preset times or on occurance of certain events.
♦ It shall be possible to change the data items and log formats without undue interference
to the system.
♦ Logged information shall be stored for adequate time period ensuring the availability of
historical data record.
♦ Data captured by the system shall be checked for integrity with respect to their validity
and plausibility with annunciation.
Man Machine Interface: The visualisation system for both the automation levels shall be through
man-machine interface (MMI) for the control and operation of the complete line. The system
shall display the following screens, with facilities for hard copy print out.
♦ Process mimics for the complete line using various screens with status information of
all important in-line drives as well as the references and actual values of important
parameters.
♦ Dynamic informations in form of bar graph for indication of reference and actual values
of important parameters.
♦ Screens providing trends of the important process variables.
Standards: The programmable controllers and other micro processor based equipment offered
shall generally be designed/structured, manufactured and tested in accordance with the
guidelines laid down in IEC-1131 (Part 2) apart from the industry standards being adopted by the
respective manufactures.
Hardware: The hardware of each basic controller/equipment of a system will generally comprise
main processing unit, memory units, stabilised power supply unit, necessary communication
interface modules, auxiliary storage where required. I/O modules in the main equipment, remote
I/O stations where required and the programming and debugging tool (PADT). The hardware
and software structure shall be modular to meet wide range of technological requirements. I/Os
shall be freely configurable depending on the requirement. The programming units shall
preferable be lap-top type.
Data and Visualisation: The following specifications would apply in respect of data security,
validity and its proper visualisation.
♦ All the operator interfaces comprising colour VDU and keyboard as MMI for interacting
with the respective system and located at strategic locations, shall be connected to the
corresponding LAN system.
♦ Keylock/password shall be provided to prevent unauthorised entry.
♦ Entry validity and plansibility check shall also be incorporated.
Application Software: The application software shall be through functional block type software
modules as well as high level language based software modules. The software shall be user
friendly and provided with help functions etc. Only one type of programming language shall be
used for the complete system. However, ladder type programming language may be used for
simple logical functions. Only industrially debugged and tested software shall be provided.
Points to Ponder: 2
A. The above specification document was developed while ordering for the automation
system solution for an advanced rolling mill. Compare the functional divisions of the
Global User Station (GUS) is the interface to the open business environment. (GUS) is designed
to be the Windows NT GUI for all Honeywell Control Systems - TPS as well as TDC 3000.
GUS is a Power PC and a process network processor (LCN/UCN). Power PC run all window NT
software. The network processor, which is a PCI bus plug-in-board on the Power PC, controls
the secure control environment. It runs Honeywell’s RNOS (Real-time Network OS). Thus it is
possible to organize and operator interface controlling data both from the Business and the
Control Environments.
Application software is all based on window WT and support all Microsoft Tools such as OLE,
SQL, OBDC, netDDE and video. TPS manages a common database, which shared by controllers
in client server architecture. For realizing Level 1 functions TPS has a High Performance
Process Manager, Fail Safe Controllers and supports high density I/O, the LCN and fieldbus
networks. Between the open environment and the secure control environment is a `firewall’,
which prevents the degradation of real-time control by other application due to excessive
intrusion and resultant constants improved on resources such as network bandwidth or CPU time.
The following are among the Software Packages provided.
♦ Historian
♦ Advanced Control Solution for a range of Industry Application.
Honeywell has entered into a strategic alliance with SAP American Inc for integration of
business modules for sales procurement, order entry, production invoicing and shipping, with
TPS for a tight enough to business and control
Points to Ponder: 3
A. Name three areas of software technology that have significant impacts on modern DCS
solutions.
B. What are the advantages of Open Standards compared to Proprietary Standards, in the
context of Automation systems ?
Lesson Summary
In this lesson, the following topics related to higher levels of automation have been discussed.
A. Production Planning and Control
B. Supervisory Control
C. Distributed Control Systems (DCS)
D. Example functional specifications for Level 2 and Level 3 automation of a large
industrial process
E. Features of a modern Industrial DCS system
Points to Ponder: 1
A. How is ERP (short for Enterprise Resource Planning), popular software based
technology related to Level 3 automation?
B. The above description of Level 3 automation is given mainly in the context of discrete
manufacturing. Do you expect different features for continuous manufacturing processes,
such as a refinery or a steel plant?
Ans: For continuous manufacturing, such as refinery and steel, generally, product variety
is lower, while production volumes for are high for individual products. Variations in
product levels are also slower. It is for this reason, that, longer range scheduling is
possible and is somewhat easier. On the other hand, these processes being highly energy
intensive and requiring continuous material transformation, synchronism between
operations in various units can have big impact on quality and productivity. In general it
can be said that, aspects of Level 3 automation may be simpler in process plants, but
aspects of Level 2 automation tend to be more complex.
