1

• Introduction
• Control Actions
• Control Actions Analysis
• Control and Controlled Devices
• Types of Control Systems
• DDC Control Theory
• Control Points Classifications
• Points List
• DDC Design for HVAC Equipment
• Summary

2
 Objectives
• Differentiate between controls and control
actions, and open and closed-loop control
• Recognize the three major control systems
• Identify the major components of DDC
• Define control points and create a Points List
• Build a DDC system that performs the
desired sequences of operation
Direct Digital Control (DDC): a type of
control where controlled and monitored
analog or binary data (e.g., temperature,
contact closures) are converted to digital
format for manipulation and calculations
by a digital computer or micro processor,
then converted back to analog or binary
form to control physical devices.

5
Energy Management System (EMS): a
system of computer applications used by
building engineering staff to monitor,
control, and optimize the building's
operating performance (e.g., energy
consumption, occupant comfort levels). EMS
optimizes building operating performance
through supervisory control programs that
utilize core BMS functionality.

6
Building Automation System (BAS): an
energy management system, usually with
additional capabilities, relating to the
overall operation of the building in which it
is installed, such as equipment monitoring,
protection of equipment against power
failure, and building security.

7
Building Management System (BMS): an energy
management system relating to the overall
operation of the building in which it is installed.
It often has additional capabilities, such as
equipment monitoring, protection of equipment
against power failure, and building security. It
may also be a direct digital control (DDC) system
where the mode of control uses digital outputs
to control processes or elements directly.

8
Sensor: device or instrument designed to
detect and measure a variable e.g
occupant sensor, temperature sensor
Controller: device that interprets the
sensor data and actuate a controlled
device or initiate a control sequence.
Controlled device: device that changes
based on the controller output

9
Throttling Range: change in the
measured variable (e.g. temperature) that
causes the controlled device to travel
from one end of its stroke to the other.

10
Throttling Range

11
 Control Defined

ASHRAE definition of Control – to regulation the

operation of equipment
Control – starting, stopping or regulation of the
HVAC system
 Purposes of HVAC Control

• Maintain thermal comfort levels

• Maintain Indoor Air Quality (IAQ)
• Conserve energy
• Protect equipment
• Provide life safety support using HVAC systems and/or
equipment
• Initiate preventative maintenance tasks
• Reduce maintenance cost
 Elements of a Control System

• Sensor - measures the controlled variable

• Controller – receives the input from the
sensor, processes the input and produces
an output
• Controlled Device – changes as directed
by the controller to modify the controlled
variable
• Source of Energy - needed to power the
control system
Two basic actions
•Switching- Turning equipment on and off
according to schedules (Digital)
•Regulation – Match space load to
refrigerant plant capacity (Analog)

15
• Input: Signal that goes to a DDC
controller (panel)
• Output: Signal that comes out of the
DDC controller (panel)
• Inputs and Outputs can be analog or
digital

07/15/24 16
• Digital Input – input signal to a DDC
controller that has two discrete states
such as on/off or yes/no
 Fan status signal (on or off)
 Filter dirty (yes of no)
 Alarm from chiller (yes or no)

07/15/24 17
• Analog Input – input signal to a DDC
controller that has any value between a
minimum and a maximum
 Room temperature sensor
 Duct static pressure sensor
 Return air humidity sensor
 Room carbon dioxide sensor
 Filter differential pressure sensor
07/15/24 18
• Analog Input – signal depends on the
type of sensor used
 AI for voltage is 0-10 VDC
 AI for amperage is 4-20 mA
 AI for resistance is 0-135 ohm

07/15/24 19
• Digital Output – output signal from a
DDC controller to a component that has
two discrete states such as open/close
or turn on/turn off
 Turn fan on
 Close return air damper
 Turn on lights
 Dial a telephone number
07/15/24 20
• Analog Output – output signal from a
DDC controller to a control component
that has any value between a minimum
and a maximum
 Modulate outdoor air damper
 Modulate chilled water valve
 Modulate pump speed (VFD)

07/15/24 21
• Analog Output – signal depends on the
type of device that is controlled
 AI for voltage is 0-10 VDC
 AI for amperage is 4-20 mA
 AI for resistance is 0-135 ohm

07/15/24 22
• 0-10 V Pros
 Low cost
 Easy to troubleshoot
 Nearly all controllers accepts 0-10 V signal
• 0-10 V cons
 Signal strength decreases over long runs
 Susceptible to electrical interference

