ISA-TR75.04.

01-1998
Approved July 15, 1998

Technical Report

Control Valve Position

Stability
ISA-TR75.04.01, Control Valve Position Stability
ISBN: 1-55617-678-3

Copyright 1998 by the Instrument Society of America. All rights reserved. Printed in the United
States of America. No part of this publication may be reproduced, stored in a retrieval system, or
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otherwise), without the prior written permission of the publisher.

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Preface

This preface, as well as all footnotes and annexes, is included for information purposes and is not
part of ISA-TR75.04.01.

This technical report has been prepared as part of the service is ISA, the international society for
measurement and control, toward a goal of uniformity in the field of instrumentation. To be of real
value, this document should not be static, but should be subject to periodic review. Toward this
end, the Society welcomes all comments and criticisms, and asks that they be addressed to the
Secretary, Standards and Practices Board; ISA; 67 Alexander Drive; P.O. Box 12277; Research
Triangle Park, NC 27709; Telephone (919) 549-8411; Fax (919) 549-8288; Email:
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ISA-TR75.04.01-1998 3
 USER SHOULD CAREFULLY INVESTIGATE RELEVANT PATENTS BEFORE
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BEFORE IMPLEMENTING THIS STANDARD.

The following people served as members of ISA Subcommittee SP75.04:

NAME COMPANY
J. Reed, Chairman Norriseal
W. Weidman, Managing Director Parsons Energy & Chemicals Group, Inc.
G. Baenteli Bechtel Corporation
G. Barb Consultant
K. Black Cashco, Inc.
J. Borge Neles Controls, Inc.
W. Caudill Arco Products Company
*R. Lytle Fisher Controls International, Inc.
J. McCaskill TAPCO International
*P. Schafbuch Fisher Controls International, Inc.
A. Shea Copes-Vulcan, Inc.
____________________________

*One vote per company

The following people served as members of ISA Committee SP75:

NAME COMPANY
*D. Buchanan, Chairman Union Carbide Corporation
W. Weidman, Managing Director Parsons Energy & Chemicals Group, Inc.
T. Abromaitis Red Valve Company, Inc.
J. Addington Fluid Controls Institute
H. Backinger J. F. Kraus & Company
G. Baenteli Bechtel Corporation
G. Barb Consultant
H. Baumann H. D. Baumann, Inc.

4 ISA-TR75.04.01-1998
K. Black Cashco, Inc.
H. Boger Masoneilan/Dresser
G. Borden, Jr. Consultant
S. Boyle Neles Controls, Inc.
*R. Brodin Fisher Controls International, Inc.
F. Cain Flowserve-FCD
C. Corson Fluor Daniel, Inc.
*C. Crawford Union Carbide Corporation
L. Driskell Consultant
J. Duhamel R-K-L
A. Engels Praxair, Inc.
H. Fuller Valvcon Corporation
*J. George Richards Industries, Inc.
M. Glavin Grinnel Corporation
L. Griffith Four G Group
F. Harthun Consultant
B. Hatton Honeywell, Inc.
J. Jamison Bantrel, Inc.
R. Jeanes TU Electric
J. Kersh M. W. Kellogg Company
C. Koloboff Consultant
G. Kovecses Yarway Corporation
C. Langford Cullen G. Langford, Inc.
A. Libke DeZurik Valve Company
R. Louviere Creole Engineering Sales Company
O. Lovette, Jr. Consultant
L. Mariam FlowSoft, Inc.
J. McCaskill TAPCO International
A. McCauley, Jr. Chagrin Valley Controls, Inc.
R. McEver Bettis Corporation
H. Miller Control Components, Inc.
T. Molloy CMES, Inc.
L. Ormanoski Frick Company
J. Ozol Commonwealth Edison
W. Rahmeyer Utah State University
J. Reed Norriseal
*G. Richards Richards Industries, Inc.
*M. Riveland Fisher Controls International, Inc.
K. Schoonover Con-Tek Valves, Inc.
*A. Shea Copes-Vulcan, Inc.
E. Skovgaard Leslie Controls, Inc.
H. Sonderegger Grinnell Corporation
R. Terhune Cranmoor
*R. Tubbs Copes-Vulcan, Inc.
D. Wolfe Agren-Ascher Company, Inc.
____________________________

*One vote per company

ISA-TR75.04.01-1998 5
This technical report was approved for publication by the ISA Standards and Practices Board on
July 15, 1998.

