Chapter 4
Chapter 4
Chapter 4
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Chapter
1. CONTROLLER
A controller is a device that generates an output signal
based on the input signal it receives. The input signal is
actually an error signal, which is the difference between the
measured variable and the desired value, or set-point.
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For this example, the fulcrum point is such that a full 4-in
change in float height causes a full 4-in stroke of the valve.
Therefore:
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P.B. = 100%
The controller has a proportional band of 100%, which
means the input must change 100% to cause a 100% change
in the output of the controller.
If the fulcrum setting was changed so that a level change of
2 in, or 50% of the input, causes the full 3-in stroke, or
100% of the output, the proportional band would become
50%. The proportional band of a proportional controller is
important because it determines the range of outputs for
given inputs.
Example of a Proportional Process Control System
Figure 6 illustrates a process system using a proportional
temperature controller for providing hot water.
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that are large or exist for a long period of time can cause
the final control element to reach its "fully open" or "fully
shut" position before the error is reduced to zero. If this
occurs, the final control element remains at the extreme
position, and the error must be reduced by other means in
the actual operation of the process system.
5.2. Properties of Integral Control
The major advantage of integral controllers is that they have
the unique ability to return the controlled variable back to
the exact set-point following a disturbance.
Disadvantages of the integral control mode are that it
responds relatively slowly to an error signal and that it can
initially allow a large deviation at the instant the error is
produced. This can lead to system instability and cyclic
operation. For this reason, the integral control mode is not
normally used alone, but is combined with another control
mode.
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8. PROPORTIONAL-INTEGRAL-DERIVATIVE
CONTROL SYSTEMS
Proportional plus reset plus rate controllers combine
proportional control actions with integral and derivative
actions.
Proportional-Integral-Derivative
For processes that can operate with continuous cycling, the
relatively inexpensive two position controller is adequate.
For processes that cannot tolerate continuous cycling, a
proportional controller is often employed. For processes
that can tolerate neither continuous cycling nor offset error,
a proportional plus reset controller can be used. For
processes that need improved stability and can tolerate an
offset error, a proportional plus rate controller is employed.
However, there are some processes that cannot tolerate
offset error, yet need good stability. The logical solution is to
use a control mode that combines the advantages of
proportional, reset, and rate action. This chapter describes
the mode identified as proportional plus reset plus rate,
commonly called Proportional-Integral-Derivative (PID).
8.1. Proportional Plus Reset Plus Rate Controller
Actions
When an error is introduced to a PID controller, the
controllers response is a combination of the proportional,
integral, and derivative actions, as shown in Figure 20.
Assume the error is due to a slowly increasing measured
variable. As the error increases, the proportional action of
the PID controller produces an output that is proportional to
the error signal. The reset action of the controller produces
an output whose rate of change is determined by the
magnitude of the error. In this case, as the error continues
to increase at a steady rate, the reset output continues to
increase its rate of change. The rate action of the controller
produces an output whose magnitude is determined by the
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Summary
Two Position Controller Summary
It is a device that has two operating conditions:
completely on or completely off.
This device provides an output determined by whether
the error signal is above or below the set-point.
Deviation is the difference between the set-point of a
process variable and its actual value.
In the proportional mode, the amount of valve
movement is proportional to the amount of deviation.
Gain compares the ratio of amount of change in the
final control element to change in the controlled
variable, and offset is the deviation that remains after a
process has been stabilized.
Proportional Control Summary
In the proportional control mode, the final control
element is throttled to various positions that are
dependent on the process system conditions.
With proportional control, the output has a linear
relationship with the input.
The proportional band is the change in input required
to produce a full range of change in the output due to
the proportional control action.
The controlled variable is maintained within a specified
band of control points around a set-point.
Integral Control Summary
An integral controller provides an output rate of
change that is determined by the magnitude of the
error and the integral constant.
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plus
rate
control
increases
system
action
responds
to
the
error
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