Chapter 1
Fundamentals of Control Systems 1
Outline 1
Overview 2
Objectives 2
Introduction 3
1.1 Historical Background 3
1.2 Defining Control Systems 3
1.3 Defining Process Variables 3
1.4 Automatic Control 4
Control Signals 5
1.5 Analog Signals 5
1.6 Discrete Signals 6
1.7 Signal Transmission 6
Operator Interface 8
1.8 Graphic User Interface 8
1.9 Control Devices 8
1.10 Shared Control 9
Key Elements 9
1.11 Understanding the Purpose of Instrumentation 9
Instrument Symbols and Identifiers 10
1.12 Line, Instrument, and Function Symbols 10
1.13 Instrument Identification 11
1.14 Instrumentation Documents: Documentation 13
1.15 Typical Letter Combinations 13
Summary 15
Review Questions 15
Chapter 2
Fundamentals of Calibration 17
Outline 17
Overview 18
Objectives 18
Introduction 19
2.1 The Necessity for Calibration 19
2.2 Calibration Standards 20
2.3 Concepts of Calibration 20
Calibration Procedure 21
2.4 Calibration Accuracy 21
2.5 Gain 22
2.6 Repeatability 23
2.7 Standard Test Equipment 23
2.8 Identification of Calibration Errors 25
2.9 The Five-Point Check 25
2.10 Correction of Calibration Errors 28
Summary 33
Review Questions 33
Chapter 3
Fundamentals of Pressure 35
Outline 35
Overview 36
Objectives 36
Introduction 37
3.1 Pressure Fundamentals 37
Element Types 37
3.2 Bellows Pressure-Sensing Element 37
3.3 Bourdon Tube-Type Detectors 38
Pressure Detector Functions 38
3.4 Pressure Detector Operation 38
Pressure and Temperature Relationships 41
3.5 Resistance-Type Detectors 41
3.6 Pressure and Flow 44
3.7 Pressure and Level 44
Pressure Calibration 51
Summary 53
Review Questions 53
Chapter 4
Fundamentals of Flow 55
Outline 56
Overview 56
Objectives 56
Introduction 57
4.1 Flow Fundamentals 57
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Bernoulli’s Principle 57
4.2 Mathematical Relationships 57
4.3 Differential Pressure versus Cross-Section 58
4.4 Velocity and Differential Pressure 59
4.5 Laminar Flow and Turbulent Flow 60
Elements of Flow Meters 63
4.6 Flow Characteristics 63
4.7 Flow Meter Characteristics 64
Differential Pressure Meters 66
Velocity Meters 67
4.8 Dall Flow Tube 68
4.9 Pitot Tube 68
Area Flow Meters 69
4.10 Rotameter 69
4.11 Coriolis Meter 70
4.12 Hot-Wire Anemometer 71
4.13 Electromagnetic Flow Meter 71
4.14 Ultrasonic Flow Equipment 72
4.15 Mass Flow Meters 73
4.16 Steam Flow Detection with the Flow Nozzle 74
Environmental Concerns 76
Equivalent Measurement Variables 77
4.17 Volumetric Conversions 78
4.18 Mass Flow Conversions 78
Summary 79
Review Questions 79
Chapter 5
Fundamentals of Liquid Level 81
Outline 81
Overview 82
Objectives 82
Introduction 83
5.1 Level Fundamentals 83
Level Measurement Applications 83
5.2 Gauge Glass 83
5.3 Ball Float 86
5.4 Chain Float 87
5.5 Magnetic Bond Method 87
5.6 Conductivity Probe Method 87
Differential Pressure Level Detectors 88
5.7 Open-Tank Measurement 88
5.8 Closed-Tank, Dry Reference Leg Measurement 89
5.9 Closed-Tank, Filled (Wet) Reference Leg Measurement 90
5.10 Inverse Liquid Level Measurement 90
5.11 Continuous and Point Level Measurement 91
5.12 Diaphragm Seals 91
5.13 Pressure and Head Calculations 92
5.14 Instrument Elevation and Suppression Errors 93
Archimedes’ Law 94
5.15 Buoyant Force 94
Capacitance Measurement 95
5.16 Capacitance Level Sensor 95
Resistance Measurement 95
5.17 Resistance Probes 95
5.18 Radar and Ultrasonic Measurement 96
Nuclear Measurement 98
5.19 Ion Chamber 98
5.20 Scintillation Tube 99
Density Compensation 99
5.21 Specific Volume 99
5.22 Reference Leg Temperature Considerations 100
5.23 Pressurizer Level Instruments 101
5.24 Steam Generator Level Instrument 101
5.25 Environmental Concerns 102
Summary 104
Review Questions 104
Chapter 6
Fundamentals of Temperature 105
Outline
105
Overview 106
Objectives 106
Introduction 107
6.1 Temperature Fundamentals 107
6.2 Common Temperature Measurement Applications 107
6.3 Inferred Measurement 107
6.4 History of Temperature Measurement 107
6.5 Temperature Measurement Units 108
6.6 Temperature Measurement Standard 109
