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    Pid Controller: Ashok.S 500017496 M.Tech Pde R670211016

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    Ashik Jacob Oommen
    This document provides an overview of PID controllers. It discusses: - PID controllers are the most commonly used controllers, comprising over 90% of control applications. They were widely adopted in the 1930s. - The three elements of a PID controller - proportional, integral and derivative - each have unique effects on the response of a controlled system. Proportional control speeds up the response, integral eliminates offset, and derivative reduces oscillation. - A number of process control examples are described, including temperature, composition and biomass, and the typical controller type for each is discussed based on the relative dynamics of the sensor, actuator and process. - PID controller design considerations include choosing P, PI, or PID based

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    © All Rights Reserved
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    Pid Controller: Ashok.S 500017496 M.Tech Pde R670211016

    Uploaded by

    Ashik Jacob Oommen
    71 views40 pages
    This document provides an overview of PID controllers. It discusses: - PID controllers are the most commonly used controllers, comprising over 90% of control applications. They were widely adopted in the 1930s. - The three elements of a PID controller - proportional, integral and derivative - each have unique effects on the response of a controlled system. Proportional control speeds up the response, integral eliminates offset, and derivative reduces oscillation. - A number of process control examples are described, including temperature, composition and biomass, and the typical controller type for each is discussed based on the relative dynamics of the sensor, actuator and process. - PID controller design considerations include choosing P, PI, or PID based

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    Pid Control

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    This document provides an overview of PID controllers. It discusses: - PID controllers are the most commonly used controllers, comprising over 90% of control applications. They were widely adopted in the 1930s. - The three elements of a PID controller - proportional, integral and derivative - each have unique effects on the response of a controlled system. Proportional control speeds up the response, integral eliminates offset, and derivative reduces oscillation. - A number of process control examples are described, including temperature, composition and biomass, and the typical controller type for each is discussed based on the relative dynamics of the sensor, actuator and process. - PID controller design considerations include choosing P, PI, or PID based

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    71 views40 pages

    Pid Controller: Ashok.S 500017496 M.Tech Pde R670211016

    Uploaded by

    Ashik Jacob Oommen
    This document provides an overview of PID controllers. It discusses: - PID controllers are the most commonly used controllers, comprising over 90% of control applications. They were widely adopted in the 1930s. - The three elements of a PID controller - proportional, integral and derivative - each have unique effects on the response of a controlled system. Proportional control speeds up the response, integral eliminates offset, and derivative reduces oscillation. - A number of process control examples are described, including temperature, composition and biomass, and the typical controller type for each is discussed based on the relative dynamics of the sensor, actuator and process. - PID controller design considerations include choosing P, PI, or PID based

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    of 40

    PID CONTROLLER

    ASHOK.S
    500017496
    M.TECH PDE
    R670211016

    PID Controls
    Most common controller
    Came into use in 1930s with the introduction
    of pneumatic controllers.
    Extremely flexible and powerful control
    algorithm when applied properly.
    Greater than 90% of all control
    implementation
    Always first choice when designing a control
    system

    General Feedback Control Loop


    D(s)

    G d (s)

    sp

    (s)

    +-

    E(s)

    G c (s)

    Y s (s)

    C(s)

    G a (s)

    G s (s)

    U(s)

    G p (s)

    +
    +

    Y(s)

    Closed Loop Transfer Functions


    From the general feedback control loop and using
    the properties of transfer functions, the following
    expressions can be derived:

    G p ( s ) Ga ( s ) Gc ( s )
    Y ( s)

    Ysp ( s ) G p ( s ) Ga ( s ) Gc ( s ) Gs ( s ) 1
    Gd ( s )
    Y (s)

    D ( s ) G p ( s ) Ga ( s ) Gc ( s ) Gs ( s ) 1

    Characteristic Equation
    Since set point tracking and disturbance rejection
    have the same denominator for their closed loop
    transfer functions, this indicates that both set point
    tracking and disturbance rejection have the same
    general dynamic behavior.
    The roots of the denominator determine the dynamic
    characteristics of the closed loop process.
    The characteristic equation is given by:

    G p ( s ) Ga ( s ) Gc ( s ) Gs ( s ) 1 0

    Feedback Control Analysis


    The loop gain (KcKaKpKs) should be positive
    for stable feedback control.
    An open-loop unstable process can be made
    stable by applying the proper level of
    feedback control.