Points to Ponder: 2
A. The above specification document was developed while ordering for the automation
system solution for an advanced rolling mill. Compare the functional divisions of the
Basic Level and the Process Levels with that of Levels 1, 2 and 3 as discussed in this
course.
Ans: As mentioned in the specification document, the Basic Level shall cover control of
all equipment, sequencing, interlocking micro-tracking of strip for specific functions,
dedicated technological functions, storage of rolling schedules and look-up tables, fault
and event logging etc. Centralised supervisory and monitoring control system shall be
provided under basic level automation with dedicated processors and MMI. All necessary
signals shall be acquired through drive control system as well as directly from the
sensors/instruments as, required. The Process Control Level shall be responsible for
computation and control for optimization of operation. Functions like set point
generation using mathematical models, learning control, material tracking within the
process line/unit including primary data input, real time control of process functions
through basic level automation, generation of reports etc. shall be implemented through
this level of automation. Therefore, basic level includes both Level 1 and Level 2
functions. Process Control Level includes Level3 functions and some functions that may
be called Level 2.
Ans: Apart from functionality requirements, there are several IT related require on
automation system products. Some of these mentioned above are: Future Expandibility,
Software Quality, Data Integrity and Protection
Points to Ponder: 3
A. Name three areas of software technology that have significant impacts on modern DCS
solutions.
B. What are the advantages of Open Standards compared to Proprietary Standards, in the
context of Automation systems?
Ans: Open Standards promote competitiveness among vendors and provides maximum
value to the customer, in terms of functionality, quality, reliability and cost of automation
systems. Adoption of such standards imply that the customer can purchase equipment
from a variety of vendors and integrate into the over all system without difficulty.
Proprietary standards were followed earlier by big automation vendors and have largely
been replaced by open standards today.
Industrial Automation is a highly interdisciplinary area, if one intends to go deep enough to the
level of a system designer. It is because of this reason, that it is impossible to achieve this depth
for any audience with an undergraduate background in any major engineering discipline, not to
mention the limitations of the course author. Therefore, the course is restricted to a depth, where
the aim is to describe how things work, along with some of their technical features related to
system performance. It is not attempted to discuss issues related to design, manufacture and test
of such equipment.
Depth of exposition has also been sacrificed with respect to the hierarchy of Industrial
Automation Systems. This course is primarily concerned with Level 0 and Level 1 Automation.
The discussions on Level 2 Automation, which encompasses Process Monitoring, Supervision
and Operational Optimisation, as well as Level 3 Automation which encompasses Process
Operations Planning and Management have been very limited.
Within the limitations in scope and depth, the course aims to cover most important topics of
Level 0 and Level 1 Automation. It provides a reasonably complete treatment of major types of
sensors of important process variables, such as temperature, pressure, flow, which are of
importance in continuous processes, as well as mechanical variables such as position, velocity,
acceleration, force, etc., which are of importance in discrete manufacturing industries. Similarly,
hydraulic and pneumatic actuators, control valves, electric motors and drives, pumps and fans
have been described to provide coverage on industrial actuation systems.
One of the most interesting flavors that this course offers to the learner is a flavor of practice.
Thus, while a conventional course on Control Systems provides a lot of analytical insight into the
working of feedback controlled systems, these generally do not include interesting control
structures such as the Smith Predictor which provide significantly superior performance for
plants with practical features such as transportation lags. Similarly, they do not discuss practical
implementation features to address real-world issues as actuator saturation or auto-manual
transfer.
Similarly, conventional courses on Process Control are generally solely concerned with
continuous processes. Control problems related to discrete manufacturing are generally discrete
in nature, and often involve significant extent of discrete sequence and logic control. Among
continuous control functions, they generally require precise control of position, speed, force etc.
Moreover, they do not treat issues related to actuation, in depth. Actuation systems however are
often so complex and substantive that they deserve an independent treatment at some level of
Another important aspect of the course is the modular structure of the lessons. Broadly speaking,
the different modules can be identified as follows:
• Introduction,
• Industrial Instrumentation,
• Process Control,
• Programmable Logic Control Systems,
• CNC Machines and their control,
• Valves and Actuators,
• Electrical Machine Drives,
• Industrial Embedded and Communication Systems.
