CHE 185 PROCESS

CONTROL AND
DYNAMICS
PID CONTROLLER
FUNDAMENTALS
CLOSED LOOP
COMPONENTS
GENERAL DEFINITIONS
OPEN LOOPS ARE MANUAL CONTROL
FEEDBACK LOOPS ARE CLOSED
EXAMPLE P&ID FOR FEEDBACK
CONTROL LOOP
UTILITY FLOW
T TC
S/P DISPLAY
TCV
HEAT
EXCHANGER
CLOSED LOOP
COMPONENTS
GENERAL BLOCK DIAGRAM FOR
FEEDBACK CONTROL LOOP (FIGURE
7.2.1 FROM TEXT)
CLOSED LOOP
COMPONENTS
OVERALL TRANSFER FUNCTION
Y s G s D s G s G s G s E s
E s Y s Y s Y s G s Y s
Y s G s D s G s G s G s Y s G s Y s
Y s
G s D s G s G s G s Y s
G s G
d p c a
sp s sp s
d p c a sp s
d p c a sp
p c
( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )[ ( ) ( ) ( )]
( )
( ) ( ) ( ) ( ) ( ) ( )
( )
= +
= =
= +
=
+
( ) ( ) ( ) s G s G s
a s
+1
TYPICAL TRANSFER FUNCTIONS
FOR A FEEDBACK LOOP
CONSIDER THE RESPONSE TO A
DISTURBANCE
WITH CONSTANT S/P (Y
sp
(S) = 0)
REGULATORY CONTROL OR
DISTURBANCE REJECTION



THIS REPRESENTS A PROCESS AT
STEADY STATE RESPONDING TO
BACKGROUND DISTURBANCES
Y s
G s G s G s Y s
G s G s G s G s
p c a sp
p c a s
( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
=
+1
TYPICAL TRANSFER FUNCTIONS
FOR A FEEDBACK LOOP
CONSIDER THE SETPOINT RESPONSE
WITH NO DISTURBANCE (D(s) = 0)
SETPOINT TRACKING OR SERVO
CONTROL





THIS MODEL REPRESENTS THE SYSTEM
RESPONSE TO A S/P ADJUSTMENT
TYPICAL TRANSFER FUNCTIONS
FOR A FEEDBACK LOOP
GENERALIZATIONS REGARDING
THE FORM OF THE TRANSFER
FUNCTIONS
THE NUMERATOR IS THE
PRODUCT OF ALL TRANSFER
FUNCTIONS BETWEEN THE INPUT
AND THE OUTPUT
THE DENOMINATOR IS EQUAL TO
THE NUMERATOR + 1
TYPICAL TRANSFER FUNCTIONS
FOR A FEEDBACK LOOP
CHARACTERISTIC EQUATION


OBTAINED BY SETTING THE
DENOMINATOR = 0
ROOTS FOR THIS EQUATION WILL BE:
OVERDAMPED LOOP
COMPLEX ROOTS, FOR AN OSCILLATORY
LOOP
AT LEAST ONE REAL POSITIVE ROOT FOR
AN UNSTABLE LOOP
FEEDBACK CONTROL
ANALYSIS
THE LOOP GAIN (K
c
K
a
K
p
K
s
) SHOULD
BE POSITIVE FOR STABLE
FEEDBACK CONTROL.
AN OPEN-LOOP UNSTABLE
PROCESS CAN BE MADE STABLE BY
APPLYING THE PROPER LEVEL OF
FEEDBACK CONTROL.

CHARACTERISTIC
EQUATION EXAMPLE
CONSIDER THE DYNAMIC BEHAVIOR OF A
P-ONLY CONTROLLER APPLIED TO A CST
THERMAL MIXER (K
p
=1;
p
=60 SEC) WHERE
THE TEMPERATURE SENSOR HAS A
s
=20
SEC AND
a
IS ASSUMED SMALL. NOTE
THAT G
c
(s)=K
c
.
CHARACTERISTIC EQUATION
EXAMPLE- CLOSED LOOP POLES
WHEN K
c
=0, POLES ARE -0.05 AND -0.0167
WHICH CORRESPOND TO THE INVERSE
OF
p
AND
s
.
AS K
c
IS INCREASED FROM ZERO, THE
VALUES OF THE POLES BEGIN TO
APPROACH ONE ANOTHER.
CRITICALLY DAMPED BEHAVIOR OCCURS
WHEN THE POLES ARE EQUAL.
UNDERDAMPED BEHAVIOR RESULTS
WHEN K
c
IS INCREASED FURTHER DUE TO
THE IMAGINARY COMPONENTS IN THE
POLES.

