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PID Implementation

Chapter 3 of the Industrial Process Control course focuses on the implementation of controller modes using electronic and pneumatic techniques. It covers the design and operation of various controller types, including proportional, integral, derivative, and composite modes, using operational amplifiers and pneumatic systems. The chapter aims to equip students with the ability to draw and describe relevant circuits and systems for effective process control.

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Adem Abdela
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Download as PPTX, PDF, TXT or read online on Scribd
10 views

PID Implementation

Chapter 3 of the Industrial Process Control course focuses on the implementation of controller modes using electronic and pneumatic techniques. It covers the design and operation of various controller types, including proportional, integral, derivative, and composite modes, using operational amplifiers and pneumatic systems. The chapter aims to equip students with the ability to draw and describe relevant circuits and systems for effective process control.

Uploaded by

Adem Abdela
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Industrial Process Control

(EMEg5171)

CHAPTER 3
CONTROLLER IMPLEMENTATION
Lecture
Lidiya A.

2022 gc
OUTLINE

1. Introduction
2. General Features
3. Electronic controllers
4. Pneumatic controllers

NOTE: Revising operations of Operational Amplifier is required!


Chapter Objectives
The objectives of this chapter is to provide an understanding on how controller
modes can be implemented using electronic and pneumatic techniques.
At the end of this chapter students will be able to:

 Draw schematic, and describe how an Error-detector and a 2-position controller


can be implemented using op-amp.
 Draw & describe op-amp circuits that implement continuous controller modes
(i.e. P,I & D)
 Draw & describe op-amp circuit that implement composite controller modes (i.e. PI, PD
& PID)
 Diagram and describe how P, PI, PD and PID control modes can be implemented using
pneumatic Nozzle/ Flapper system
INTRODUCTION
This chapter provides a detailed description of how controller modes are
implemented using analog techniques (i.e. electronic techniques and pneumatic
techniques).
Analog Controller is a device that implements different controller modes using
analog signals to represent the loop parameters.
The analog signal may be in the form of an electric current or a pneumatic air
pressure.
The controller accepts a measurement expressed in terms of one of these signals,
calculates an output for the mode being used, and outputs an analog signal of the
same type.
Analog controllers are usually designed to fit into a panel assembly as a slide in/out
module, as shown in next slide.
Cont…
Typical Physical appearance of Analog Controller
Front pane:
displays information for operators and allows
adjustment of the setpoint.
There are switch to select Manual/Automatic modes
 In manual the output can be adjusted
independently of the input using the output adjust
knob.
 In automatic mode, this knob has no effect on the
output.
Side panel:
On this side of the controller, when partially pulled out,
 knobs are available to adjust operation of the
controller modes.
 the proportional, integral and derivative gains can
be adjusted.
 In addition, filtering action and reverse/direct
operation can often be selected.
Cont…

 SIM960 Analog PID Controller


ELECTRONIC CONTROLLER
Electronic method of realizing controller modes necessitates the use of OPAMPs as
the primary circuit elements.
 It is relatively easy to construct circuits performing amplification (gain),
integration, differentiation, summation, and other useful control functions with just a
few opamps, resistors, and capacitors.
Error Detector
The detection of an error signal is done in electronic controllers by taking the
difference between voltages.
One voltage is generated by the process signal current passes to ground through RL
providing a signal voltage .
The second voltage represents the setpoint,
Two Position Controller
A two position controller can be implemented by electronic and electromechanical
designs.
Electromechanical
Many house hold air-conditioning and heating systems employ a two position
controller constructed from bimetal strip and mercury switch.

 As the temperature decreases, bimetal


strip bends and it reaches a point
where the mercury slides down to
close an electrical contact.
 The inertia of the mercury tends to
keep system in that position until the
temperature increases to a value above
the set point temperature.
Implementation using OPAMP
When the controller input voltage, , reaches a value , then the comparator output should go to the ON state,
which is defined as some voltage, .
When the input voltage, , falls below a value , , the comparator output should switch to the OFF state, which is
defined as 0 V.
From analysis of the circuit:
The high (ON) switch voltage is:
The low (OFF) switch voltage is:
Proportional Mode
Implementation of this mode requires a circuit that has the response given by:

If both the controller output and error expressed in terms of voltage, then the above
equation is a summing amplifier.
Cont…
Design Procedure:
I. Determine input voltage range (from the range of measurement, from which the
error voltage will be taken)
II. Output voltage range (from controller output range)
III. Calculate the gain (Gp), which is not simply Kp.
Proportional gain tells 1% change of input error results change of controller output.
 Thus,
 (Note that if PB is given instead of Kp, since Kp = 100/.PB the formula can
alternatively written as: )
 Finally we can get the resistors and . (i.e. choose a value to one resistor and
compute the other with the gain formula )
Example
Example
Example
Integral Mode

The values of R and C can be adjusted to obtain the desired integration time.
The initial controller output is the integrator output at t = 0.
Cont…
If is made too large, the output rises so fast that overshoots of the optimum setting
occur and it results cycling.
Determination of GI
The actual value of GI and therefore R and C, is determined from KI and the input
and output voltage ranges.
Integral gain says that, an input error of 1 % must result an output that changes KI %
per second. Or if an error of 1% lasts for 1s, the output must change by KI percent.
Thus,
Note: is often given in minute because industrial processes are slow. Thus we
need to convert it into second.
And it is often expressed in integration time,
Example
Derivative Mode
The derivative mode is never used alone because it can not provide a controller output
when the error is zero or constant.
𝑑 𝑒𝑝
𝑝 (𝑡 )= 𝑘𝐷
𝑑𝑡