07/15/24
• 4- 20 mA Pros
 Low susceptibility to electrical interference
 Low signal loss over long runs
 Most controllers accepts 4-20 mA signal
 Inherent condition detection
• 4-20mA Cons
 High cost

07/15/24
 Lower energy cost Lower operations
cost

Increase flexibility Ensure quality building

environment

07/15/24 25
• Why use BEMS?
– Growing complexity of building systems
– Demand for more efficient building operation
– Need to save energy & operating costs
– Need to increase flexibility & reliability
– Improve indoor environment & productivity
• Connect EMS to major building equipment to
– Control air conditioning & lighting to save energy
– Monitor all equipment to improve efficiency of
operations personnel & minimize equipment down
time
07/15/24 26
 “Controls” Differentiation
• Controls (Noun)
 the instruments, devices, and software that
sense conditions and cause actions to happen
 the eyes, ears and mouth of the control system

• Controls (Verb)
 the action plan of using controls to provide
desired results through a control sequence of
operation.
 Controls
Graphic Symbol Graphic Symbol

Heating

Solenoid Valve
Thermostat
Cooling

Temperature Sensor 3-Way Valve

Fan Status Switch Actuator

C15972.011 PIPE TEMPERATURE SENSO
R OR TRANSMITTER - WELL MOU.dwg

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C15960.009 FLOW SWITCH.dwg

07/15/24 30
 Control

Cooling
Valve
Supply
Fan
Controller

Sensor
 Control Levels

Building
Control

Chilled Water Pump Tower Water Pump

Exhaust Fan
Cooling Valve

Supply Air Duct

Temp. Static Pressure

Cooling Coil
Equipment
Control
Zone
Control
 Open-Loop

Cooling
Valve
Supply
Fan
Controller

Manual Switch

ON
Open-Loop Control (Manual Switch)
- If the person in this room is too hot, they OFF
have to get up and turn on the equipment
- There is no feedback to turn the equipment
on or off
 Open-Loop

Outdoor-air
Sensor

Airflow

Controller

Chilled
Water
Valve
 Closed-Loop
Cooling
Valve
Supply
Fan
Controller

Sensor

Closed-Loop Control (Wall Stat)

- If the room gets too cold,
hot, the
thewall
wallstat
statwill
will
sense this condition and automatically
on the equipment
turn off
- The wall stat feeds information back to
the equipment to turn on or off
 Closed-Loop

Discharge air
Temperature sensor

Airflow

Controller

Chilled
Water
Valve
Control Reset (Closed/Open Loops)

Discharge Air
Outdoor Air Temperature Sensor
Temperature
Sensor

Airflow

Controller
Valve
Chilled
Water
 Control Actions

Electric, Pneumatic, and Electronic (DDC)

•Two-position
•Timed two-position
•Floating-point
•Proportional (P) (Modulating)
DDC Only
•Proportional + Integral (PI)
•Proportional + Integral + Derivative (PID)
Two-Position (On-Off)
•Sensor measures the
value
•Controller compares the
sensor value with a
preset value
•Controller generates a
digital (two-position )
output
40
 Control Action
Two-Position (On-Off)
 Control Action
Two-Position (On-Off)
 Two-Position (On/Off)

07/15/24 44
 Control Action

Timed Two-Position or Pulse Width Modulation

On Time Off Time

ON
(Opened)

OFF
(Closed) T1 T2 T3 T4 T5

Fixed Cycle Time

 Floating Control (Modulating)

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 Floating Control (Modulating)

07/15/24 47
 Floating

07/15/24 49
 Proportional (P)

07/15/24 50
 Proportional (P)

07/15/24 51
 Proportional (P)

07/15/24 52
 Proportional (P) - Throttling Range

07/15/24 53
 Control Action
Proportional (P)
Overshoot
Offset

Set Point
Controlled Variable

Undershoot

Measured
Value

Time
Controlled
Device
Position
 Proportional Algorithm
Using the measured values of 70°, 71°, 72°, and 74° F with a 70° F set point.
The gain Kp = -20
The start value = 0

Output = error  Kp + start value

Where: Error = (set point – measured value)

0 = ((70 - 70)  (-20)) + 0 {error = 0}

20 = ((70 - 71)  (-20)) + 0 {error = -
1}
40 = ((70 - 72)  (-20)) + 0 {error = -
2}
Output increases
80 =proportionally
((70 - 74) as(-20)
the )error
+ 0 increases.
{error = -
 Integral (I)

07/15/24 56
 Proportional + Integral (PI)

07/15/24 57
 Proportional + Integral (PI)