6.7 Purpose of Temperature Measurement 109
Temperature Sensors 110
6.8 The Thermocouple 110
6.9 Supplemental Information 116
6.10 The Resistance Temperature Detector 116
6.11 The Thermistor 124
6.12 The Integrated Circuit Sensor 125
Summary 126
Review Questions 126
Chapter 7
Fundamentals of Pneumatics and Control Valve
Actuators
127
Outline 127
Overview 128
Objectives 128
Introduction 129
7.1 Principles of Pneumatics and Control Valve Actuators 129
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Types of Pneumatic and Control Valve Devices 129
7.2 Pneumatic Amplifiers 129
7.3 Current to Pneumatic Transducer 130
7.4 Pneumatic Actuators 132
7.5 Positioners 134
7.6 Limit Switches 137
7.7 Reed Switches 138
7.8 Potentiometer Position Indicators 138
7.9 Linear Variable Differential Transformer 139
Summary 141
Review Questions 141
Chapter 8
Fundamentals of Controllers 143
Outline
143
Overview 144
Objectives 144
Introduction 145
8.1 Fundamentals of Controllers 145
8.2 Automatic Control Concept 145
Systems and Applications 146
8.3 Microprocessor-Based Control Systems 146
8.4 Field Input and Output Signals 146
8.5 Microprocessor Components 147
8.6 Control Algorithm 148
8.7 Distributed Control System Applications 149
8.8 Emergency Shutdown Systems 149
8.9 Smart and Peer-to-Peer Control Systems 150
Summary 152
Review Questions 152
Chapter 9
Fundamentals of Control 153
Outline
153
Overview 154
Objectives 154
Introduction 155
9.1 Fundamentals of Control 155
Systems and Applications 155
9.2 Control Systems Identified 155
9.3 Closed-Loop Control 156
9.4 Open-Loop Control 159
9.5 Control Signals 160
9.6 Two-Position Control 160
9.7 Differential Gap Control 161
9.8 Time-Cycle Control 161
9.9 Throttling Control 162
9.10 Proportional-Plus-Reset Control 166
9.11 Proportional-Derivative Control 167
9.12 Proportional-Integral-Derivative Control 168
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Summary 170
Review Questions 170
Chapter
10 Fundamentals of Analytical pH Measurement 171
Outline
171
Overview 172
Objectives 172
Introduction 173
10.1 Fundamentals of Analytical pH Measurement 173
Systems and Applications 173
10.2 pH Measurement 173
10.3 Unbalanced Electrical Charge 176
10.4 pH Measurement Equipment Set-Up and Calibration 177
Summary 180
Review Questions 180
Chapter
11 Fundamentals of Smart Instrument Communicators 181
Outline
181
Overview 182
Objectives 182
Introduction 183
11.1 Fundamentals of Smart Instrument Communicators 183
Systems and Applications 183
11.2 Application 183
11.3 Using the Communicator to Calibrate a Smart
Instrument 192
Summary 193
Review Questions 193
Chapter
12 Fundamentals of Smart Instrument Calibration 195
Outline
195
Overview 196
Objectives 196
Introduction 197
12.1 Fundamentals of Smart Instrument Calibration 197
Systems and Applications 197
12.2 Bench Calibration Set-Up Example 197
12.3 Calibration Procedure 200
12.4 Configuring the Analog Output Parameters Requires Four
Basic Steps 201
12.5 Calibrating the Sensor 202
12.6 Output Calibration 203
12.7 Multi-Drop Configuration 204
12.8 Typical Calibration Sequences for a Smart Device 205
Summary 206
Review Questions 206
Chapter
13 Fundamentals of Instrument Installation 207
Outline
207
Overview 208
Objectives 208
Introduction 209
13.1 Fundamentals of Instrument Installation 209
Systems and Applications 209
13.2 Installation: Mounting 209
13.3 Installation: Tubing 212
13.4 Installation: Wiring 215
13.5 Installation: Conduit 217
13.6 Practical Examples 218
Summary 220
Review Questions 220
Chapter
14 Fundamentals of Instrument Maintenance 221
Outline
221
Overview 222
Objectives 222
Introduction 223
14.1 Fundamentals of Instrument Maintenance 223
Systems and Applications 224
14.2 Smart Device Troubleshooting 224
14.3 Conventional Device Troubleshooting 228
14.4 Sensor Body Removal/Replacement 231
Summary 235
Review Questions 235
Chapter
15 Fundamentals of Control Valve Maintenance 237
Outline
237
Overview 238
Objectives 238
Introduction 239
15.1 Control Valve Maintenance Concerns 239