NAME COMPANY
R. Webb, Vice-President Altran Corporation
H. Baumann H. D. Baumann, Inc.
D. Bishop Chevron Production Technology
P. Brett Honeywell, Inc.
W. Calder III Calder Enterprises
M. Cohen Senior Flexonics
H. Dammeyer The Ohio State University
W. Holland Southern Company Services, Inc.
H. Hopkins Consultant
A. Iverson Ivy Optiks
K. Lindner Endress + Hauser GmbH + Company
V. Maggioli Feltronics Corporation
T. McAvinew Instrumentation & Control Engineering LLC
A. McCauley, Jr. Chagrin Valley Controls, Inc.
G. McFarland Honeywell, Inc.
E. Montgomery Fluor Daniel, Inc.
D. Rapley VECO Rapley, Inc.
R. Reimer Rockwell Automation A-B
J. Rennie Factory Mutual Research Corporation
W. Weidman Parsons Energy & Chemicals Group, Inc.
J. Weiss Electric Power Research Institute
J. Whetstone National Inst. of Standards & Technology
M. Widmeyer Consultant
R. Wiegle CANUS Corporation
C. Williams Eastman Kodak Company
G. Wood Graeme Wood Consulting
M. Zielinksi FisherRosemount Systems, Inc.

6 ISA-TR75.04.01-1998
Foreword

This Technical Report discusses control valve stem position mechanical stability, establishes a
measurement criterion for position instability and provides a bibliography of published papers.

Abstract

This document is intended to help the user recognize, measure, and diagnose the unstable stem
motion of a valve.

Key Words

Control valve stem position mechanical stability, unstable motion, maximum amplitude, design of
the valve closure member, pressure-balancing, deadband, hysteresis, position instability, fluid
forces, actuator forces, control signal, force gradient, pressure balanced.

ISA-TR75.04.01-1998 7
 Contents

1 Scope ....................................................................................................................... 11
2 Purpose.................................................................................................................... 11
3 Definitions ............................................................................................................... 11
4 Discussion............................................................................................................... 11
5 Measurement of position instability...................................................................... 13
Annex A References .............................................................................................. 15

ISA-TR75.04.01-1998 9
1 Scope

This Technical Report discusses control valve stem position mechanical stability and establishes
a measurement criterion for position instability of the valve. Other forms of instability associated
with control valves and control systems are not covered.

2 Purpose

This document is intended to help the user recognize, measure, and diagnose the unstable
motion of a valve. A reference section (Annex A) with abstracts provides further references.

3 Definitions

3.1 position instability: Is evidenced by uncontrolled fluctuating valve travel. It is caused

by the fluid forces interacting with the actuator forces. It is a persistent cyclic motion inconsistent
with control signal to the valve. It is not a static deviation caused by dead band or hysteresis.

3.2 control loop instability: Is a regular oscillation of a feedback control system caused
by excessive loop gain. It is independent of external disturbances.

3.3 flow rate instability (bistable flow): Is an abrupt change in the control valve flow
rate that occurs independent of changes in valve position. It may be caused by variable wall
attachment of the fluid stream at the valve orifice, by flashing, or by cavitation.

3.4 hunting: Is a continuing cyclic motion caused by friction, with the positioner or controller
attempting to find the set position.

4 Discussion

4.1 Position instability, as defined in paragraph 3.1, may occur when the immediate force-to-
travel gradient associated with the action of the flowing fluid on the moveable valve trim

ISA-TR75.04.01-1998 11
overcomes the stiffness of the actuator, particularly on flow-to-close valves. Electromechanical
and hydraulic actuators, because they are inherently stiff, are rarely subject to position instability
unless there is mechanical backlash. Pneumatic actuators that depend upon a compressible
fluid are more susceptible to position instability. However, the stiffness of pneumatic actuators
varies greatly according to actuator design and application. Mechanical spring rate, actuator gas
density (pressure), and actuator tare (clearance) volume all contribute to pneumatic actuator
stiffness.

4.2 An analysis of forces includes the following:

a) the differential fluid pressure acting across the effective unbalanced area of the valve
closure member;

b) the static fluid pressure acting on the stem area of sliding-stem valves;

c) buffeting forces associated with the fluid velocity, such as vortex shedding, impact,
turbulence, cavitation, and flashing;

d) the actuator spring(s), mechanical or pneumatic, and the opposing pneumatic pressure;
and

e) frictional forces caused by packing and other mechanical interfaces.

4.3 The fluid forces tend to promote instability when

a) the pressure differential fluctuates or changes in a manner to overcome or reinforce the
actuator force;

b) the effective unbalanced area of the valve trim changes abruptly;

c) a variable density multiphase stream enters the valve;

d) fluid forces fluctuate due to slug flow of a two-phase stream, downstream flashing, or
cavitation; and

e) the valve trims pressure balancing port senses a pressure spike inconsistent with the
average pressure on the trim.

4.4 Several methods can be used to analyze the force gradients and potential instability. At the
present stage in the development of control valve technology, this Technical Report endorses no
single method of stability analysis but includes references and abstracts that may be used as
guides.

