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Guidelines for Setting Filter and Module Execution Rate

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Emerson Exchange
Emerson Exchange

The is a recording of a presentation given at Emerson Exchange 2010. Basic guidelines are presented on how to set filtering to avoid aliasing. Also, information is provided on how to set control execution rate to achieve best performance.

Technology
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Guidelines for Setting Filtering and Module Execution Rate Terry Blevins Principal Technologist
Presenters ,[object Object],[object Object]
Introduction ,[object Object],[object Object],[object Object],[object Object],[object Object]
Protection against 50-60 Hz pickup ,[object Object],[object Object],A/D Converter 1 st Order Configurable Software Filter DeltaV Analog Input Card Hardware Filter A/D Converter 3 rd Order Sigma Delta Converter FIR Digital Filter CHARM Analog Input 2 nd Order Software Filter* *DeltaV v11.3.1
A/D FIR Filter – 50-60 Hz Attenuation
Filtering of process measurements ,[object Object],[object Object],Field Input of 4.5 Hz (green), AI output (blue) of Module executing at 5 Hz (200 msec) - Scaled inTime
Example – Process Noise
Example – Process Noise
Configuring Anti-aliasing Filter ,[object Object],[object Object]
Filtering Within a Module ,[object Object],[object Object]
Response Time – Self-regulating Process ,[object Object],[object Object],[object Object],Input Time Value Output I1 O1 T2 O2 I2 Gain = O2 – O1 I2 – I1 Note: Output and Input in % of scale Dead Time = T2 – T1 63.2% (O2 - O1) T3 T1 Time Constant = T3 – T2
Response Time – Integrating Process ,[object Object],Time Value T2 O2 T3 T1 I 2 Integrating Gain = O2 – O1 ( I2 - I1 ) * (T3 – T2) Dead Time = T2 - T1 Note: Output and Input in % of scale, Time is in seconds Input Output I1 O1 ,[object Object],[object Object]
Example: Impact of Filtering (Cont)
Example: Impact of Filtering Process Gain=1 , TC=4 sec, DT=1 sec * Time to return within 2% of setpoint . PID Tuning Setpoint Change Load Disturbance Tuning Method Filtering as % of Response Time Gain Reset Rate Response* Time (sec) Overshoot (%) Recovery* Time (Sec) Max Dev (%) Typical PI No Filtering 1.13 3.5 - 7 0.2 11 6 10% 0.92 4.8 - 11 - 16 7.2 30% 0.90 6.7 17 - 22 7.7 60% 0.93 8.9 - 23 - 27 7.6 120% 1.06 11.8 - 19 - 33 7.0 Lambda λ =1.5 No Filtering 0.6 4.5 - 18 - 23 10.3 10% 0.47 6.5 - 34 - 40 11.9 30% 0.44 9.2 53 59 12.8 60% 0.47 12.3 - 67 - 74 12.8 120% 0.52 16.9 - 83 - 93 12.1
Control Execution Period ,[object Object],[object Object],Control Execution 63% of Change Process Output Process Input Deadtime (T D ) O I New Measurement Available Time Constant ( )
Control Execution ,[object Object],[object Object],[object Object]
Example: Control Execution - Rule 3 Module Execution Impact - Process Gain=1 , TC=3 sec, DT=1 sec PID Tuning Setpoint Change Load Disturbance Tuning Method Module Period Gain Reset Rate Response* Time (sec) Overshoot (%) Recovery* Time (Sec) Max Dev (%) Typical PI 0.2 sec 0.89 3.3 - 7 - 12 10 0.5 sec 1.01 3.9 - 9 - 14 10 1 sec 1.31 5.4 12 - 16 10 2 sec 1.0 14.3 - 47 - 53 12 5 Sec 0.22 22 - 316 - 310 15
Example: Control Execution - Rule 3 (Cont)
Example: Control Execution - Rule 4 Module Execution Impact - Process Gain=1 , TC=2 sec, DT=2 sec PID Tuning Setpoint Change Load Disturbance Tuning Method Module Period Gain Reset Rate Response* Time (sec) Overshoot (%) Recovery* Time (Sec) Max Dev (%) Typical PI 0.5 sec 0.49 3.2 - 16 - 20 15 1 sec 0.57 4.5 - 23 - 27 15.3 2sec 0.6 7.0 38 - 42 16.9 5 sec 0.21 22 - 316 - 330 18 10 Sec 0.12 0.44 - >600 - >600 19
Example: Control Execution - Rule 4 (Cont)
Examples – Applying Execution Rules ,[object Object],Fast Process (sec) Typical Process (sec) Process Type Deadtime Time Constant Execution Period Deadtime Time Constant Execution Period Liquid Flow/Pressure 0.1 0.4 0.1 0.1 1 0.2 Gas Flow 0.1 1 0.2 0.3 5 1 Column Pressure 1 10 2 5 50 10 Furnace Pressure 0.1 0.5 0.2* 0.3 5 1 Vessel Pressure 0.2 10 2 0.6 30 10 Compressor Surge Control 0.05 0.5 0.1 0.2 5 1 Liquid Level 0.05 30 10 0.3 300 60 Exchanger Temperature 10 30 20* 30 180 60* Batch Temperature 10 300 60 30 500 60 Column Temperature 30 600 60 60 600 60 Boiler Steam Temperature 10 30 20* 30 180 60* Vessel Temperature 30 300 60 60 600 60 Gas composition – O2 10 12 20* 20 60 40* Vessel Composition 30 300 60 60 600 60 Inline (static Mixer) pH 2 2 4* 3 5 6* Vessel pH 30 60 60* 60 600 60
Business Results Achieved ,[object Object],[object Object],$/HR Profit $/HR Profit Maximum Maximum $ Lost $ Lost “ Better” Control Time Time $/HR Profit $/HR Profit Maximum Maximum $ Lost $ Lost “ Better” Control Time Time
Summary ,[object Object],[object Object],[object Object]
Where To Get More Information ,[object Object],[object Object],[object Object],[object Object]

