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Feedback Controllers
Chapter 8
Error Signal
e t R t B t
where
R t = set point (3-15 psig; 4-20mA; 1-5V)
Proportional Control
p (t ) p K c e(t ) p K c R (t ) B (t )
where
p (t ) controller output
p = bias value (adjustable)
K c controller gain (dimensionless, adjustable)
e(t ) error signal
Transfer Function
p t p t p
P s
Kc
Gc s
e t e t 0
E s
Chapter 8
Chapter 8
100%
PB
Kc
Chapter 8
Assume FT is direct-acting.
1.) Air-to-open (fail close) valve ==> ?
2.) Air-to-close (fail open) valve ==> ?
Consequences of wrong controller action??
Chapter 9
Chapter 8
Question:
p 10 psig
in order to make qo 170 gpm
p 9 psig
qi qo at steady state
p t p Kce t
Kce 1
where K c 0
e R B 0
1
p (t ) p e( )d
I 0
P( s )
1
E ( s ) I s
1
p t ps p e( )d constant
I 0
Proportional-Integral (PI)
Controller
1
p(t ) p K c e(t ) e(t )dt
I 0
Transfer Function
P( s )
1
Kc 1
E ( s )
I s
Reset Time
Reset time is the time that the integral mode repeats the
action of proportional mode.
t I
t
t*
Example:
Heat Exchanger Control Loop
Reset Windup
e t 0
1
p (t ) p K c e(t ) e(t )dt
I 0
vp t vp K v p t p
p t
t
0
to
ts
Reset Windup
e t 0
e t 0
1
p (t ) p K c e(t ) e(t )dt
I 0
vp t vp K v p t p
p t
Proportional-Integral-Derivative
(PID) Control
Now we consider the combination of the
proportional, integral, and derivative
control modes as a PID controller.
Many variations of PID control are used in
practice (see Table 8.1, page 194)
Next, we consider the three most common
forms.
1
p t p Kc e t
I
0 e t * dt *
Transfer Function
P s
1
K c 1
E s
I s
D s
de t
dt
Effects of Anticipatory
(Derivative) Control Action
Drawbacks of Anticipatory
(Derivative) Control Action
Chapter 8
Ds
1
Kc 1
E s
I s D s 1
where
0.05 0.2 (usually 0.1)
R t
p t
1
p t p Kc e t
I
or
dB
0 e t * dt * D dt
1
p t p Kc B t
I
dB
0 e t * dt * D dt
t
E s
I
D 1
B s
I s 1
P s
R s D s 1 B s K c
versus
I s 1
P s
Is
R s B s K c D s 1
de t
dt
p t p K c e t K I e t * dt * K D
Chapter 8
Chapter 8
Chapter 8
Chapter 8
Chapter 8
Automatic Mode
Controller output, p(t), depends on e(t), controller
constants, and type of controller used.
( PI vs. PID etc.)
Manual Mode
Controller output, p(t), is adjusted manually.
Manual Mode is very useful when unusual
conditions exist:
plant start-up
plant shut-down
emergencies
Percentage of controllers "on manual ??
(30% in 2001, Honeywell survey)
t n 1
D
p n p K c e n e k e n e n 1
I k 1
t
Chapter 8
where,
Chapter 8
Controller Comparison
P
PI
PID
Chapter 8
Chapter 8
Chapter 8
On-off Controllers
Simple
Cheap
Used In residential heating and domestic refrigerators
Limited use in process control due to continuous
cycling of controlled variable excessive wear
on control valve.
On-Off Controllers
Chapter 8
Synonyms:
two-position or bang-bang controllers.
Chapter 8