4.5 The design of the valve closure member and pressure-balancing flow passages can
influence its vulnerability to unstable operation. Closure members designed for full or partial
pressure balancing can be especially susceptible to instability, due to the amount of fluid force
variance being a high fraction of the low normal force from the pressure differential. Force
reversals are not uncommon in pressure-balanced designs. Careful consideration should be

12 ISA-TR75.04.01-1998
given to ensure that pressure-balanced closure members have well-averaged pressure
distribution on the effective surfaces.

4.6 Several factors unrelated to fluid flow may cause inconsistency between valve position and
the command to the actuator. Dead band, for example, can be created by backlash or friction in
the valve or actuator. Hysteresis affects valve position according to the direction of travel. Both
dead band and hysteresis cause the valve position to lag the signal. Hysteresis and dead band
have not been found to cause position instability but can cause control loop instability. This type
of loop instability is beyond the scope of this Technical Report.

5 Measurement of position instability

5.1 Total control valve stem position mechanical stability is the total absence of valve stem
movement when the signal to the actuator is constant. Position instability, that is, valve stem
movement, is not an absolute phenomenon. It occurs in many control valves to some degree. In
most applications where it exists, it is not noticeable or does not exceed the acceptable limit for
the application. The acceptable level of instability is a subjective quantity and varies with the
application. There is a need for a quantitative method to describe instability as it exists or to
specify an acceptable performance level. Though unstable motion can be described in terms of
amplitude, frequency, and wave form, the following rating system applies only to amplitude.
Frequency and wave form are not considered relevant to this measurement.

5.2 Measure the maximum amplitude of the unstable motion when the signal to the actuator is
constant. The amplitude measurement technique may be that which is deemed appropriate for
the application, such as a linear scale, dial-indicator, or motion transducer. To determine the
instability percentage, use the following equation to calculate the percentage of the rated valve
travel that is unstable:
(Maximum unstable motion amplitude)(100)
Instability Percentage = -------------------------------------------------------------------------------------------------------------------
Rated travel

5.3 EXAMPLE:
Rated Travel = 50 mm

Unstable Motion Amplitude = 2.5 mm

( 2.5 ) ( 100 )
Instability Percentage = ---------------------------- = 5
50

5.4 The instability percentage from the example does not imply any acceptable level.

ISA-TR75.04.01-1998 13
Annex A References

The following references contain abstracts (listed by date of publication)* to serve as a guide to
specific areas of interest:

Selecting Spring Spans for Control Valve Actuators by J. T. Muller, Fluid Controls Institute,
1965.

Abstract

The problem of specifying standard 3-15 and 3-27 (sometimes referred to as 6-30) spring ranges
for control valves, between user and manufacturer of control valves, has been the cause of much
confusion and discussion. The confusion is caused by the lack of proper understanding of the
difference in variable stem thrust requirements of unbalanced and so-called semi-balanced
valves. The following, prepared for the Engineering Standards Committee of the Control Valve
Section of the Fluid Controls Institute, Inc., is an attempt to give a simple understanding of the
problem and the solution.

Effect of Fluid Compressibility on Torque in Butterfly Valves by Floyd P. Harthun, ISA

Transactions, Vol. 8, No. 4 (1969), pp. 281-286.

Abstract

A technique is presented by which the shaft torque resulting from fluid flow through butterfly
valves can be determined with reasonable accuracy for both compressible and incompressible
flow. First, the general torque relationship for incompressible flow is established. Then, an
effective pressure differential is defined to extend this relationship to include the effect of fluid
compressibility. The application of this technique showed very good agreement with
experimental results.

Valve Plug Force Effects on Pneumatic Actuator Stability by Richard F. Lytle, Advances in
Instrumentation, Vol. 25, Part 3 (1970), paper no. 70-765.

Abstract

A study of valve plug forces and the effects of these forces on the dynamic stability of pneumatic
actuators shows that actuator sizing criteria must include total dynamic stiffness of the installed
valve-actuator system along with static thrust requirements. Buffeting forces and negative plug
force gradients are described. Frequency response techniques are used to develop actuator
stability criteria based on installed actuator stiffness.

Analytical Predication of Valve Stability by Gareth A. Keith, Advances in Instrumentation,

Vol. 25, Part 4 (1970), paper no. 70-838.

* Complete copies of the ISA copyrighted papers listed here are available from the ISA, 67 Alexander Drive,
P.O. Box 12277, Research Triangle Park NC 27709, Telephone: (919) 549-8411, Fax: (919) 549-8288.