    PID Control Algorithm

    1
    de(t )
    c(t ) c0 K c e(t ) e(t )dt D

    I 0
    dt

    where e(t ) ysp ys (t )


    t

    Definition of Terms
    e(t)- the error from set point [e(t)=ysp-ys].
    Kc- the controller gain is a tuning parameter and
    largely determines the controller aggressiveness.
    I- the reset time is a tuning parameter and
    determines the amount of integral action.
    D- the derivative time is a tuning parameter and
    determines the amount of derivative action.

    Transfer Function for a PID


    Controller

    C ( s)
    1
    Gc ( s )
    Kc 1
    D s
    E ( s)
    Is

    Example for a First Order


    Process with a PI Controller
    Kc 2

    I 10

    Kp 1

    Characteristic Equation :

    1
    2
    5s 1 2 10 s 1 0


    Rearranging
    25s 15s 1 0

    p 5
    1.5
    2

    p 5

    Example of a PI Controller Applied


    to a Second Order Process
    K c 1; I 1; K p 1; p 5; 2
    Characteristic Equation :

    1
    25s 2 20 s 1

    Rearranging

    1
    1 s 1 0

    25s 20s 2s 1 0
    p1 0.764 and a second order
    3

    response with p 4.37 and 0.08

    Properties of Proportional Action


    c(t ) c0 K c e(t )
    Gc ( s ) K c
    Kc K p
    Kc K p 1
    Y (s)

    p
    Ysp ( s)
    s 1
    Kc K p 1

    Closed loop transfer function


    base on a P-only controller
    applied to a first order
    process.
    Properties of P control
    Does not change order of
    process
    Closed loop time constant is
    smaller than open loop p
    Does not eliminate offset.

    Offset Resulting from P-only


    Control
    Offset

    Setpoint
    1.0
    3
    2
    0

    1
    Time

    Proportional Action for the


    Response of a PI Controller
    ysp
    ys
    cprop

    Time

    Proportional Action
    The primary benefit of proportional action
    is that it speedup the response of the
    process.

    Properties of Integral Action


    c(t ) c0

    Kc
    I

    e(t ) dt

    Based on applying an IY ( s)
    1
    only controller to a first

    I p 2
    order process
    I
    Ysp ( s)
    s
    s 1
    Kc K p
    Kc K p
    Properties of I control
    p

    I p
    Kc K p

    1
    I

    2 p Kc K p

    Offset is eliminated
    Increases the order by 1
    As integral action is
    increased, the process
    becomes faster, but at
    the expense of more
    sustained oscillations

    Integral Action for the Response


    of a PI Controller
    ysp

    ys
    cint

    Time

    Integral Action
    The primary benefit of integral action is that
    it removes offset from setpoint.
    In addition, for a PI controller all the
    steady-state change in the controller output
    results from integral action.

    Properties of Derivative Action


    de(t )
    c(t ) c0 K c D
    dt
    K c K p D s
    Y (s)
    2 2
    Ysp ( s ) p s 2 p K c K p D s 1

    Closed loop transfer function for derivative-only


    control applied to a second order process.
    Properties of derivative control:
    Does not change the order of the process
    Does not eliminate offset
    Reduces the oscillatory nature of the
    feedback response

    Derivative Action for the


    Response of a PID Controller
    ysp

    ys
    cder

    Time

    Derivative Action
    The primary benefit of derivative action is
    that it reduces the oscillatory nature of the
    closed-loop response.

    Position Form of the PID


    Algorithm

    Proportional Band
    100%
    PB
    Kc
    Another way to express the controller gain.
    Kc in this formula is dimensionless. That is, the
    controller output is scaled 0-100% and the error
    from setpoint is scaled 0-100%.
    In more frequent use 10-15 years ago, but it still
    appears as an option on DCSs.

