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Proportional, Integral,
Derivative (PID)
1
FEEDBACK CONTROLLERS
•Controller – brain of the control loop
– performs the decision (D) operation in the
control system
•Operation
1. Compares the process signal it receives
- the controlled variable with the set point.
1. Sends an appropriate signal to the control valve (or
any other control element) in order to maintain the
controlled variable at its set point.
2
SP
Steam in TC
(Manipulated variables)
TT
Fluid in Fluid out
Heat Exchanger
Ti T desired
(Load disturbances )
Steam out
(Uncontrolled variables)
3
Action of Controllers
• reverse action
– When an increase in signal to the controller
requires a decrease in controller output
• direct action
– When an increase in signal to the controller
requires an increase in controller output
4
Action of Controllers
Case 1: heat exchanger
control loop
• Signal from the level transmitter increase, indicating that the level in
the tank has increased above the set point.
• To return the level to the set point, the controller must open the steam
valve by some amount. The controller must increase its output signal
to the valve.
• When an increase in signal to the controller requires an increase in
controller output, the controller must be set direct action.
6
Type of Feedback controllers
The feedback controllers make a decision is by solving an
equation based on the difference between the controlled
variables and the set point.
and
e t error signal
ysp t set point
ym t measured value of the controlled variable
(or equivalent signal from the sensor/transmitter)
7
Conventional block diagram representation for the
controller
Ym(s), %TO
8
Proportional Control
For proportional control, the controller output is proportional to
the error signal,
p t p Kc e t (8-2)
where:
p t controller output
p bias (steady-state) value (usually set at mid-scale 50%CO)
K c controller gain (usually dimensionless)
p is controller output when the error is zero
Disadvantage
Pure proportional control will not settle at its target value, but will
retain a steady state error that is a function of the proportional gain and
the process gain
The controlled variables operates with an offset (steady state
deviation of the controlled variables from set point)
13
Some controllers have a proportional band setting instead of a
controller gain. The proportional band PB (%) is defined as
100%
PB (8-3)
Kc
P s
Kc (8-6)
E s
14
Question
15
Integral Control
For integral control action, the controller output depends on the
integral of the error signal over time,
1
p t p 0 e t *dt *
t
(8-7)
τI
where τ I , an adjustable parameter referred to as the integral time
or reset time, has units of time.
16
•Integral control action is normally used in conjunction with
proportional control as the proportional-integral (PI)
controller :
1 t
p t p K c e t e t * dt * (8-8)
τI 0
•When the error is introduce at t=0, the controller output
changes immediately by an amount equal to Kc. This is the
response due to the proportional mode
•Under PI controller as long as the error is present, the
controller keeps changing its output (integrating the error).
Once the error disappears (goes to zero), the controller do
not change the output anymore (integrates a function with a
value of zero).
17
•The corresponding transfer function for the PI controller in is
given by
P s 1 τI s 1
K c 1 Kc (8-9)
E s τ I
s τ
I s
18
19
Unit 3: Characteristics of PB, I & D
Characteristic of I in PI & PID mode
Decreasing I
Ideal I is not strong enough to drive
response the process toward SP2
PV2
SP2
SP1
Time
© Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)
Unit 3: Characteristics of PB, I & D
Characteristic of I in PI mode & PID mode
Decreasing I
Ideal I is not strong enough to drive
response the process toward SP2
PV2
Disadvantage
An inherent disadvantage of integral control action is
phenomenon known as reset windup.
25
Unit 3: Characteristics of PB, I & D
Characteristic of D in PI & PID mode
• Derivative time, D (time)
• To accelerate the process.
• Increase D makes oscillation period shorter.
Ideal
response Increasing D
PV2
PV1
SP2
SP1
Time
© Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)
Unit 3: Characteristics of PB, I & D
Characteristic of D in PI & PID mode
• Derivative time, D (time)
• To accelerate the process.
• Increase D makes oscillation period shorter
Ideal
response
Increasing D
PV2
PV1
Ideal Increasing D
PV response
2
PV
1
Be alert. Too much D make controller action faster and may
result in instability.
1 t de t
p t p K c e t e t * dt * τ D (8-13)
τ I
0 dt
Expanded Form of PID Control
de t
p t p K c e t K I e t * dt * K D
t
(8-16)
0 dt
The corresponding transfer function is:
P s 1
K c 1 τDs (8-14)
E s τI s 29
PD controller
For example, an ideal PD controller has the transfer function:
P s
K c 1 τ D s (8-11)
E s
• By providing anticipatory control action, the derivative mode
tends to stabilize the controlled process.
30
Controller Comparison
32
Proportional
Larger values typically mean faster response since the
larger the error, the larger the proportional term
compensation. An excessively large proportional gain will
lead to process instability and oscillation.
Integral
small values imply steady state errors are eliminated more
quickly. Excessively small integral term cause the present
value to overshoot the setpoint value.
Derivative
Larger values decrease overshoot, but slow down transient
response and may lead to instability.
33
Question
34