𝒅𝑽 𝒆
𝑽 𝒐𝒖𝒕 =− 𝑹𝑪
𝒅𝒕
From a practical perspective, this circuit can not be used because it tends to be unstable,
that is, it may begin to exhibit spontaneous oscillations in the output voltage.
The reason for this instability is the occurrence of very large gain at high frequencies
where the derivative is very large.
Cont…
To study this effect, consider the input voltage given by a sinusoidal voltage oscillating
With some frequency f. Then sin (2π ft ). using ac analysis

shows that the magnitude of the output voltage increases linearly with frequency, so in
principle, as the frequency goes to infinity, so does the output.
Clearly this is unacceptable in control theory. A little high frequency noise will cause
a very large change in output voltage.
A modification is provided that essentially clamps the gain above some
frequency to a constant value.
Cont…
The output of the modified circuit become:

For frequencies for which


i. (the circuit takes the derivative as required)
ii. ( showing no derivative action)
When using derivative circuit
I. Estimate the maximum physical frequency, , at which the system can
respond.
II. Then pick , so that for frequencies much higher than ,
 satisfied thus the circuit acts as a simple fixed gain amplifier.
Assuming above criteria's are met we can ignore for the controller design and
define the circuit derivative gain as
Cont…
Guideline to design Derivative mode
1. Determine
2. Solve for C from
3. Estimate
4. Solve for
Example
Note: A pure mode of controllers is seldom
used in process control because of the
advantages of composite modes in providing
good control.
PI mode
PI mode controller equation is given by:

From the above OPAMP circuit analysis we get:

+
Thus
+
Example
PD mode
PD mode controller equation is given by:

From the above OPAMP circuit analysis we get:

Thus

The circuit include clamp to protect against high gain at high frequency in derivative
term.
and
Example
PID mode

+

 is chosen from:
Example

i.e. Since you have seven unknowns but four equations.


Lets take:

Then Solve for:


Cont..
Pneumatic controllers
Reason for using pneumatic controllers:
1. Competitive in cost and reliability
2. Safety (Danger of explosion from electrical malfunctions not exists.)
3. Final control element is often pneumatically or hydraulically operated, which
suggests that an all pneumatic process control loop might be advantageous.
General features
The outward appearance of a pneumatic controller is typically the same as that of the
electronic controller.
The same readout of set point, error and controller output appears, and
adjustments of gain, rate and reset are available.
The working signal is most typically 3 - 15 psi standard pneumatic process control
signal.
It is based on the principles of nozzle/flapper system
Cont…
nozzle/flapper system
A very important signal conversion is from pressure to mechanical motion and vice
versa. This conversion can be provided by a flapper nozzle system (sometimes called
as baffle/nozzle system).
Cont…
A regulated supply of pressure, usually 20 psig, provides a source of air through the
restriction. The nozzle is open at the end where the gap exists between the nozzle and
flapper, and air escapes in this region.
If the flapper moves down and closes off the nozzle opening so that no air leaks, the
signal pressure will rise to the supply pressure.

As the flapper moves away, the signal pressure will drop because of leaking of air.
Finally, when the flapper is far away, the pressure will stabilize at some value
determined by the maximum leak through the nozzle.
Cont…
Note the great sensitivity in the central region.

A nozzle/flapper is designed to operate in the central region where the slope of the
line is greatest.
In this region, the response will be such that a very small motion of the flapper can
change the pressure by an order of magnitude.
 P-Mode responds to magnitude of error
 I-Mode responds to the time the error stays
(accumulation of error in time)
 D-Mode responds to rate of change of error
Proportional Mode

If the input pressure increases, then the input


bellows forces the flapper to rotate to close off the
nozzle.

When this happens, the output pressure increases


so that the feedback bellows exerts a force to
balance that of the input bellows.
Cont…
A balance condition then occurs when torques exerted by each about the pivot are equal

 Because the bellows are usually of fixed geometry, the gain is varied by changing the lever
arm length.
PI
Cont…
In this case, an extra bellows with a variable restriction is added to the proportional system.
Suppose the input pressure shows a sudden increase.
This drives the flapper toward the nozzle, increasing output pressure until the proportional bellows
balances the input as in the previous case. (i.e. Proportional actiion)
The integral bellows is still at the original output pressure, because the restriction prevents
pressure changes from being transmitted immediately.
As the increased pressure on the output bleeds through the restriction, the integral bellows
slowly moves the flapper closer to the nozzle, thereby causing a steady increase in output
pressure. (i.e. Integral action)

The variable restriction allows for variation of the leakage, rate, and hence the integration
time.
PD
Cont…
A variable restriction is placed on the line leading to the balance bellows.
Thus, as the input pressure increases, the flapper is moved toward the nozzle with no
impedance, because the restrictions prevent an immediate response of the balance bellows.
Thus the output pressure rises very fast and then, as the increased pressure leaks in to the
balance bellows, the output pressure starts to decreases as the balance bellows moves the
flapper back away from the nozzle. (PD action)
Adjustment of the variable restriction allows for changing the derivative time constant.
PID

 By opening or closing restrictions, the three mode controller can be used to


implement the other composite modes.
 Proportional gain, reset time, and rate are set by adjustment of bellows separation and
restriction size.
Thank You

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