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Controller Principle

On-off controllers are simple and cheap, but have limited use in process control due to excessive cycling. PID controllers provide proportional, integral and derivative control actions. They are more complex than PI or P controllers but can achieve better performance with no offset and improved dynamic response if properly tuned. The most commonly used controller modes are two-position, proportional, PI, PD and PID, with PID controllers providing the best control if tuned correctly, but also being the most complex.

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Portia Shilenge
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133 views

Controller Principle

On-off controllers are simple and cheap, but have limited use in process control due to excessive cycling. PID controllers provide proportional, integral and derivative control actions. They are more complex than PI or P controllers but can achieve better performance with no offset and improved dynamic response if properly tuned. The most commonly used controller modes are two-position, proportional, PI, PD and PID, with PID controllers providing the best control if tuned correctly, but also being the most complex.

Uploaded by

Portia Shilenge
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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On-off Controllers

Simple
Cheap
Used In residential heating and domestic refrigerators
Limited use in process control due to continuous
cycling of controlled variable excessive wear
on control valve.

Example 1: Temperature control of jacketed vessel.

Feedback Controllers
1
On-Off Controllers
Synonyms:
two-position or bang-bang controllers.
Controller output has two possible values.
2
Three Mode (PID) Controller
Proportional
Integral
Derivative
Proportional Control
Define an error signal, e, by e = R - B
where
R= set point
B = measured value of the controlled variable
(or equivalent signal from transmitter)

3
Since signals are time varying,
e(t) = R(t) - B(t)
n.b. Watch units!!

For proportional control:
where,
p(t) = controller output
= bias value (adjustable)
K
c
= controller gain (dimensionless, adjustable)
p - p = p e(t) K + p = p(t)
c
'
p
4
- Proportional Band, PB


- Reverse or Direct Acting Controller
- K
c
can be made positive or negative
- Recall for proportional FB control:


or

- Direct-Acting (K
c
< 0)
output increases as input increases"
p(t) B(t)

- Reverse-Acting (K
c
> 0)
output increases as input decreases"
c
K
% 100
PB
e(t) K + p = p(t)
c
| | B(t) - R(t) K + p = p(t)
c
5
- Transfer Function for Proportional Control:
Let
Then controller input/output relation can be written as

At zero steady state
Take Laplace transform of each side,

or


INTEGRAL CONTROL ACTION
Synonyms: "reset", "floating control"


t
1
reset time (or integral time) - adjustable
p - p(t) (t) p
'
e(t) K (t) p
c

'
E(s) K (s) P
c

'
c
K
E(s)
(s) P

'
s
1
E(s)
(s) P
t d ) t ( e
1
p ) t ( p
I
t
0 I
t
=
'
' '
t
+ =
}
6
(

' '
t
+ + =
}
t
0 I
c
t d ) t ( e
1
) t ( e K p ) t ( p
Proportional-Integral (PI) Control
Response to unit step change in e:
7
Integral action eliminates steady-state error
(i.e., offset) Why??? e = 0 p is changing with
time until e = 0, where p reaches steady state.
|
|
.
|

\
|
t
+ =
'
s
1
1 K
E(s)
(s) P
I
c
Transfer function for PI control
8
Derivative Control Action
- Ideal derivative action


- Used to improve dynamic response of the
controlled variable
- Derivative kick (use db/dt )
- Use alone?

- Some controllers are calibrated in 1/t
I

("repeats per minute") instead of t
I
.
p
dt
de
p ) t ( p
D
t + =
- For PI controllers, is not adjustable.
9
Proportional-Integral-Derivative (PID) Control
Now we consider the combination of the proportional, integral,
and derivative control modes as a PID controller.
Many variations of PID control are used in practice.
Next, we consider the three most common forms.
Parallel Form of PI D Control
The parallel form of the PID control algorithm (without a
derivative filter) is given by
( ) ( ) ( )
( )
0
1
* * (8-13)

t
c D
I
de t
p t p K e t e t dt
dt
(
= + + +
(

}
10
The corresponding transfer function is:
( )
( )
1
1 (8-14)

c D
I
P s
K s
E s s
'
(
= + +
(

Series Form of PI D Control
Historically, it was convenient to construct early analog
controllers (both electronic and pneumatic) so that a PI element
and a PD element operated in series.
Commercial versions of the series-form controller have a
derivative filter that is applied to either the derivative term, as in
Eq. 8-12, or to the PD term, as in Eq. 8-15:
( )
( )
1 1
(8-15)
1
I D
c
I D
P s
s s
K
E s s s
'
| || |
+ +
=
| |
+
\ .\ .
11
Expanded Form of PI D Control
In addition to the well-known series and parallel forms, the
expanded form of PID control in Eq. 8-16 is sometimes used:
( ) ( ) ( )
( )
0
* * (8-16)
t
c I D
de t
p t p K e t K e t dt K
dt
= + + +
}
Features of PID Controllers
Elimination of Derivative and Proportional Kick
One disadvantage of the previous PID controllers is that a
sudden change in set point (and hence the error, e) will cause the
derivative term momentarily to become very large and thus
provide a derivative kick to the final control element.
12
13
Automatic and Manual Control Modes
Automatic Mode
Controller output, p(t), depends on e(t), controller
constants, and type of controller used.
( PI vs. PID etc.)
- Manual Mode
Controller output, p(t), is adjusted manually.
- Manual Mode is very useful when unusual
conditions exist:
plant start-up
plant shut-down
emergencies
Percentage of controllers "on manual ??
(30% in 2001, Honeywell survey)
14
Digital PID Controller



where,

= the sampling period (the time between
successive samples of the controlled variable)
= controller output at the nth sampling
instant, n=1,2,
= error at the nth sampling unit

velocity form - see Equation (8-19)

(Ap
d
)- incremental change
( )
(

A
t
+
t
A
+ + =

=
1 n n
D
1 n
1 k
k
I
n c n
e e
t
e
t
e K p p
n
p
n
e
t A
15
PID -Most complicated to tune (K
c
, t
I
, t
D
) .
-Better performance than PI
-No offset
-Derivative action may be affected by noise
PI -More complicated to tune (K
c
, t
I
) .
-Better performance than P
-No offset
-Most popular FB controller
P -Simplest controller to tune (K
c
).
-Offset with sustained disturbance or set point
change.
Controller Comparison
16
17
Typical Response of Feedback Control Systems
Consider response of a controlled system after a
sustained disturbance occurs (e.g., step change in
disturbance variable)
18
19
20
Summary of the Characteristics of the Most
Commonly Used Controller Modes
1. Two Position:
Inexpensive.
Extremely simple.
2. Proportional:
Simple.
Inherently stable when properly tuned.
Easy to tune.
Experiences offset at steady state.
3. Proportional plus integral:
No offset.
Better dynamic response than reset alone.
Possibilities exist for instability due to lag
introduced.
21
4. Proportional plus derivative:
Stable.
Less offset than proportional alone (use of
higher gain possible).
Reduces lags, i.e., more rapid response.
5. Proportional plus reset plus rate:
Most complex
Rapid response
No offset.
Difficult to tune.
Best control if properly tuned.
22
Example 3: Liquid Level Control
Control valves are air-to-open
Level transmitters are direct acting
23
Question:
1. Type of controller action?
24

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