Transfer Functions

Unit 1: Process Control Loop

Process control loop
Pressure
Flow
Level
Temperature
pH

Process

dP cell
Capacitance
Radar, Sonic
Magnetic
Resistance
IR/Laser

Sensor
Transmitter
Controller
Transducer
Control valve

4-20 mA
1-5 Vdc

PID
Fuzzy logic

4-20 mA
3-15 psig

Linear
Equal percentage

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

I/P

Unit 1: Process Control Loop

Process control loop

Process
Sensor
Transmitter
Controller

SP

Pressure
Flow
Level
Temperature
pH
dP cell
Capacitance
Radar, Sonic
Magnetic
Resistance
IR/Laser
4-20 mA
1-5 Vdc
Field/profibus

CONTROLLER

TRANSMITTER

CONTROL
VALVE

PID
Fuzzy logic

PROCESS

Transducer
Control valve

4-20 mA
3-15 psig

Linear
Equal percentage

PV
*SP = set point
*PV = process value

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

Unit 1: Process Control Loop

Process control loop: The Block Diagram

PROCESS

CONTROL
VALVE

SP

CONTROLLER

Simulation mode

TRANSMITTER

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

PV

Transfer Functions
Convenient representation of a linear, dynamic model.

Chapter 4

A transfer function (TF) relates one input and one output:

x t
y t
system
X s
Y s
The following terminology is used:
x
y
input

output

forcing function

response

cause

effect

The TF model enables us to determine the output response to

any change in an input.

Definition of the transfer function:

Let G(s) denote the transfer function between an input, x, and an
output, y. Then, by definition

Chapter 4

G s

Y s

X s

where:
Y s L y t
X s L x t

Transfer Functions for a Process

Chapter 4

Example: Stirred Tank Heating

System

Figure 2.3 Stirred-tank heating process with constant holdup, V.

Equation (1) is the energy balance of the stirred-tank heating

system, assuming constant liquid holdup and flow rates:
dT
V C
wC Ti T Q
dt

(1)

(2-36)

Chapter 4

Suppose the process is at steady state:

0 wC Ti T Q

(2)

Subtract (2) from (1):

dT
V C
wC Ti Ti T T Q Q
dt

(3)

But,

Chapter 4

dT
V C
wC Ti T Q
dt

(4)

where the deviation variables are

T T T , Ti Ti Ti , Q Q Q
Take L of (4):
Ti s T s Q s (5)
V C sT s T 0 wC
At the initial steady state, T(0) = 0.

 Ti s T s Q s (5)
V C sT s T 0 wC

Chapter 4

Rearrange (5) to solve for

T s

K
1

Q s
Ti s
s 1
s 1

where

1
V
K
and
wC
w

T (s)=G1(s)Q(s) G2(s)Ti(s)

(6)

T s

K
1

Q s
Ti s
s 1
s 1

T (s)=G1(s)Q(s) G2(s)Ti(s)

(6)

K
1

T s
Q s
Ti s
s 1
s 1

(6)

K (gain) it describes how far the output will travel

with the change of the input.
*If a process has a large K, then a small change in the
input will cause the output to move a large amount. If a
process has a small K, the same input change will move
the output a small amount

(time constant) describes how fast the output moves

in response to a change in the input.
*The time constant must be positive and it must have units of
time

Order of transfer function

General first order transfer function
K
Y (s )
X (s )

s 1

Chapter 4

General second order transfer function

Y (s )

X (s )
s 2s 1
2

First-order-plus-dead-time (FOPDT)

Ke st 0
Y (s )
X (s )
s 1

Response with time delay

X(t)

Y(t)

t=0 t=t0

to=Time delay/dead time

All first order systems forced by a step function will have

a response of this same shape.

Step response for first order system

To calculate the gain and time constant from

the graph
y
Gain, K
x
Time constant, value of t which the response is
63.2% complete

Transfer Functions for a Transmitter

PV(s)
Process variable

H (s )

H(s)

C(s)
Transmitter output

C (s )
KT

PV (s ) T s 1

KT = transmitter gain

T = transmitter time constant

Transfer Functions for a Controller

Proportional Control
For proportional control, the controller output is proportional to
the error signal,
p t p Kce t
(8-2)
where:

p t controller output
p bias (steady-state) value
K c controller gain (usually dimensionless)
p is controller output when the error is zero

-The proportionality is given by the controller gain, Kc

-The controller gain determines how much the output
from the controller changes for a given change in error
Transfer function

Integral Control
For integral control action, the controller output depends on the
integral of the error signal over time,
1
p t p
I

0 e t * dt *

(8-7)

where I , an adjustable parameter referred to as the integral time

or reset time, has units of time.
Integral control action is normally used in conjunction with
proportional control as the proportional-integral (PI) controller :

1
p t p Kc e t
I

0 e t * dt *
t

(8-8)

19

The corresponding transfer function for the PI controller in is

given by

Transfer function
The PI controller has two parameters, Kc and I

Derivative Control
The function of derivative control gives the controller the
capability to anticipate where the process is heading by
calculating the derivative error
Thus, for ideal derivative action,
p t p D

de t
dt

where D , the derivative time, has units of time.

(8-10)

Proportional-Integral-Derivative (PID) Control

Now we consider the combination of the proportional, integral,
and derivative control modes as a PID controller.
Form of PID Control
The form of the PID control algorithm is given by

1 t
p t p K c e t e t * dt *
I 0

The corresponding transfer function is:

Transfer function

de t

dt

(8-13)