Announcements

Next class is the course evaluation

Final project related additional office hours
Tomorrow afternoon from 1 till 4 pm
Thursday afternoon
Friday by appointment
 Objectives
Discuss the exam problems
Talk about final project report and presentation
Learn about automatic control
PID and Control terminology
Sequence of operation
Control optimization
 Project presentation
Timing: 10 minutes for presentation
Approximately 1 PowerPoint Slides per minute
For example
Specify the project Provide some basic floor layout and input variable assumptions
Results (form calculation and manufacturer catalogs)
Disuses you system challenges and modifications related to your design solutions

3 minutes for Questions and Answers

I will need you power point before the class

You can email it to me.
 HVAC automatic control
Maintain environmental quality
Thermal comfort
Indoor air quality
Material protection
Conserve energy
Protect equipment
 Terminology
Sensor
Measures quantity of
interest
Controller
Interprets sensor data
Controlled device
Changes based on
controller output
Figure 2-13
 outdoor

Direct Indirect
Closed Loop or Feedback Open Loop or Feedforward
 Set Point
Desired sensor value
Control Point
Current sensor value
Error or Offset
Difference between control point and set point
 Two-Position Control Systems
Used in small, relatively simple systems
Controlled device is on or off
It is a switch, not a valve
Good for devices that change slowly
 Modulating Control Systems
Example: Heat exchanger control
Modulating (Analog) control

Cooling coil

air
x

water

(set point temperature)

 Modulating Control Systems
Used in larger systems
Output can be anywhere in operating range
Three main types
Proportional
PI
Electric (pneumatic) motor
PID
Position (x)

fluid

Volume flow rate

Vfluid = f(x) - linear or exponential function
 The PIDconstants
control algorithm
time

e(t) difference between

set point and
measured value
Position (x) Proportional Integral Differential

For our example of heating coil:

K d (Tset point Tmeasured )

x K (Tset point Tmeasured ) (Tset point Tmeasured )d K Td
Ti d

Proportional Integral Differential

(how much) (for how long) (how fast)

Position of the valve

Proportional Controllers
x A K (Tset point Tmeasured )
x is controller output
A is controller output with no error
(often A=0)
Kis proportional gain constant
e = Tset point Tmeasured is error (offset)
Unstable system Stable system
 Issues with P Controllers
Always have an offset
But, require less tuning than other
controllers
Very appropriate for things that change
slowly
i.e. building internal temperature
 Proportional + Integral (PI)
K
x A K (Tset point Tmeasured ) (Tset point Tmeasured )d
Ti

K/Ti is integral gain

If controller is tuned
properly, offset is
reduced to zero

Figure 2-18a
 Issues with PI Controllers
Scheduling issues
Require more tuning than for P
But, no offset
 Proportional + Integral +
Derivative (PID)

Improvement over PI because of faster response

and less deviation from offset
Increases rate of error correction as errors get larger
But
HVAC controlled devices are too slow responding
Requires setting three different gains
Ref: Kreider and Rabl.Figure 12.5
 The control in HVAC system only PI
K
x K (Tset point Tmeasured )
Ti (Tset point Tmeasured )d

Proportional Integral
value

Set point
Proportional
affect the slope

Set point Integral

affect the shape after
the first bump
 The Real World

50% of US buildings have control problems

90% tuning and optimization
10% faults
25% energy savings from correcting control
problems
Commissioning is critically important
 Practical Details
Measure what you want to control
Verify that sensors are working
Integrate control system components
Tune systems
Measure performance
Commission control systems
 HVAC Control
Example 1:
Economizer (fresh air volume flow rate control)
Controlled device is damper
fresh
damper air - Damper for the air
- Valve for the liquids

mixing
recirc.
air

T & RH sensors
 Economizer
% fresh air
Fresh air volume flow rate control
enthalpy 100%

Fresh
(outdoor)
TOA (hOA)
Minimum for
damper air ventilation

mixing
Recirc.
air

T & RH sensors
 Economizer cooling regime
How to control the fresh air volume flow rate?
If TOA < Tset-point Supply more fresh air than the minimum required

The question is how much? % fresh air

Open the damper for the fresh air

100%
and compare the Troom with the Tset-point .
Open till you get the Troom = Tset-point
Minimum for
If you have 100% fresh air and your ventilation
still need cooling use cooling coil.

What are the priorities:

- Control the dampers and then the cooling coils or
- Control the valves of cooling coil and then the dampers ?

Defend by SEQUENCE OF OERATION

the set of operation which HVAC designer provides to the automatic control engineer
 Economizer cooling regime

Example of SEQUENCE OF OERATIONS:

If TOA < Tset-point open the fresh air damper the maximum position

Then, if Tindoor air < Tset-point start closing the cooling coil valve

If cooling coil valve is closed and T indoor air < Tset-point start closing the damper
till you get T indoor air = T set-point

Other variations are possible

 HVAC Control
Example 2:
Dew point control (Relative Humidity control)
fresh filter cooling heating
damper filter
air
fan coil coil

mixing

T & RH sensors

Heat gains
Humidity generation

We should supply air with lower humidity ratio (w) and lower temperature

We either measure Dew Point directly or T & RH sensors substitute dew point sensor
 Relative humidity control by cooling coil

Cooling Coil

Mixture

Room
Supply

TDP Heating coil

 Relative humidity control by cooling coil (CC)
Cooling coil is controlled by TDP set-point
if TDP measured > TDP set-point send the signal to open more the CC valve
if TDP measured < TDP set-point send the signal to close more the CC valve

Heating coil is controlled by Tair set-point

if Tair < Tair set-point send the signal to open more the heating coil valve
if Tair > Tair set-point send the signal to close more the heating coil valve

Control valves
Fresh air

mixing

cooling heating
coil coil

Tair & TDP sensors

 Sequence of operation
(ECJ research facility)
Mixture 3

DPTSP
Set Point
(SP)
Mixture 1 Mixture 2
Control logic:
DBTSP
Mixture in zone 1: IF (( TM<TSP) & (DPTM<DPTSP) ) heating and humidifying
Heater control: IF (TSP>TSA) increase heating or IF (TSP<TSA) decrease heating
Humidifier: IF (DPTSP>DPTSA) increase humidifying or IF (DPTSP<DPTSA)
decrease humid.

Mixture in zone 2: IF ((TM>TSP) & (DPTM<DPTSP) ) cooling and humidifying

Cool. coil cont.: IF (TSP<TSA) increase cooling or IF (TSP>TSA) decrease
cooling
Humidifier: IF (DPTSP>DPTSA) increase humidifying or IF (DPTSP<DPTSA)
decrease hum.

Mixture in zone 3: IF ((DPTM>DPTSP) ) cooling/dehumidifying and reheatin

Cool. coil cont.: IF (DPTSP>DPTSA) increase cooling or IF (DPTSP<DPTSA)
decrease cooling
Heater control: IF (TSP>TSA) increase heating or IF (TSP<TSA) decrease heating
 Other examples for HVAC:

Heat recovery

Dual duct system

 Other examples
Thermal storage UTs CHP
 Thermal storage for
adjustment production to
consumption