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PID Control

PID control provides continuous output variation within a feedback loop to accurately control processes by minimizing oscillations and increasing efficiency. It uses proportional, integral, and derivative terms tuned for the application to reduce errors and provide stability. PID controllers are commonly digital and can be single, dual, or multi-loop for applications like temperature, flow, and pressure control in industries, laboratories, and other areas requiring precision. PID works by continuously calculating the error between the setpoint and process variable, and applying a correction based on P, I, and D terms to minimize the error over time through adjustment of the control variable.

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Dragan
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624 views

PID Control

PID control provides continuous output variation within a feedback loop to accurately control processes by minimizing oscillations and increasing efficiency. It uses proportional, integral, and derivative terms tuned for the application to reduce errors and provide stability. PID controllers are commonly digital and can be single, dual, or multi-loop for applications like temperature, flow, and pressure control in industries, laboratories, and other areas requiring precision. PID works by continuously calculating the error between the setpoint and process variable, and applying a correction based on P, I, and D terms to minimize the error over time through adjustment of the control variable.

Uploaded by

Dragan
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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PID Control

PID stands for Proportional, Integral, Derivative.

PID control provides a continuous variation of output within a control loop feedback
mechanism to accurately control the process, removing oscillation and increasing
efficiency.

How Do PID Controllers Work?


Where proportional control is used to minimize the oscillation characteristic of on/off
control, PID control goes that bit further to reduce errors and provide accuracy and
stability in a process. It does this by using the integral action and derivative actions
to eliminate control deviation errors and to manage rapid process movements. All
three PID terms need to tuned appropriately for the application requirements to achieve
the best control.

For a high level of control, digital PID controllers are often used. These typically come in
the form of PID Temperature Controllers or PID Process Controllers and can be single,
dual or multi-loop instruments.

PID control is used for a variety of process variables such as; Temperature, Flow and
Pressure. Typically, challenging applications such as industrial heat treatment
processes, ovens and furnaces use PID controllers as well as in the scientific and lab
sector where precision and reliability is essential to the quality of a control application.
Fundamental operation[edit]

A block diagram of a PID controller in a feedback loop. r(t) is the desired process value or "set point" (SP), and
y(t) is the measured process value (PV).

The distinguishing feature of the PID controller is the ability to use the three "control terms" of
proportional, integral and differential influence on the controller output to apply accurate and optimal
control. The block diagram on the right shows the principles of how these terms are generated and
applied.
A PID controller continuously calculates an error value e(t) as the difference between a
desired setpoint (SP) and a measured process variable (PV), and applies a correction based
on proportional, integral, and derivative terms.

The controller attempts to minimize the error over time by adjustment of a control variable ,
such as the opening of a control valve, to a new value determined by a weighted sum of the control
terms.
In this model:

P accounts for present values of the SP-PV error. For example, if the error is large and positive,
the control output will be proportionately large and positive. Proportional control alone will
always have an error between the set point and the actual process value, because it requires
the error to generate the proportional response; so if there is no error, there is no response. This
was the problem with the historic rotating-ball speed governor - it always had an error.

I accounts for past values of the SP-PV error and integrates them over time to produce the I
term. For example, if there is an SP-PV error, the integral of the error will accumulate over time.
The integral term seeks to eliminate the error by contributing a control effect due to the historic
and present cumulative value of the error. When the error is eliminated the integral term cease
to grow. This will of course result in the proportional effect diminishing as the error decreases,
but this is compensated for by the growing integral effect.

D accounts for possible future trends of the SP-PV error, based on its current rate of change. It
is sometimes called "anticipatory control" as it is effectively seeking to reduce the effect of the
SP-PV error by exerting a control influence generated by the rate of error change. The more
rapid the change, the greater the controlling or dampening effect. [1].
The balance of these effects is achieved by "loop tuning" (see later) to produce the optimal control
function. The tuning constants are shown below as "K" and must be derived for each control
application, as they depend on the response characteristics of the complete loop external to the
controller. These are dependent on the behaviour of the measuring sensor, the final control element
(such as a control valve), any control signal delays and the process itself. Approximate values of
constants can usually be initially entered knowing the type of application, but they are normally
refined, or tuned, by "bumping" the process in practice by such as introducing a set point change
and observing the system response.
The overall control function can be expressed mathematically as:

where Kp, Ki, and Kd, 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 (see later in article), Ki, and Kd are respectively replaced
by Kp/Ti, and Kp*Td; the advantage of this being that Ti, and Td have some understandable physical
meaning, as they represent the integration time and the derivative time respectively.

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