07/15/24 58
 Control Action
Proportional + Integral (PI)
Overshoot
Measured Value
Set Point
Controlled Variable

Undershoot

Time
Controlled
Device
Position
Proportional and Integral Algorithm
Using a constant measured value of 72° F with a 70° F degree set point.
The gains Kp = -20 and Ki = 1
The start value = 0
Where the measured value creates an output based on:
Pterm = (set point – measured value)  Kp, and
Iterm = (set point – measured value)  Ki + Iterm (last)

Output = Pterm + Iterm + start value

Time #1 42 = 40 + (2 + 0) + 0
Time #2 44 = 40 + (2 + 2) + 0
Time #3 46 = 40 + (2 + 4) + 0
Time #4 48 = 40 + (2 + 6) + 0
Output increases with time and constant error.
 Derivative

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 Proportional + Integral + Derivative (PID)

07/15/24 62
 Control Action

Proportional + Integral + Derivative (PID)

Measured Value

Set Point
Controlled Variable

• Proportional term
–Proportional to error
• Integral term
–Changes with time even with constant error
• Derivative term
–Changes with change in error
Time
 Proportional Algorithm
Using the measured values of 70°, 71°, 72°, and 74° F with a 70° F set point.
The gain Kp = -20
The start value = 0

Output = error  Kp + start value

Where: Error = (set point – measured value)

0 = ((70 - 70)  (-20)) + 0 {error = 0}

20 = ((70 - 71)  (-20)) + 0 {error = -
1}
40 = ((70 - 72)  (-20)) + 0 {error = -
2}
Output increases
80 =proportionally
((70 - 74) as(-20)
the )error
+ 0 increases.
{error = -
Proportional and Integral Algorithm
Using a constant measured value of 72° F with a 70° F degree set point.
The gains Kp = -20 and Ki = 1
The start value = 0
Where the measured value creates an output based on:
Pterm = (set point – measured value)  Kp, and
Iterm = (set point – measured value)  Ki + Iterm (last)

Output = Pterm + Iterm + start value

Time #1 42 = 40 + (2 + 0) + 0
Time #2 44 = 40 + (2 + 2) + 0
Time #3 46 = 40 + (2 + 4) + 0
Time #4 48 = 40 + (2 + 6) + 0
Output increases with time and constant error.
 Proportional + Integral + Derivative
Algorithm
Using the measured values of 72°, 73°, 71°, and 72° F with a 70° F degree set point.
The gains Kp = -20, Ki = -1, and Kd = -5
The start value = 0
Where the measured value creates an output based on:
Pterm = (set point – measured value)  Kp
Iterm = (set point – measured value)  Ki + Iterm (last)
Dterm = (error last – error present)  Kd

Output = Pterm + Iterm + Dterm + start value

Time #1 52 = 40 + (2 + 0) + 10 + 0
Time #2 60 = 60 + (3 + 2) + (-5) + 0
Time #3 16 = 20 + (1 + 5) + (-10) + 0
Time #4 43 = 40 + (2 + 6) + (-5) + 0
Output changes with time and error.
07/15/24 67
 Control Action Characteristics

Control Deals
Control Concepts Added Benefit Response to Disturbance
Action with
P
Control signal
Proportional Signal proportional OFFSET
Error proportional to
(P) to error
error (demand based)

P+I
Integrates error
Integral Eliminates offset
Time over time to respond
(I) over time (accuracy) UNDERSHOOT
to small error

P+I+D
Shortens settling time
Responds to rate
Derivative (quick response) and OVERSHOOT
at which set point
(D) Rate lessens overshoot/
is approached
undershoot
(precise)
Overshoot/Undershoot/Settling
Time
Measured Value Overshoot

Set Point
Controlled Variable

Undershoot

Time

Settling
Time
 Offset

Measured Value

Set Point
Offset
Controlled Variable

Time
Common HVAC Control Strategies
Application Strategy Action or Algorithm
Mixed Air Dampers PI
Chilled Water Coil Valve with
Discharge Sensor PI

Hot Water Coil Valve with

PI
Discharge Sensor

Static Pressure Control of Supply

PI
Fan

Flow Tracking
Control of Return Air PI

Hot Water Converter

PI
(Mixing/Diverting Valve)

Temperature Control P

Steam Heating Valve PID

P = Proportional
PI = Proportional + Integral
PID = Proportional + Integral + Derivative
 Control and Controlled Devices

