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Republic of Iraq

Ministry of Higher Education and Scientific Research


Southern Technical University
Thi-Qar Technical College
Electromechanical Systems Engineering Department

Automation &Control

Lecture 4
CONTROL UNIT
(SOFTWARE)
The second component of automation systems are the units control
(controls software’s) , which use to controlling the systems
operations. Where the control units working to makes the system
stable or more stability by adjust the timing and the working between
the subparts of system to reach to the best result for the planned work
and this done with the help of sensors or measuring elements. The
controller compares the actual value of the system output with the
reference input (desired value), determines the error or deviation,
and produces a control signal that will reduce the error or deviation to
zero or to a very small value.
Proportional-Integral-Derivative controller
(PID controller)
A proportional-integral-derivative controller (PID controller) is a control
loop feedback mechanism (controller) widely used in industrial control
systems. The PID controller automatically compares the desired target
value (setpoint or SP) with the actual value of the system (process
variable or PV). The difference between these two values is called the
error value, denoted as e(t), such that e(t) = SP – PV(t)
The PID controller algorithm involves three separate constant
parameters, and is accordingly sometimes called three-term control:
1. The proportional (P)
2. The integral (I)
3. The derivative (D)
2
PID then applies corrective actions automatically to bring the PV to the
same value as the SP using three methods:
1. The proportional (P) component responds to the current error value
by producing an output that is directly proportional to the magnitude
of the error. This provides immediate correction based on how far the
system is from the desired setpoint.
2. The integral (I) component, in turn, considers the cumulative sum of
past errors to address any residual steady-state errors that persist
over time, eliminating lingering discrepancies.
3. The derivative (D) component predicts future error by assessing the
rate of change of the error, which helps to mitigate overshoot and
enhance system stability, particularly when the system undergoes
rapid changes.

Classifications of Industrial Controllers:- most industrial controllers may


be classified according to their control actions as:
1. Proportional controllers (P)
2. Proportional-plus-integral controllers (PI)
3. Proportional-plus-derivative controllers (PD)
4. Proportional-plus-integral-plus-derivative controllers (PID)
Proportional Control Action.
For a controller with proportional control action, the relationship
between the output of the controller u(t) and the actuating error signal
e(t) is

or, in Laplace-transformed quantities,

where Kp is termed the proportional gain.

Whatever the actual mechanism may be and whatever the form of the
operating power, the proportional controller is essentially an amplifier
with an adjustable gain.
Proportional-Plus-Integral Control Action
The control action of a proportional plus-integral controller is defined by

or the transfer function of the controller is

Where Ti is called the integral time.


Proportional-Plus-Derivative Control Action
The control action of a proportional plus-derivative controller is defined
by

and the transfer function is

Where Td is called the derivative time.


Proportional-Plus-Integral-Plus-Derivative Control Action
The combination of proportional control action, integral control action, and
derivative control action is termed proportional-plus-integral-plus-
derivative control action. It has the advantages of each of the three
individual control actions. The equation of a controller with this combined
action is given by

or the transfer function is

where Kp is the proportional gain, Ti is the integral time, and


Td is the derivative time.
The controller attempts to minimize the error by adjusting the process
through use of a manipulated variable as shown in figure 1, which it
represents the basic block diagram of a PID controller system.

Figure (1). shown the PID control


Where
Kp : Proportional Gain ; and use to decrease the rise time.
Ki : Integral Gain ; and use to eliminate the steady-state error.
Kd : Derivative gain ; and use to reduce the overshoot and settling time
e(t): error

e(t)= r(t)- y(t)

8
The overall control function

where all non-negative, denote the coefficients for


the proportional, integral, and derivative terms respectively
(sometimes denoted P, I, and D).

In the standard form of the equation are respectively


replaced by the advantage of this being that
have some understandable physical meaning, as they represent an
integration time and a derivative time respectively.
is the time constant with which the controller will attempt to
approach the set point.
determines how long the controller will tolerate the output being
consistently above or below the set point.

Pneumatic PID (three-term) controller. The magnitudes of the three terms


(P, I and D) are adjusted by the dials at the top.
Electronic PID (three-term) controller. The magnitudes of the three terms (P, I
and D) are adjusted automatically.
Programmable PID (three-term) controller. The magnitudes of the three terms
(P, I and D) are adjusted automatically and manually.

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