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PID Control
Dr. Yeffry Handoko Putra, S.T, M.T
PID Control
June 2003
Objectives
Understand what the PID control is Know the functions of each PID control terms Be able to select the right combination of PID control element for various process control application objectives Know the additional features installed to the controller to be implemented in practice
PID Control
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June 2003
PID Control
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PID Control
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The PID algorithm must be tuned for the particular process loop
Each of the terms of the PID equation must be understood The tuning is based on the dynamics of the process response
PID Control
June 2003
Auto mode
The control algorithm manipulates the output to hold the process measurements at their setpoints Should be the most common mode for normal operation
PID Control
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June 2003
PID Control
June 2003
b +
e
P
+ PVm
+ CO
PB =
PID Control
100 P
100 CO = P .e + b = PB e + b
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Small P
time
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PVm
SP
Manual reset
P constant
Manual reset
time
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10
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SP
1 dt Tm PVm
CO
Some manufacturers use repeat per minute (or repeat per second) instead of minute per repeat (or second per repeat)
Repeat per minute (or second) is the time it takes the reset (or integral) element to repeat (reset) the action of the proportional element
CO = Tr e dt
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Small P
time
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1 dt Tm PVm
CO
CO = P ( e+
1 e dt Tm
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Response equal in magnitude to Proportional response Response due to Proportional control action
Tm
time
Error
0 time
14
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PVm
SP P-only
PI
I-only
Small P
time
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SP
e
D
d dt PVm
CO
Speed of response is increased (compared to P-only mode) Hypersensitive to noise and other high-frequency disturbances
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SP
D
+
CO
PVm
de CO = P ( e + D dt + b
PID Control
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D
time
Error
time
19
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Small P time
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10
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e
P d D dt PVm
+ + +
CO
1 CO = P (e + T
PID Control
e dt + D
de dt
)
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time
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Windup phenomena is caused by the interaction of integral action and saturations When this happens the feedback loop is broken and the system runs as an open loop because the actuator will remain at its limit independently of the process output
If a controller with integrating action is used, the error will continue to be integrated. This means that the integral term may become very large or, colloquially, it winds up It is then required that the error has opposite sign for a long period before things return to normal The consequence is that any controller with integral action may give large transients when the actuator saturates
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ysp
A c CO
Time
Note that controller output saturates causing area A to accumulate by the integral action After the disturbance returns to its normal level, the controller output remains saturated for a period of time causing an upset in PVm
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y sp SP
y PV m
c CO
Time
When the manipulated variable saturates, the integral is not allowed to accumulate When control returns, the controller takes immediate action and the process returns smoothly to the setpoint
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True Setpoint
Internal Setpoint
Time
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w/ bumpless transfer
Time
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Derivative Spike
MV
SP PVm time
Fig. Process variable and valve response to a setpoint change using standard PID PID Control 31
June 2003
e
P P .D d dt
+ +
CO
PVm
1 CO = P (e + T
PID Control
e ) - P . D
dPVm dt
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MV
SP PVm time
Fig. Process variable and valve response to a setpoint change using Derivative on Process Measurement PID
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June 2003
e
P dt Tm
+
CO
P P .D d dt
PVm
dPVm P CO = T e dt + P (PVm + ) dt m
PID Control
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MV
SP PVm time
Fig. Process variable and valve response to a setpoint change using Gain and Derivative on Process Measurement PID
PID Control
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Sampled signal
Original signal
t = sampling time
2t
Shannons sampling theorem: The sampling frequency must be greater or equal to two times of the highest frequency occurring in the signal to be sampled
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e dt t . ei
de ei ei-1 t dt
Continuous form:
1 CO = P (e + T
e dt + D
de dt
Digital form:
t CO = P [ei + T
D ei + t (ei ei-1)]
i = sampling instant
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t COi = P [ ei +T
D ei dt + t
(ei ei-1)]
Velocity form
Inherently have anti reset windup feature
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P mode
I mode
D mode
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Temperature control
Wide variety of the process nature Usually slow response with time delay Use PID controller to speed up the response
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Session Summary
PID control, which is the most widely used control algorithm in process control application, comes in different forms and terms Each of the terms of the PID equation must be understood to obtain a right combination of the PID control elements for various process control application objectives
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