Actuator
Control Thermostat

Devices Temperature Sensor Fan Status Switch

Controlled Solenoid Valve

Fan
Devices Pump

Outdoor Air Damper

3-Way Valve
 Building
Management

System-level
Control

Unit-level Control

07/15/24 81
• Stand-alone control
• Safeties, alarms and diagnostics

07/15/24 82
The BAC–5801 and BAC-5802 are native BACnet, fully
programmable controllers designed for general purpose applications.
Use these versatile controllers in stand-alone environments or
networked to other BACnet devices. As part of a complete facilities
management system, the BAC–5801 and BAC-5802 provide precise
monitoring and control of connected points.
07/15/24 83
The BAC-7302 and BAC-7302C are native BACnet, fully
programmable, controllers designed for roof top unit
applications. Use these versatile controllers in stand-alone
environments or networked to other BACnet devices. As part of
a complete facilities management system, the BAC-7302 and
7302C controllers provide precise monitoring and control of
connected points. 84
The BAC-7000 series VAV controllers are BACnet
Advanced Application Controllers designed for VAV
terminal units. An integrated actuator and the supplied
programs make these ideal controllers for single duct
pressure independent or pressure dependent VAV
terminal units.
07/15/24 85
The BAC-7303 and BAC-7303C are a native BACnet, fully
programmable controllers designed for fan coil units. Use
these versatile controllers in stand-alone environments or
networked to other BACnet devices. As part of a complete
facilities management system, the BAC-7303 controllers
provides precise monitoring and control of connected
points.
86
The KMC Controls Full BAC BAC–5050 is a multi-port BACnet router.

07/15/24 87
These native BACnet, fully programmable, direct digital
controllers are factory pre-programmed and pre-
configured for use in Under Floor Air Distribution
(UFAD) applications.

88
The KMC FlexStat is a (B-AAC) BACnet advanced application
controller and sensor in a single, attractive package that creates
a flexible solution to stand-alone control challenges or BACnet
network challenges in any size of commercial and industrial
buildings.

07/15/24 89
The BACnet Building Controller (B-BC) is a high-
performance, native BACnet direct digital controller. As
part of a complete interoperable building automation
system, this 16x16 B-BC provides precise monitoring and
control of connected points. Integrated into the controller
is a BACnet router, web server, and expandable I/O (CAN-
A168EIO expansion module) in a native BACnet device.
90
 DDC Control System

Network Local

Schedules Fans

Set Point Memory Pumps

Time / Date Algorithm Valves

Libraries
Temperature Actuators
Sensors

CO2
CPU Towers

Inputs DDC Controller Outputs

 DDC Controllers
Mixed Air Supply Air
Temperature Temperature
Split
Boiler System

Actuator
GENERAL
PURPOSE
DDC Cooling
Fans CONTROLLER Tower
Outside Air Fan Status
Temperature Switch

Product-Specific General Purpose

– Sensors – Sensors
– Actuator – Actuator
– Solenoids / Valves – Solenoids / Valves
• Factory-Installed • Field-Installed
Purpose • Field Programmable to
• Fixed Program Meet Site Requirements
 DDC Components

• Controllers

• Sensors

• Control Devices

• User Interfaces
 Centralized DDC System

Chiller AHU Fan Coil

Polling
DDC Network Control Panel
Communication

Optional Panel
 Distributed DDC System

Chiller
AHU

Peer-to-Peer
DDC Network
Communication

Fan Coil
 General Purpose Controller
Sensors User Interface

Tower

uts
In p

{
Pump uts
utp
Actuator O

Transformer
24 Vol
Power
Input
t
{
Communication Wiring
DDC Network
 User Interfaces

Equipment-Mounted

Hand-Held
Devices
Computer Software
 Open-Loop Control

Input DDC Output

Switch
Controller Device

Resulting
No Feed Back Action
 Closed-Loop Control

Input DDC Output

Sensor
Controller Device

Resulting
Feed Back Action
 HVAC PI Algorithm

HVAC Algorithm =
Specifically programmed control routine selected
and configured for the HVAC application

Pterm = (set point – measured value)  KP

Iterm = (set point – measured value)  KI + Iterm (last)

Output = Pterm + Iterm + start value

 HVAC Algorithm

DDC Controller
Error = (set point – sensor)
Input Pterm = error  KP Output
Sensor Iterm = error  KI + (last Iterm) Device
Output = Pterm + Iterm

