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PID Controller

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49 views17 pages

PID Controller

Uploaded by

ali sheta
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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PID Controller

Process Systems

Get More from One


Avantis • Foxboro • SimSci-Esscor • Triconex
Process Systems
Schematic Diagram of PID Controller

Invensys Confidential 2
Process Systems
Three Mode (PID) Controller

 Proportional

 Integral

 Derivative

Invensys Confidential 3
Process Systems
Proportional Control

 Define an error signal, e, by:

e = Ysp–Ym

Where:

 Ysp= set point (SP)

 Ym= measured process variable (PV)

Invensys Confidential 4
Process Systems
Proportional Controller

 For proportional control:

p(t) = p + K c e(t)
Where:

p(t) = controller output


p = bias value (adjustable)
Kc= controller gain (dimensionless, adjustable)

Invensys Confidential 5
Process Systems
Ideal and Actual Behavior of P-Controller

Invensys Confidential 6
Process Systems
Proportional Band and Controller Action

 Proportional Band, PB

 Controller action

– Direct-Acting (Kc< 0)
“output increases as input increases“

– Reverse-Acting (Kc> 0)
“output increases as input decreases"

Invensys Confidential 7
Process Systems
Example 1: Flow Control Loop

 Select sign of Kc

 Consequences of wrong controller action

Invensys Confidential 8
Process Systems
Offset and Bias

Steady
state offset
Invensys Confidential 9
Process Systems
Integral Control Action

 = reset time (or integral time)


 1/I =repeats per minute

Invensys Confidential 10
Process Systems
Proportional-Integral (PI) Control

 Most popular controller


 Integral provides memory of e
 Response to unit step change in e:

Invensys Confidential 11
Process Systems
Elimination of steady state error

 p (t) is changing with time until e = 0, where p reaches


steady state

Invensys Confidential 12
Process Systems
Derivative Control Action

 Ideal derivative action

de
p ( t ) p   D
dt

 Used to improve dynamic response


 Derivative kick
 Not used alone

Invensys Confidential 13
Key Characteristics of Process Systems
Commercial PID Controllers

Invensys Confidential 14
Process Systems
Automatic and Manual Modes

 Automatic Mode

– Controller output, p(t), depends on e(t), and controller constants.

 Manual Mode

– Controller output, p(t), is adjusted manually.

– plant start-up, plant shut-down, and emergencies

– Percentage of controllers "on manual”(30% in 2001, Honeywell survey)

Invensys Confidential 15
Summary of the Most Commonly Process Systems
Used Controller Modes

 Proportional:

– Simple.
– Inherently stable when properly tuned.
– Easy to tune.
– Experiences offset at steady state. (OK for level control in storage tanks)

 Proportional plus integral:

– No offset.
– Better dynamic response than reset alone.
– Possibilities exist for instability.

Invensys Confidential 16
Summary of the Most Commonly Used Process Systems
Controller Modes

 Proportional plus derivative:

– Stable.
– Less offset than proportional alone (use of higher gain possible).
– Reduces lags, i.e., more rapid response.

 Proportional plus integral plus derivative:

– Most complex
– Rapid response
– No offset.
– Best control if properly tuned.

Invensys Confidential 17

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