Systems and Applications 240
15.2 Pneumatic Regulator 240
15.3 Valve Actuator 241
15.4 Transducer 247
15.5 Positioners 248
15.6 Control Valves 251
Summary 261
Review Questions 261
Chapter
16 Fundamentals of Instrument Tubing 263
Outline
263
Overview 264
Objectives 264
Introduction 265
16.1 Principles of Instrument Tubing 265
16.2 Purpose 265
Systems and Applications 266
16.3 Wet-Leg Tubing 266
16.4 Installation 267
Summary 270
Review Questions 270
Chapter
17 Fundamentals of Documentation 271
Outline
271
Overview 272
Objectives 272
Introduction 273
17.1 Fundamentals of Documentation 273
Systems and Applications 273
17.2 Engineering Drawings 273
17.3 Installation Details 279
17.4 Instrument Index Sheet 279
17.5 Instrument Specification Sheets 280
17.6 Loop Sheets 280
17.7 Panel Drawings 281
17.8 Plot Plans 282
17.9 Process and Instrumentation Diagrams 282
17.10 Isometric Drawings 284
17.11 Calibration Data Sheets 285
17.12 Management of Change 287
Summary 288
Review Questions 288
Chapter
18 Fundamentals of Safety in the Process Environment 289
Outline
289
Overview 290
Objectives 290
Safety in the Process Envrionment 291
18.1 Lockout and Tagout Procedures 291
18.2 Excavations 292
18.3 Fall Protection 293
18.4 Confined Spaces 295
18.5 Ladder Safety 295
18.6 Summarizing Safety-Related Work Practices 297
Summary 298
Review Questions 298
Chapter
19 Elements of Control and Process Systems 299
Outline
299
Overview 300
Objectives 300
Introduction 301
Systems and Applications 302
19.1 Signaling and Sensing 302
19.2 Controller 303
19.3 Converter 305
19.4 Final Control Element 307
19.5 Process Loops 308
Summary 310
Review Questions 310
Chapter
20 Loop-Checking Process Control Systems 311
Outline
311
Overview 312
Objectives 312
Introduction 313
Systems and Applications 313
20.1 Loop Checking 313
20.2 Temperature Transmitter 315
20.3 Pressure Transmitter 318
20.4 Rules for Loop Checking 319
20.5 Discrete Signals 319
20.6 Output Testing 319
Summary 323
Review Questions 323
Chapter
21 Troubleshooting Process Control Systems 325
Outline
325
Overview 326
Objectives 326
Introduction 327
Systems and Applications 327
21.1 New Systems 327
21.2 Active Process Control Systems 328
21.3 Resolving a Process Fault 330
Summary 335
Review Questions 335
Chapter
22 Start-Up, and Loop Tuning Process Control Systems 337
Outline
337
Overview 338
Objectives 338
Introduction 339
Systems and Applications 341
22.1 Seven Steps to a Safe and Quality Start-Up 341
22.2 Proportional Control 342
22.3 Six Steps for Loop Gain Measurement 343
22.4 Cascade Control 345
22.5 Six Steps for Cascade Loop Tuning 347
22.6 Two-Position Control 347
22.7 Proportional Control 347
22.8 Proportional and Integral Control 348
22.9 Proportional and Derivative Control 348
22.10 Proportional, Integral, and Derivative Control 348
Summary 349
Review Questions 349
Chapter
23 Project Management 351
Outline
351
Overview 352
Objectives 352
Introduction 353
Systems and Applications 353
23.1 Design Standards 353
23.2 Safety Standards 354
23.3 Documentation Standards: 354
23.4 Documentation Standards: Process and Instrumentation
Diagrams 355
23.5 Documentation Standards: Data Sheets 355
23.6 Documentation Standards: Instrument List 355
23.7 Documentation Standards: Logic Diagrams 355
23.8 Instrument and Control Projects 356
Summary 359
Review Questions 359
Chapter
24 Distributed Control Systems 361
Outline
361
Overview 362
Objectives 362
Introduction 363
24.1 Definition of a Distributed Control System 363
Systems and Applications 363
24.2 Basic Distributed Control System Functions 363
24.3 Input and Output Modules 364
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24.4 Local Input and Output Bus 365
24.5 Controller Modules 365
24.6 Communication Modules 366
24.7 Real-Time Data Highway 366
24.8 Gateways 367
24.9 Power Supplies 367
24.10 User Interfaces 367
24.11 Installation of a Distributed Control System 368
24.12 Typical System Layouts 370
24.13 System Documentation 372
Summary 375
Review Questions 375
Appendix 377
Glossary
391
Index 395