Resulting
Feed Back Action
 Control Point Types
INTERFACES
Network Local

Fan Status Fan Start

DI DO Relay
High Pressure Limit Memory Pump Start
DI DO
Sensors

Relay
Temperature Algorithm Solenoid
AI DO
Libraries Relay
Static Pressure Damper
AI AO Control
CO2
CPU
Tower Fan
AI AO VFD
Inputs DDC Controller Outputs
• Binary Input (BI) or Digital Input (DI)
 Example: Fan status (on/off)
• Binary Output (BO) or Digital Output (DO)
 Example: Start/stop fan
• Analog Input (AI)
 Example: Temperature
• Analog Output (AO)
 Example: Control valve position

07/15/24 106
 Typical I/O Channel Signals

AI DI
• 10,000 (@77 F) thermistor • Relay closure
• 5,000 (@77 F) thermistor • Can be pulsed
• 1,000 (@70 F) RTD
• 4-20 mA current
• 2-10 vdc voltage
AO DO
• 4-20 mA current • Relay closure
• 2-10 vdc voltage • 24V contact closure
Points List
DDC Design for HVAC
Equipment
 Designing a DDC System

Rooftop Unit Example

UNIT COMPONENTS
1. Supply Fan
2. Two-Stage
Electric Heating
Damper
3. Two-Stage
Actuator DX Cooling
4. Modulating
Mixed Air Dampers
Step 1 – Desired Control Strategies
1. Space Temperature
Control
2. Sensor Averaging

Damper
3. Mixed Air Dampers
Actuator
4. Fan Status
5. Time Scheduling
6. Set point Table
Set points:
•Occupied
– Cooling

75° F
– Heating
07/15/24 112
70° F
Step 2 – Desired Controlled Devices

DX Cooling DO DO Electric Heating

Stage #1 Stage #1
Supply Fan
Stop/Start (1 DO)
Dampers AO
Fan DO Electric Heating
Start/Stop Stages (2 DO)
Damper
Actuator DX Cooling
Stages (2 DO)
Dampers (1 AO)

DO DO
DX Cooling Electric Heating
07/15/24
Stage #2 Stage #2 113
Step 3 – Control Action Selection
REQUIRED ACTIONS
1. Turn fan on/off based on the
occupancy schedule
2. Stage DX cooling based on
supply and average space
Damper
Actuator
temperatures
3. Stage electric heating based
on the supply and average
space temperatures
4. Position mixed air dampers
based on the outside air and
MOST REQUIRED ACTIONS average space temperatures
CAN BE ACCOMPLISHED
USING TWO-POSITION CONTROL
07/15/24 114
Step 4 – Sequences of Operation
• Schedule multiple heating and Damper

cooling set points by time-of-day,

Actuator

day-of-week, and holidays.

• Similarly schedule fan operation as either continuous or
upon space sensor demand; utilize a multiple-space sensor
averaging algorithm.
• Sequence heating and cooling capacity in two stages
using a reset of 3 F sensor dead band.
• Provide unoccupied cooling using outdoor air whenever the
outside temperature is below 58° F; cutoff sequence
when space temperature drops to 65° F.
07/15/24 115
 Step 5 and 6 – Sensor Selection/Input Control Points
Supply Air AI
Temperature
Space Temp.
Sensors (2 AI)
Outside Air Temp.
Sensor (1 AI)
Damper
Actuator Supply Air Temp.
Sensor (1 AI)
Fan Status
AI
Switch (1 DI)
Outside Air
Temperature DI
1 2 Space Temperature Sensors Fan Status
Switch
AI Space Temperature Sensor #2

AI Space Temperature Sensor #1

Designing a DDC System
Step 7
 Summary
• Controls are devices that implement control strategies
• The basic control actions (P, P+I, and P+I+D) are
used in open-loop and closed-loop control algorithms
• Product specific and general purpose controllers
are the backbone of DDC systems
• Control points (DI, DO, AI, and AO) assembled into
a points list represent the system control sequences
• DDC system design is a 7-step procedure
Thank You
This completes the presentation.
and the Design Series
 Control Sensor Reference
• CONTROL SENSORS.pdf
 Control Damper Reference
• controls dampers.pdf
 Control Valve Reference
• Control Valves.pdf
 Chiller Plant Example
• NEPHRON.pdf
 Chiller Plant Example
• SEQUENCE OF OPERATION & CONT
ROL DIAGRAMS.pdf
 VAV AHU Example
• ASHRAE VAV 1D1-11031.pdf
 VAV AHU Example
• ASHRAE VAV 2A1-25124.pdf
Master Control Sequence of Operations
• Control Sequence.docx
 Control Symbols
• CTRL master sheet.dwg
 Control Symbols
• ControlSymbols