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Chapter - Continuous Control: A) Water Tank

This document provides examples and explanations of continuous control systems and feedback control using proportional, integral, and derivative (PID) control. It includes block diagrams of common control systems like water tanks and conveyor belts. It also shows implementations of PID control using ladder logic programming.

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Moddy Cavallindo
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36 views14 pages

Chapter - Continuous Control: A) Water Tank

This document provides examples and explanations of continuous control systems and feedback control using proportional, integral, and derivative (PID) control. It includes block diagrams of common control systems like water tanks and conveyor belts. It also shows implementations of PID control using ladder logic programming.

Uploaded by

Moddy Cavallindo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Chapter - Continuous Control

Examples
a) Water Tank

q2

valve

motor
controller
b) Motor Driven Conveyor

Vin

A Feedback Controller
q1

Main water
supply

q2

Continuous Feedback - Logical Output

upper
temp.
limit

room
temp.

overshoot

set temp.
(nominal)
lower
temp.
limit

time
heater on

heater off

heater on

heater off

heater on

Ladder Logic Example

GRT
SourceA N7:0
SourceB 74

O:000/0

LES
SourceA N7:0
SourceB 72

O:000/0

Block Diagram
e rror neural
system and
muscles

desired +

applie d

arm structure
and dynamics

a ctua l

eyes

** This block diagram shows a system that has dynamics, actuators,


feedback sensors, error determination, and objectives

real world
arm position

An Example

INPUT
(e.g. gas)

Control
variable
SYSTEM
(e.g. a car)

vdesire d

verror
+

Driver or
cruise control

gas

OUTPUT
(e.g. velocity)

car

vac tual

Continuous Feedback and Output

C desired +
-

Cactual

Controller

Current
Amplifier

Encoder

DC
Servomotor

actual

Ball
Screw

Proportional Control Equations


Summation Block:

e = Cdesired C actual

Controller:

Vc = K p e

Current Amplifier:

Vm = Vc
Km 2
Km

d
+ =
V
m
dt
J R
JR
d
= actual
dt

Servomotor:

Ball Screw:

actual
x =
TP I

Encoder:

C actual = PPR actual

Modeling Behavior with Differential Equations


2

Km
d

actual +

dt
J
R

Km
d

actual =
Vm
dt
JR

V m = Kp e
V m = Kp C desired Cactual
2
Km 2

d


actual +
dt
J
R

d 2

dt actual +

2
Km

JR

Km
d

K C

p
desired Cactual
dt actual
JR
Km
d

K C

actual
p
desired PP R actual
dt
JR

2
Km2 + Km PP R Kp d
Kp Km

C
actual =
+

actual
desired
dt
JR
JR

dt

Implementing the controller in ladder logic


S ta rt

S to p

R un

R un
R un

M O V
S o u rc e 0
D e s t r a c k :2 :O . C h 0 O u t p u t D a t a

R un

SUB
S o u r c e A S e t p o in t
S o u r c e B r a c k :2 :I . C h 0 I n p u t D a t a
D e st E rro r
M UL
S o u rc e A E rro r
S o u rc e B K p
D e s t r a c k :2 :O . C h 0 O u t p u t D a t a

Proportional Integral Differential (PID) Control


de
u = Kc e + Ki e dt + Kd
dt
Kc
Ki
Relative weights of components
Kd

proportional

PID Controller

Kp e

V
e

+
-

Ki e
derivative
d
Kd e
dt

+V

integral

u
+
+

amp
-V

motor

PID Control With Ladder Logic


P ID
C o n tr o l w o r d :
P r o c V a r ia b le :
T i e b a c k : N 7 :1
C o n t r o l v a r ia b le :
P I D m a s t e r lo o p :
I n h o ld b it :
I n h o ld v a lu e :
S e t p o in t :
P r o c e s s v a r ia b le :
O u tp u t % :

p id _ c o n t r o l
r a c k :2 :I . C h 0 I n p u t D a t a
0
r a c k :2 :O . C h 0 O u t p u t D a t a
0
0
0
- - d is p la y s v a lu e - - - d is p la y s v a lu e - - - d is p la y s v a lu e - -

N o t e : W h e n e n t e r in g t h e la d d e r lo g ic p r o g r a m in t o t h e c o m p u t e r y o u w ill b e a b le t o
e n te r th e P I D p a ra m e te r s o n a p o p u p s c r e e n .

PID CONTROL AND STATUS BITS


pid.CTL:DINT
pid.EN:BOOL - the PID function is enabled and running
pid.PVT:BOOL pid.DOE:BOOL - 0=d/dtPV; 1=d/dtError
pid.SWM:BOOL - 0 = automatic, 1 = manual
pid.MO:BOOL
pid.PE:BOOL - 0=independent PID eqn; 1=dependent
pid.NDF:BOOL - 0=no derivative smoothing; 1=derivative smoothing
pid.NOBC:BOOL - 0=no bias calculation, 1=yes
pid.NOZC:BOOL - 0=no zero crossing calculation; 1=yes
pid.INI:BOOL - 0=not initialized; 1=initialized
pid.SPOR:BOOL - 0=setpoint not out of range, 1=within
pid.OLL:BOOL - 0=above minimum CV limit; 1=outside
pid.OLH:BOOL - 0=below maximum CV limit; 1=inside
pid.EWD:BOOL - 0=error outside deadband; 1=error inside
pid.DVNA:BOOL - 0=ok; 1=Error is below lower limit
pid.DVPA:BOOL - 0=ok; 1=Error is above upper limit
pid.PVLA:BOOL - 0=ok; 1=PV is below lower limit
pid.PVHA:BOOL - 0=ok; 1=PV is above upper limit

PID
CONTROL
REALS

pid.SP:REAL setpoint
pid.KP:REAL - proportional gain
pid.KI:REAL - integral gain
pid.KD:REAL - derivative gain
pid.BIAS:REAL - feed forward bias
pid.MAXS:REAL - maximum scaling
pid.MINS:REAL - minimum scaling
pid.DB:REAL - deadband
pid.SO:REAL - set output percentage
pid.MAXO:REAL - maximum output limit percentage
pid.MINO:REAL - minimum output limit percentage
pid.UPD:REAL - loop update time in seconds
pid.PV:REAL - scaled PV value
pid.ERR:REAL - scaled Error value
pid.OUT:REAL - scaled output value
pid.PVH:REAL - process variable high alarm
pid.PVL:REAL - process variable low alarm
pid.DVP:REAL - positive deviation alarm
pid.DVN:REAL - negative deviation alarm
pid.PVDB:REAL - process variable deadband alarm
pid.DVDB:REAL - error alarm deadband
pid.MAXI:REAL - maximum PV value
pid.MINI:REAL - minimum PV value
pid.TIE:REAL - tieback value for manual control
pid.MAXCV:REAL - maximum CV value
pid.MINCV:REAL - minimum CV value
pid.MINTIE:REAL - maximum tieback value
pid.MAXTIE:REAL - minimum tieback value
pid.DATA:REAL[17] - temporary and workspace (e.g. integration sums)

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