PID ALGORITHM -
POSITION FORM
ISA POSITION FORM FOR PID:




FOR PROPORTIONAL ONLY
| |
c t c K e t
c
( ) ( ) = +
0
DEFINITION OF TERMS
e(t) - THE ERROR FROM SETPOINT
[e(t)=y
sp
-y
s
].
K
c
- THE CONTROLLER GAIN IS A TUNING
PARAMETER AND LARGELY DETERMINES
THE CONTROLLER AGGRESSIVENESS.

I
- THE RESET TIME IS A TUNING
PARAMETER AND DETERMINES THE
AMOUNT OF INTEGRAL ACTION.

D
- THE DERIVATIVE TIME IS A TUNING
PARAMETER AND DETERMINES THE
AMOUNT OF DERIVATIVE ACTION.

PID CONTROLLER
TRANSFER FUNCTION
PID ALGORITHM -
POSITION FORM
FOR PROPORTIONAL/INTEGRAL:



FOR PROPORTIONAL/DERIVATIVE
c t c K e t e t dt
c
I
t
( ) ( ) ( ) = + +

(
}
0
0
1
t
c t c K e t
de t
dt
c D
( ) ( )
( )
= + +

(
0
t
PID ALGORITHM -
POSITION FORM
TRANSFER FUNCTION FOR PID
CONTROLLER:



G s
C s
E s
K e t e t dt
de t
dt
c c
I
D
t
( )
( )
( )
( ) ( )
( )
= = + +

( }
1
0
t
t
PID ALGORITHM -
POSITION FORM
DERIVATIVE KICK:
RESULTS FROM AN ERROR SPIKE (INCREASE IN
()

) WHEN A SETPOINT CHANGE IS INITIATED

()

IN THE PID
ALGORITHM
RESULTING EQUATION IS CALLED THE
DERIVATIVE-ON-MEASUREMENT FORM OF THE
PID ALGORITHM


c t c K e t e t dt
dy t
dt
c
I
D
s
t
( ) ( ) ( )
( )
= + +

(
}
0
0
1
t
t
DIGITAL VERSIONS OF
THE PID ALGORITHM
DIGITAL CONTROL SYSTEMS REQUIRE
CONVERSION OF ANALOG SIGNALS TO
DIGITAL SIGNALS FOR PROCESSING.
DIGITAL VERSION OF THE PREVIOUS
EQUATION IN DIGITAL FORMAT BASED ON
A SINGLE TIME INTERVAL, t: YIELDS THE
VELOCITY FORM OF THE PID ALGORITHM
c t t c t K
e t e t t
t
e t
t
y t y t t y t t
c
I
D
s s s
( ) ( )
( ) ( ) ( )
( ( ) ( ) ( )
=
+
+

(
(
(
(
A
A
A
A
A A
t
t
2 2
DIGITAL VERSIONS OF
THE PID ALGORITHM
FOR INTEGRATION OVER A TIME PERIOD,
t, WHERE n = t/t:

c t c t t K
e t
t
e i t
t
y t y t t
c
I
i
n
D
s s
( ) ( )
( ) ( * )
( ( ) ( )
=
+

(
(
(
(
=

A
A
A
A
A
t
t
1
DIGITAL VERSIONS OF
THE PID ALGORITHM
PROPORTIONAL KICK
RESULTS FROM THE INITIAL RESPONSE TO A
SETPOINT CHANGE
CAN BE ELIMINATED IN THE VELOCITY
EQUATION BY REPLACING THE ERROR TERM IN
THE ALGORITHM WITH THE SENSOR TERM

c t c t t K
y t t y t
t
e i t
t
y t y t t
c
s s
I i
n
D
s s
( ) ( )
( ) ( ) ( * )
( ( ) ( )
=
+

(
(
(
(
=

A
A
A
A
A
A
t
t
1
FIRST ORDER PROCESS WITH A
PI CONTROLLER EXAMPLE
PI CONTROLLER APPLIED TO A
SECOND ORDER PROCESS
EXAMPLE


PROPORTIONAL ACTION
USES A MULTIPLE OF THE ERROR
AS A SIGNAL TO THE CONTROLLER,
CONTROLLER GAIN,

HAS INVERSE UNITS TO PROCESS
GAIN
K
c
y
c
s
=
A
A
K
y
c
p
s
=
A
A
PROPORTIONAL ACTION
PROPERTIES
CLOSED LOOP TRANSFER
FUNCTION BASE ON A P-
ONLY CONTROLLER
APPLIED TO A FIRST
ORDER PROCESS.
PROPERTIES OF P
CONTROL
DOES NOT CHANGE ORDER
OF PROCESS
CLOSED LOOP TIME
CONSTANT IS SMALLER
THAN OPEN LOOP
p