    Conversion from PB to Kc
    Proportional band is equal to 200%.
    The range of the error from setpoint is 200 psi.
    The controller output range is 0 to 100%.
    100% 100%
    K

    0.5
    PB
    200%
    100%
    K c 0 .5
    0.25 % / psi
    200 psi
    D
    c

    Conversion from Kc to PB
    Controller gain is equal to 15 %/F
    The range of the error from setpoint is 25 F.
    The controller output range is 0 to 100%.
    15% 25 F
    K

    3.75
    F 100%

    100%
    PB
    26.7%

    3.75
    D
    c

    PID Controller Design Issues


    Over 90% of control loops use PI controller.
    P-only: used for fast responding processes
    that do not require offset free operation (e.g.,
    certain level and pressure controllers)
    PI: used for fast responding processes that
    require offset free operation (e.g., certain
    flow, level, pressure, temperature, and
    composition controllers)

    Integrating Processes
    For integrating processes, P-only control
    provides offset-free operation. In fact, if as
    integral action is added to such a case, the
    control performance degrades.
    Therefore, for integrating processes, P-only
    control is all that is usually required.

    PID Controller Design Issues


    PID: use for sluggish processes (i.e., a process with large
    deadtime to time constant ratios) or processes that exhibit
    severe ringing for PI controllers. PID controllers are applied
    to certain temperature and composition control loops. Use
    derivative action when:

    p
    1
    p

    Comparison between PI and PID


    for a Low p/p Ratio
    PI

    PID
    Time

    Comparison between PI and PID


    for a High p/p Ratio
    PI

    PID
    Time

    Analysis of Several Commonly


    Encountered Control Loops

    Flow control loops


    Level control loops
    Pressure control loops
    Temperature control loops
    Composition control loops
    DO control loop
    Biomass controller

    Flow Control Loop


    FC

    Flow
    Setpoint

    FT

    Since the flow sensor and the process (changes in


    flow rate for a change in the valve position) are so
    fast, the dynamics of the flow control loop is
    controlled by the dynamics of the control valve.
    Almost always use PI controller.

    Level Control Loop

    F
    L

    in

    sp

    F
    LC

    LT
    FT

    RSP

    FC

    out

    Dynamics of the sensor


    and actuator are fast
    compared to the
    process.
    Use P-only controller if
    it is an integrating
    process.

    Pressure Control Process


    P

    sp

    PC
    Vent
    PT

    C.W.

    The sensor is generally faster than the actuator,


    which is faster than the process.
    Use P-only controller if it is an integrating process
    otherwise use a PI controller.

    Temperature Control Loop

    TT

    TC

    sp

    RSP
    Process
    Stream

    FC
    FT
    Gas

    The dynamics of the


    process and sensor are
    usually slower than
    the actuator.
    Use a PI controller
    unless the process is
    sufficiently sluggish to
    warrant a PID
    controller.

    Composition Control Loop


    C.W.

    FT

    AT

    FC
    RSP

    AC

    The process is usually


    the slowest element
    followed by the sensor
    with the actuator being
    the fastest.
    Use a PI controller
    unless the process is
    sufficiently sluggish to
    warrant a PID controller.

    DO Control Loop
    The process and the
    sensor have
    approximately the same
    dynamic response.
    This is a fast responding
    process for which offsetfree operation is desired.
    Therefore, PI controller
    should be used.

    Biomass Controller
    The process for this
    system is the slowest
    element.
    Because the process is
    a high-order sluggish
    process, a PID
    controller is required.

    Overview
    The characteristic equation determines the
    dynamic behavior of a closed loop system
    Proportional, integral, and derivative action each
    have unique characteristics.
    There are a number of different ways to apply a
    PID controller.
    Use a PI controller unless offset is not important
    or if the process is sluggish.
    When analyzing the dynamics of a loop, consider
    the dynamics of the actuator, the process, and the
    sensor separately.

    THANK YOU

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