The modular structure will possibly help the reader to skip some of the modules, if he is familiar
with them. Moreover the contents have been written in a way suitable for self-study. Review
questions and Points to ponder would help the reader to bring clarity in his understanding and
infuse new thoughts and ideas.
Summary
The first two lessons (Module-1) provide an introduction to the course. Lesson-1 explains the
meaning of the individual terms: industry, automation and control and their interrelations. It also
explains the necessity and importance of automation in modern day industries. Various types of
processes and different classes of automation are also discussed in this lesson.
Lessons 3 to 10 discuss the basics of sensing schemes used in industry. Accurate measurement of
different process variables is very important for the successful operation of an automated
process. These variables are to be measured and according to their deviations from the set points,
the input variables are manipulated. These variables are mainly, temperature, pressure, flow,
level, speed, displacement, pH etc. Different sensing schemes used for measuring these process
parameters have been elaborated in these lessons. A measuring system is characterized by not
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only the transducer used but also the measuring circuit used for signal conditioning and
processing. The signal received from the transducer an electrical signal of very small strength.
This signal has to be amplified, filtered and processed before it is transmitted for further control
and data storage. The presence of noise in the measuring signal is inevitable in an industrial
environment, but it should be tackled properly so that its effect is minimized. The accuracy and
resolution of a measuring system are also limited by the noise level present. All these aspects
have been addressed in module –2 (Lessons3-10) of this course.
Lesson 3 discusses about the measurement system specifications. The different terms used for
specifying a sensing system have been introduced. The differences between static and dynamic
characteristics have also been elaborated. Lesson 4 discusses about different techniques used for
temperature measurement and the compensation schemes used. The lesson concentrates on three
major types of sensors: RTD, Thermocouple and Thermistor. The other methods of sensing (eg.
radiation pyrometric technique) could not be discussed in this lesson. Lesson 5 discusses
different sensing schemes for force and pressure measurement, while methods of displacement
and speed measurements have been discussed in Lesson 6. Displacement and speed /velocity
sensing is very useful in positioning of tools and other objects. The measuring scheme can be
intrusive (where the sensor is directly connected to the moving object; or it may be nonintrusive,
where the measurement has to be carried out without any direct contact between the sensor and
the moving object. Optical and electromagnetic methods of measurement find wide use under
this situation. The principles of operation of such sensors have been discussed in Lesson-6.
Another important area of industrial measurement is flow measurement of flow. In fact most of
the controls in process industries are achieved by maneuvering a flow control valve to control the
flow rate of a stream. In this way temperature, pressure or level of a tank is controlled. But the
fluid may be liquid or gaseous, the measurement requirement may be volumetric or mass flow
rate, or we may need to measure the total amount of flow. All these aspects have been discussed
in Lesson-7 with particular emphasis towards measurement of liquid flow rate through
obstruction type meters. Similarly, the principles of measurement of pH, humidity and level-
another three important parameters used in process industries have been elaborated in Lesson-8.
Lesson-9 discusses about the signal conditioning circuits. Whatever the physical parameters
measured, it is convenient to convert the signal into form of a small voltage or variation of
resistance, inductance or capacitance. Suitable circuits are needed to convert the signals to
electrical voltage up to a desired level. Unbalanced d.c. and a.c. bridges are used for resistive,
inductive and capacitive sensors. Sensitivity and linearity of the bridge are two major issues for
designing the bridges. These aspects, along with different amplifier circuits have been elaborated
in this lesson.
Lesson-10 deals with different types of errors in a measurement system those are encountered
commonly. The methods for estimating the error of a system made of several blocks in cascade
have also been discussed. Another important issue discussed in this lesson is the calibration
technique. Every measurement system has to be calibrated in regular frequency against some
standard measuring instruments at different points of operation. Different methods of calibration
and their adjustment techniques have been elaborated.
Module-3 of this course comprising of seven lessons (Lesson-11 to 17) discusses on process
control. Before controlling a plant or process, we must know about the process and its dynamics.
Typical features of an industrial process have been discussed in Lesson-11. Presence of time
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delay and disturbance in a process unless properly understood would cause deterioration of the
performance of closed loop system. The basic reasons behind the presence of these two
parameters have been elaborated with simple examples. Examples of SISO (single input single
output) and MIMO (multiple input multiple output) systems have also been provided. Another
important aspect discussed in this lesson is the linearisation technique. Common processes are
nonlinear in nature. But most of the elegant mathematical tools for design and analysis of control
systems assume linear system behaviour. In order to achieve a compromise, nonlinear systems
are often linearised over an operating point and detailed design and performance studies are
carried out. The linearisation technique has also been elaborated in Lesson-11.
