Control Engineering

Chapter 6
Combination System.
- Mohd Aliff Aminuddin 01DKP08F2017
-Khairul Naim Bin Mhd Hashim 01DKP08F2014
-Fredrick yusoff khan 01DKP08F2013
-Azzaharul Nazrin Bin Zainal Azri 01DKP08F2012
Defination Of Combination System
• There have three (3) systems that are combined together under this Combination
System.
• P.I.D system.
• PID is known as three term elements that separate the P ( proportional ) , I
( integral ) and D (derivative)
• PID is one of the interconnection components in the circuit or system that
comparative and computation the other measurement variable in order to
minimize the error value .
FUNCTION OF THREE TERM
ELEMENT
• P – Proportion the error value at the present, Kp. A high proportional gain results
a large of change in the output for given change in the error .
• I - Accumulative the past error value,Ki.Proportional to the both magnitude of the
error and the duration error .
• D – Derivate / prediction the error value for the future , Kd .The rate of change of
the process error is calculated by determining the slope of the error over time .
PID Tuning
• Differences occur between the PID controller and normal
controllers in the way they work. The PID controller uses an
advanced formula to try and prevent any errors from occurring.
• This ensures the devices or systems being controlled perform as
flawlessly as possible.
• This formula type is known as an algorithm . An algorithm directs
actions based on what is happening. The algorithm would have
specific directions on how to react to certain changes.
• It is similar to a magazine quiz that asks questions and then uses
arrows to direct the reader to the next question based on her
answer to the previous question. In this way, an algorithm is a
series of different procedures that can be followed or altered based
on what the device receiving the orders is doing.
• Finally, the PID controller participates in a feedback
loop. Information is sent out by the controller,
received by the devices, and information from the
devices is sent back to the controller.
The controller then makes a decision on how to
proceed based on the information it receives and
sends it out, creating a continuous loop.
PID Process Control
• One main advantage stands out above the rest when using a PID controller.
It can control various systems or devices with little human interaction. Not
only does this allow the workers to concentrate on other tasks, but it also
allows many processes to run at once.
• These systems require a substantial investment in system design,
transducers, controllers, and complex machinery to achieve the desired goal
of production around the clock. Most continuous process systems use a
proportional-integral-derivative (PID) controller. A PID controller collects
feedback from various checkpoints in the system and runs through three
calculations.
PID CONTROL SYSTEM
• Proportional-Integral-Derivative (PID) or three-mode control is the most
common algorithm used by process controllers to execute throttling control
action. Briefly, a PID controller provides immediate, long term, and
anticipatory intervention to manipulate a control actuator, such as tank
filling,to make the variable equal at the set point we want and keep it at that
level.
• This type of equipment includes things like tanks for chemical reactions,
such as fermentation, along with tanks designed for storing materials used
in various processes. Filters, controllers, valves, and other auxiliary
equipment is also considered a form of process equipment.
Stability
• If the PID controller parameters (the gains of the proportional, integral and
derivative terms) are chosen incorrectly, the controlled process input can be
unstable, i.e., its output diverges, with or without oscillation, and is limited
only by saturation or mechanical breakage. Instability is caused
by excess gain, particularly in the presence of significant lag.
• Generally, stability of response is required and the process must not
oscillate for any combination of process conditions and setpoints, though
sometimes marginal stability (bounded oscillation) is acceptable or desired.
Optimum behavior
• The optimum behavior on a process change or setpoint change varies
depending on the application.
• Two basic requirements are regulation (disturbance rejection – staying at a
given setpoint) and command tracking (implementing setpoint changes) –
these refer to how well the controlled variable tracks the desired value.
Specific criteria for command tracking include rise time and settling time.
Some processes must not allow an overshoot of the process variable beyond
the setpoint if, for example, this would be unsafe. Other processes must
minimize the energy expended in reaching a new setpoint.
Limitations of PID control
• While PID controllers are applicable to many control problems, and often perform satisfactorily without
any improvements or even tuning, they can perform poorly in some applications, and do not in general
provide optimal control. The fundamental difficulty with PID control is that it is a feedback system,
with constant parameters, and no direct knowledge of the process, and thus overall performance is
reactive and a compromise – while PID control is the best controller with no model of the process,better
performance can be obtained by incorporating a model of the process.
• The most significant improvement is to incorporate feed-forward control with knowledge about the
system, and using the PID only to control error. Alternatively, PIDs can be modified in more minor
ways, such as by changing the parameters (either gain scheduling in different use cases or adaptively
modifying them based on performance), improving measurement (higher sampling rate, precision, and
accuracy, and low-pass filtering if necessary), or cascading multiple PID controllers.
• PID controllers, when used alone, can give poor performance when the PID loop gains must be reduced
so that the control system does not overshoot, oscillate or hunt about the control setpoint value. They
also have difficulties in the presence of non-linearities, may trade-off regulation versus response time,
do not react to changing process behavior (say, the process changes after it has warmed up), and have
lag in responding to large disturbances.
PID CONTROLLER THEORY
 The functions of the individual proportional, integral and
derivative controllers complements each other. If they are
combined its possible to make a system that responds quickly to
changes (derivative), tracks required positions (proportional), and
reduces steady state errors (integral).
 Note that these correlations may not be exactly accurate, because

P, I and D are dependent of each other. Changing one of these
variables can change the effect of the other two.
 It is a special case of the common PID controller in which the

derivative (D) of the error is not used
Proportional term
• The proportional term makes a change to the output that is

proportional to the current error value. The proportional response
can be adjusted by multiplying the error by a constant Kp, called the
proportional gain.
• The proportional term is given by:
Kp = proportional gain
e = SP – PV
t = time the present
Pout = Proportional out
• A high proportional gain results in a large change in the output for a

given change in the error
• If the proportional gain is too high, the system can become unstable .In
contrast, a small gain results in a small output response to a large input
error, and a less responsive or less sensitive controller. If the
proportional gain is too low, the control action may be too small when
responding to system disturbances. Tuning theory and industrial
practice indicate that the proportional term should contribute the bulk
of the output change
Integral term
• Integral ( sometimes call reset ) is proportional to

both the magnitude of the error and the duration
of the error .
• The integral term is given by:
• Iout = integral of output

Ki = integral gain
e = error ( SP – PV )
t = time at present
Derivative term
• The derivative of the process error is calculated by

determining the slope of the error over time and
multiplying this rate of change by the derivative gain Kd.
The magnitude of the contribution of the derivative term to
the overall control action is termed the derivative gain, Kd.
• The derivative term is given by:
• Dout = derivative out

Kd = derivative gain
e = error ( SP – PV )
t = time at present
COMBINATION OF PID
• MV ( t ) = Pout + Iout +
Dout
Conclusion
-There are basicly three types of controller that is PROPORTIONAL
controller, INTEGRAL controller and DERIVATIVE controller.
-With the combination of this three types of controller formed PID
(Proportional Integral Derivative) controller.
-With this combination the output of the control system can be achieved to
the desired target.
Reference
-Wikipedia
-Google translate

Control Engineering

Uploaded by

Copyright:

Available Formats

Control Engineering

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Control Engineering

Uploaded by

Copyright:

Available Formats

Chapter 6

 Note that these correlations may not be exactly accurate, because

 It is a special case of the common PID controller in which the

• The proportional term makes a change to the output that is

• A high proportional gain results in a large change in the output for a

• Integral ( sometimes call reset ) is proportional to

• Iout = integral of output

• The derivative of the process error is calculated by

• Dout = derivative out

You might also like