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A SEMINAR

ON
PI CONTROLLER

Submitted by:-

CONTENTS

BASIC OF A CONTROL LOOP


VARIABLES IN A CONTROL LOOP
TYPES OF CONTROL ACTIONS
PROPORTIONAL CONTROLLER
INTEGRAL CONTROLLER
DERIVATIVE CONTROLLER
PI CONTROLLER
ADVANTAGES AND DISADVANTAGES OF PI CONTROLLER

BASIC OF A CONTROL LOOP


A simple example of a control loop is the action taken when
adjusting hot and cold (valves) to maintain the water at a desired
temperature.
This typically involves

mixing of two process streams, the hot and cold water.

The person touches the water to sense or measure its


temperature.

Based on this feedback they perform a control action to adjust


the hot and cold water valves until the process temperature
stabilizes at the desired value.

VARIABLES
IN -Aprocess
CONTROL
Sensed
water temperature
variable orLOOP
process value
(PV)
Desired temperature - setpoint (SP)
Input to the process (the water valve position)- Manipulated
variable (MV)
Difference between the temperature measurement and the
setpoint - error (e) ,which quantifies whether the water is too
hot or too cold and by how much.

After measuring the temperature (PV), and then calculating the


error, the controller decides when to change the tap position (MV)
and by how much.

TYPES OF CONTROL ACTIONS


PROPORTIONAL CONTROL
INTEGRAL CONTROL
DERIVATIVE CONTROL

PROPORTIONAL CONTROLLER
The controller output is simply the output of the proportional control
mode, plus a bias. The bias is needed so that the controller can
maintain an output (say at 50%) while there is no error (set point =
process variable).
A large drawback offset. Offset is a sustained error that cannot be
eliminated by proportional control alone
When the controller first turns the valve on, it may turn the hot valve
only slightly if warm water is desired, or it may open the valve all the
way if very hot water is desired.
This is an example of a simple proportional control.

INTEGRAL CONTROLLER
As long as there is an error present (process variable not at set
point), the integral control mode will continuously increment or
decrement the controllers output to reduce the error. Given
enough time, integral action will drive the controller output far
enough to reduce the error to zero.
In the event that hot water does not arrive quickly, the controller
may try to speed-up the process by opening up the hot water
valve more-and-more as time goes by.
This is an example of an integral control.

For a given error, the speed of the integral action is set by


the controllers integral time setting (Ti).
A large value of Ti (long integral time) results in a slow
integral action,
A small value of Ti (short integral time) results in a fast
integral action
Integral time
set too long, the controller will be sluggish
set too short, the control loop will oscillate and become
unstable.

Integral control action

DERIVATIVE CONTROLLER
Derivative control mode produces an output based on the rate of
change of the error.
Derivative mode is sometimes called Rate.
The derivative mode has an adjustable setting called Derivative
Time (Td).
Larger the derivative time setting, the more derivative action .
A derivative time setting of zero effectively turns off this mode.
If the derivative time is set too long, oscillations will occur and
the control loop will run unstable.

Derivative action control

PI CONTROLLER
The PI control scheme is named after its two correcting terms,
whose sum constitutes the manipulated variable(MV).The
proportional, and integral terms are summed to calculate the
output of the PI controller.

COMPARISON BETWEEN P AND PI


CONTROLLER

ADVANTAGES OF PI CONTROLLER

The integral controller eliminates the error-offset.

The system will be stable to noises because of the absence of


derivative parameter.

A small disturbance will produce large output due to


derivative controller.

DISADVANTAGES OF PI
CONTROLLER

The response becomes more oscillatory and needs longer to


settle due to the presence of integral action

Tuning is difficult because of the presence of two different


parameters-one for proportional and other for integral.

A best tuning value is difficult to achieve.

THANK YOU

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