DOES NOT ELIMINATE
OFFSET.
P-ONLY CONTROL OFFSET
PROPORTIONAL RESPONSE
ACTION WITH A PI
CONTROLLER

PROPORTIONAL CONTROL
RESPONSE OF FIRST ORDER
PROCESS TO STEP FUNCTION
OPEN LOOP - NO CONTROL


CLOSED LOOP - PROPORTIONAL
CONTROL
A A Y Y e
s SP
t
p
=

( ) 1
t
A
A
Y
Y
K K
e
s
SP
c p
t
K K
p
c p
=
+

+
1
1
1
( )
t
PROPORTIONAL CONTROL
PROPORTIONAL CONTROL MEANS
THE CLOSED SYSTEM RESPONDS
QUICKER THAN THE OPEN SYSTEM
TO A CHANGE.
OFFSET IS A RESULT OF
PROPORTIONAL CONTROL. AS T
INCREASES, THE RESULT IS:
A
A A
A
Y
Y
K K
OR
Y
Y K K
s
SP
c p
s
SP c p
=
+
=
+ 1
1
1
INTEGRAL ACTION

THE PRIMARY BENEFIT OF
INTEGRAL ACTION IS THAT IT
REMOVES OFFSET FROM SETPOINT.
IN ADDITION, FOR A PI CONTROLLER
ALL THE STEADY-STATE CHANGE IN
THE CONTROLLER OUTPUT
RESULTS FROM INTEGRAL ACTION.

INTEGRAL ACTION
WHERE PROPORTIONAL MODE
GOES TO A NEW STEADY-STATE
VALUE WITH OFFSET, INTEGRAL
DOES NOT HAVE A LIMIT IN TIME,
AND PERSISTS AS LONG AS THERE
IS A DIFFERENCE.
INTEGRAL WORKS ON THE
CONTROLLER GAIN
INTEGRAL SLOWS DOWN THE
RESPONSE OF THE CONTROLLER
WHEN PRESENT WITH
PROPORTIONAL
INTEGRAL ACTION
INTEGRAL ADDS AN ORDER TO THE
CONTROL FUNCTION FOR A
CLOSED LOOP
FOR THE FIRST ORDER PROCESS
WITH PI CONTROL, THE TRANSFER
FUNCTION IS:


WHERE

AND
G s
Y s
Y s s s
p
SP p p
( )
( )
( ) ` ` `
= =
+ +
1
2 1
2
t , t
t
t t
`
p
I p
c p
K K
=
,
t
t
`
p
I
p c p
K K
=
1
2
DERIVATIVE ACTION
PROPERTIES
THE DERIVATIVE MODE RESPONDS
TO THE SLOPE

THIS MODE AMPLIFIES SUDDEN
CHANGES IN THE CONTROLLER
INPUT SIGNAL - INCREASES
CONTROLLER SENSITIVITY

dy t
dt
s
( )
DERIVATIVE ACTION
PROPERTIES
DERIVATIVE MODE CAN
COUNTERACT INTEGRAL MODE TO
SPEED UP THE RESPONSE OF THE
CONTROLLER.
DERIVATIVE DOES NOT REMOVE
OFFSET
IMPROPER TUNING CAN RESULT IN
HIGH-FREQUENCY VARIATION IN
THE MANIPULATED VARIABLE
7.6 DOES NOT WORK WELL
WITH NOISY SYSTEMS
DERIVATIVE ACTION
PROPERTIES
PROPERTIES OF DERIVATIVE CONTROL:
DOES NOT CHANGE THE ORDER OF THE
PROCESS
DOES NOT ELIMINATE OFFSET
REDUCES THE OSCILLATORY NATURE OF THE
FEEDBACK RESPONSE
CLOSED LOOP TRANSFER FUNCTION FOR
DERIVATIVE-ONLY CONTROL APPLIED TO
A SECOND ORDER PROCESS.

DERIVATIVE ACTION
RESPONSE FOR A PID
CONTROLLER

DERIVATIVE ACTION
THE PRIMARY BENEFIT OF
DERIVATIVE ACTION IS THAT IT
REDUCES THE OSCILLATORY
NATURE OF THE CLOSED-LOOP
RESPONSE.