ISA-TR75.04.01-1998 15
Abstract

Valve stability under widely varying operating conditions is one of the many concerns of control
valve application. The mathematical analysis developed to determine the unbalanced forces
includes the influences of the ratio of valve pressure drop to total system pressure drop in
addition to valve unbalanced area, flow characteristic, and varying plug position. The valve rate
of change of unbalanced forces is then determined and compared to the rate of change of
actuator forces. Valve stability is achieved when the actuator rate of change of force exceeds the
rate of change of forces acting on the valve plug. The mathematical analysis is confirmed by
laboratory test data. This approach has resulted in a practical analytical method to determine
valve stability when controlling gas or liquid during subcritical flow conditions.

Understanding Fluid Forces in Control Valves by Charles B. Schuder, Instrumentation

Technology: Journal of the Instrumentation Society of America, Vol. 18, No. 5 (May 1971),
pp. 48-52.

Abstract

To minimize field problems arising from fluid forces, it is necessary to identify the nature of these
forces and then to relate them to valve service conditions. Eleven types of fluid reaction forces
have been identified and described here. These forces act on the valves moving parts, such as
the plug of a sliding-stem valve, or the ball or disc of a rotary valve. In most cases, the
appropriate service limitation is differential pressure and not fluid velocity or hydraulic
horsepower.

Problems of Undersized Actuators by C. E. Wood and A. R. Nenn, presented at the ISA/72

Conference, October 9-12, 1972, New York City.

Abstract (prepared by Committee)

The selection of the type and size of the actuating device is to be determined by the control valve
manufacturer. In order for the manufacturer to determine the power requirements of the
individual control valve actuators, the following data are supplied on the project specification:
(1) flowing quantity, (2) upstream pressure, (3) downstream pressure, (4) specific gravity of fluid,
(5) flowing temperature, and (6) control valve size. These data are calculated data and not
measured data such as would be available from an operating unit. They are, however, close
enough to the final operating numbers to allow a manufacturer to make a reasonable estimation
of power requirements. A conclusion drawn from mathematical evaluation was that the rate of
change of spring force should be at least twice as large as the rate of change of stem force.

Hammering Control Valves - Diagnosis and Solution of a Stability Problem by W. G. Gulland

and A. F. Scott, Transactions Institute of Instrument Measurement Control, Vol. 3, No. 2, April-
June 1981. (This abstract is reproduced with the permission of the Institute of Measurement and
Control, 87 Gower St., London, WC1E 6AA, England.)

Abstract

Plug-type control valves are often installed in the flow-to-close close-on-air failure configuration.
In this configuration, it is possible for the valve to become unstable even though the actuator can
generate sufficient force, in the steady state, to overcome the forces opposing it. For a valve that
is not fitted with a positioner, instability will occur if the curve-of-equilibrium valve-actuator
pressure against lift is not monotonically increasing. If a positioner is fitted, instability will occur if
the curve-of-equilibrium mass of air in the valve actuator is not monotonically increasing. This

16 ISA-TR75.04.01-1998
paper presents the stability analyses for both cases. It outlines areas where instability may occur
and suggests a variety of solutions.

Control Valve and Process Stability by Gayle E. Barb, Advances in Instrumentation, Vol. 37,
Part 3 (1982), paper no. 82-901, pp. 1277-1298.

Abstract

Stability is defined and a technique is presented for determining stable operation of a spring
opposed pneumatic-actuated control valve in a relationship with the process that is being
controlled. All the information required to test for stability is not available to the valve industry.
The novelty of the technique lies in the use of a programmable calculator to crunch all the data
into two values and make a simple stability test.

Actuator Selection by Gayle E. Barb, Advances in Instrumentation, Vol. 39, Part 2 (1984), paper
no. 84-780, pp. 1319-1332.

Abstract

Actuator selection when using spring-opposed pneumatic diaphragm and piston actuators
involves the unique combination of many variables. Analyses of many combinations are made
showing the resultant direction of force action from the variables considered. Principal forces
related to the process, valve, and actuator are developed. Stability criteria are also presented.

Fluid Inertia Effects on Unbalanced Valve Stability, by Paul J. Schafbuch, Final Control
Elements, proceedings of the ISA Final Control Elements Symposium held April 9-11, 1985,
New Orleans, Louisiana, paper no. 85-207, pp. 31-48.

Abstract

Stability is an important performance consideration for control valves. One requirement for
stability is that actuator stiffness should exceed the magnitude of negative plug force gradients.
This study shows fluid inertia to greatly affect dynamic gradients for certain valves and at
buffeting (high) frequencies, in particular. A rigorous mathematical expression for unbalanced,
stem-guided valves is derived from the Joukowsky water hammer relation. This expression
explains why high-stiffness piston actuators are usually necessary for unbalanced flowdown
valves in liquid service. Previous works do not explain this observation except in a loose,
qualitative fashion. The full expression is simplified to a practical actuator sizing guideline.
Experimental results are also cited.

ISA-TR75.04.01-1998 17
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ISBN: 1-55617-678-3