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Guidelines for Setting Filter and Module Execution Rate

  • 1. Guidelines for Setting Filtering and Module Execution Rate Terry Blevins Principal Technologist
  • 2.
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  • 5. A/D FIR Filter – 50-60 Hz Attenuation
  • 6.
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  • 13. Example: Impact of Filtering (Cont)
  • 14. Example: Impact of Filtering Process Gain=1 , TC=4 sec, DT=1 sec * Time to return within 2% of setpoint . PID Tuning Setpoint Change Load Disturbance Tuning Method Filtering as % of Response Time Gain Reset Rate Response* Time (sec) Overshoot (%) Recovery* Time (Sec) Max Dev (%) Typical PI No Filtering 1.13 3.5 - 7 0.2 11 6 10% 0.92 4.8 - 11 - 16 7.2 30% 0.90 6.7 17 - 22 7.7 60% 0.93 8.9 - 23 - 27 7.6 120% 1.06 11.8 - 19 - 33 7.0 Lambda λ =1.5 No Filtering 0.6 4.5 - 18 - 23 10.3 10% 0.47 6.5 - 34 - 40 11.9 30% 0.44 9.2 53 59 12.8 60% 0.47 12.3 - 67 - 74 12.8 120% 0.52 16.9 - 83 - 93 12.1
  • 15.
  • 16.
  • 17. Example: Control Execution - Rule 3 Module Execution Impact - Process Gain=1 , TC=3 sec, DT=1 sec PID Tuning Setpoint Change Load Disturbance Tuning Method Module Period Gain Reset Rate Response* Time (sec) Overshoot (%) Recovery* Time (Sec) Max Dev (%) Typical PI 0.2 sec 0.89 3.3 - 7 - 12 10 0.5 sec 1.01 3.9 - 9 - 14 10 1 sec 1.31 5.4 12 - 16 10 2 sec 1.0 14.3 - 47 - 53 12 5 Sec 0.22 22 - 316 - 310 15
  • 18. Example: Control Execution - Rule 3 (Cont)
  • 19. Example: Control Execution - Rule 4 Module Execution Impact - Process Gain=1 , TC=2 sec, DT=2 sec PID Tuning Setpoint Change Load Disturbance Tuning Method Module Period Gain Reset Rate Response* Time (sec) Overshoot (%) Recovery* Time (Sec) Max Dev (%) Typical PI 0.5 sec 0.49 3.2 - 16 - 20 15 1 sec 0.57 4.5 - 23 - 27 15.3 2sec 0.6 7.0 38 - 42 16.9 5 sec 0.21 22 - 316 - 330 18 10 Sec 0.12 0.44 - >600 - >600 19
  • 20. Example: Control Execution - Rule 4 (Cont)
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  • 24.