The next three lessons (Lesson12-14) are devoted to PID controllers. PID controllers are the
most popular among all industrial controllers. The effects of the individual P, I and D elements
on the controlled output have been elaborated in Lesson-12. A general guideline has also been
provided for selection of P, PI, PD or PID controllers. But the major problem is how to select the
proportional gain, integral time and derivative time of a PID controller. They are very much
process dependent and improper selection may often lead to instability and deterioration of
performance. The tuning is mainly carried out after performing some experiments with the
process and the controller. Various tuning rules have been discussed in Lesson-13. There are
also several issues (such as smooth transition from manual to auto mode and integration windup)
those need to be properly addressed before putting the PID controller in action. These issues
along with different schemes for implementing PID control actions have been discussed in
Lesson-14.
Though PID controllers constitute of the main building block of a controller, there are several
control actions those are needed for particular types of systems in order to improve the
performance. These schemes, such as, Feedforward Control, Cascade Control, Ratio, Predictive
control, Split range and Override control have been discussed in Lessons-15-17.
Module-4 (Lessons 18-22) discusses about Programmable Logic Controllers. The control scheme
used here is sequential in nature, where one operation follows another. Unlike continuous control
schemes discussed in Module-3, these control strategies are open loop, logical in nature and the
actuations are on-off type. Programmable Logic Controllers (PLCs) are used to generate the
preprogrammed sequence of operations. Lesson-18 provides an introduction to sequence control,
giving an example of an industrial use of sequential control. It also provides a lucid background
on evolution of PLCs. Typical architecture of a PLC system is also discussed in Lesson-18. This
is followed by description of software environment and programming of PLCs in Lesson-19.
Given a desired sequence of operation, how to generate a Relay Ladder Logic (RLL) diagram
has been explained. Typical switches, timers and counters used for this purpose have also been
discussed. Lesson-20 discusses an approach of formal modeling and structured RLL
programming. It describes a systematic method for designing the sequential control in a
framework of finite state machines and the methodology for developing sequence control
programs. Lesson-21 discusses about Sequential Function Chart- a standard method for
generating sequential control for complex industrial systems. This is followed by Lesson-22,
where the hardware of a PLC has been discussed.
Modern manufacturing and machining process often demands precision positioning of tools.
Computer Numerically Controlled (CNC) machines are used for providing translational and
rotational motions of the tools in a preprogrammed fashion. Module-5 (Lesson-23 and 24) gives
an introduction of operation of CNC machines and their control and drive schemes.
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Module-6 deals with different types of actuators used for generating final control actions.
Hydraulic and Pneumatic Controllers, Servovalves and actuator systems have been discussed in
Lessons 26-30. Lesson-25 describes different types of flow control valves, their construction and
characteristics.
Electrical machine drives constitute a major part of the actuation system used for automation of
modern industries. Different types of electrical drives have been discussed in Module-7. Lesson
31 describes methods of flow control using industrial fans and pumps. It also shows how
considerable energy can be saved using variable speed drives. The construction and principle of
operation of step motors have been discussed in Lesson 32.
Lessons 33-35 discuss adjustable speed drives using d.c. motors, BLDC drives and induction
motor drives.
Discussions on Process Control in such a course on Industrial Automation and Control must
strike a balance between theory and practice. Keeping this in view, the exposition in the area of
Control, which is very rich in theory, has focused towards practical features of popular control
schemes, such PID controllers, feedforward and cascade control. Note that the latter two are
extensions over the standard unity feedback control configuration that an undergraduate student
is exposed to, in her first course on control. However, one should mention here that some of the
more advanced control strategies, such as Model Predictive Control, have not been included. The
interested reader can locate (without a great deal of effort, using the internet) sufficient
references and material on these topics.
Among some of the technology areas significant to industrial automation that have been left out
or treated only briefly, are:
Concluding Remarks
The authors have tried to uncover the different aspects of the subject “Industrial Automation and
Control”. However catering the need of such an interdisciplinary subject is not easy. The pace
and depth of presentation was also not even. But the basic motivation of the course was to give
the reader an exposure to the actual working of an industrial automation system. It is intended
that if the reader is acquainted with the workings of an industry or if he visits and works in a
industry he would be able to appreciate the function of the various building blocks of an
automation system and develop a comprehensive knowledge about its complexities and
challenges.
Lastly feedback on the content of the course and suggestions on further improvement of the
contents would be highly appreciated by the authors. The readers may send their comments by
email to the following addresses:
1. smukh@ee.iitkgp.ernet.in
2. ssen@ee.iitkgp.ernet.in.