Digital PID

Mechatronics
 Open loop System
Manual

Actuator
Input : Input flow rate

Output : Level
Process
 Continuous Control System
Input : Input flow rate

Process
Actuator
3 – 15 PSI
Set point

4 – 20 mA
Error

Positioner
Controller

I to P

Output : Level
PV
Sensor
 Digital control system
Input : Input flow

Process
Actuator
Set point

4 – 20 mA
Analog
D

Positioner
E
Sample C

I to P
to Digital
and Hold
control

Output : Level
PV
Analog to Digital
control
Sensor
Analog to Digital Converter
 Analog to Digital Converter
• No. of bits and sampling frequency increase
the resolution
• Increase no of bits require more memory
 Continuous PID controller

Rectangular approximation
 Digital PID : Position form

• Major problem : error values at all the time

instants are to be stored
• Effect
– Integral Windup
– Sudden rise in the response (Bump response)
Digital PID : Velocity form
Digital PID : Velocity form
 Digital PID : Velocity form
• Merits
– Bumpless transfer
– Absence of Integral windup

• Demerits
– Quick action for noise