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PID Control
PID Controls
Most common controller in the CPI.
Came into use in 1930s with the
introduction of pneumatic controllers.
Extremely flexible and powerful control
algorithm when applied properly.
G d (s)
sp
(s)
+-
E(s)
G c (s)
Y s (s)
C(s)
G a (s)
G s (s)
U(s)
G p (s)
+
+
Y(s)
G p ( s ) Ga ( s ) Gc ( s )
Y ( s)
Ysp ( s ) G p ( s ) Ga ( s ) Gc ( s ) Gs ( s ) 1
Gd ( s )
Y (s)
D ( s ) G p ( s ) Ga ( s ) Gc ( s ) Gs ( s ) 1
Characteristic Equation
Since setpoint tracking and disturbance rejection
have the same denominator for their closed loop
transfer functions, this indicates that both setpoint
tracking and disturbance rejection have the same
general dynamic behavior.
The roots of the denominator determine the dynamic
characteristics of the closed loop process.
The characteristic equation is given by:
G p ( s ) Ga ( s ) Gc ( s ) Gs ( s ) 1 0
1
1
Kc
1 0
60 s 1 20 s 1
After rearranging into the standard form,
1200
p
1 Kc
1.15
1 Kc
1
c(t ) c0 K c e(t )
I
d e(t )
e(t )dt D
dt
Reverse acting
1
c(t ) c0 K c e(t )
I
d e(t )
e(t )dt D
dt
Direct acting
Definition of Terms
e(t)- the error from setpoint [e(t)=ysp-ys].
Kc- the controller gain is a tuning parameter and
largely determines the controller aggressiveness.
I- the reset time is a tuning parameter and
determines the amount of integral action.
D- the derivative time is a tuning parameter and
determines the amount of derivative action.
in
LT
LC
L
F
out
in
LT
LC
L
F
out
Proportional Band
100%
PB
Kc
Another way to express the controller gain.
Kc in this formula is dimensionless. That is, the
controller output is scaled 0-100% and the error
from setpoint is scaled 0-100%.
In more frequent use 10-15 years ago, but it still
appears as an option on DCSs.
Conversion from PB to Kc
Proportional band is equal to 200%.
The range of the error from setpoint is 200 psi.
The controller output range is 0 to 100%.
100% 100%
K
0.5
PB
200%
100%
K c 0 .5
0.25 % / psi
200 psi
D
c
e(t ) dt
e(i t ) t
i 1
dt
t
The trapezoidal
approximation of the
integral.
Backward difference
approximation of the
first derivative
t n
e(t ) e(t t )
c(t ) c0 K c e(t ) e(i t ) D
I i 1
t
t
n
t
c (t ) c0 K c e(t )
I
e(i t )
i 1
e(t ) e(t t )
t n 1
e(t t ) e(t 2t )
c(t t ) c0 K c e(t t ) e(i t ) D
t
I i 1
________________________________________________________
t e(t )
e(t ) 2e(t t ) e(t 2t )
c(t ) K c e(t ) e(t t )
D
I
t
t e(t )
e(t ) 2e(t t ) e(t 2t )
c(t ) K c e(t ) e(t t )
D
I
t
y s (t ) 2 y s (t t ) y s (t 2 t )
D
t
t e(t )
e(t ) 2e(t t ) e(t 2t )
c(t ) K c e(t ) e(t t )
D
I
t
t e(t )
y s (t ) 2 y s (t t ) y s (t 2t )
c(t ) K c e(t ) e(t t )
D
I
t
t e(t )
y (t ) 2 y s (t t ) y s (t 2t )
c(t ) K c y s (t t ) y s (t )
D s
I
t
C ( s)
1
Gc ( s )
Kc 1
D s
E ( s)
Is
I 10
Kp 1
Characteristic Equation :
1
2
5s 1 2 10 s 1 0
Rearranging
25s 15s 1 0
p 5
1.5
2
p 5
1
25s 2 20 s 1
Rearranging
1
1 s 1 0
25s 20s 2s 1 0
p1 0.764 and a second order
3
G d (s)
sp
(s)
+-
E(s)
Y f (s)
G c (s)
G f (s)
C(s)
G a (s)
Y s (s)
U(s)
G p (s)
G s (s)
++
Y(s)
Kp
Kc
p s 1
1
1 0
f s 1
p f
Kc K p 1
p f
2 p f ( K c K p 1)
Analysis of Example
f is equal to t (1/f-1) as f becomes small, f
becomes large.
When f is small compared to p, as f is
increased, will decrease.
When f is large compared to p, as f is
increased, will increase.
Critical issue is relative magnitude of f
compare to p.
Filtered Temperature
f=0.3
f=0.2
20
f=0.1
40
60
Time (seconds)
80
100
Manipulated Variable
Time
Manipulated Variable
Time
Temperature (C)
102
f=0.2
f=0.5
100
0
50
100
150
Time (seconds)
200
p
Ysp ( s )
s 1
Kc K p 1
Setpoint
1.0
3
2
0
1
Time
Time
e(t ) dt
Ysp ( s )
order process
s I s 1
Kc K p
Kc K p
Properties of I control
I
I p
Kc K p
1
I
2 p Kc K p
Offset is eliminated
Increases the order by 1
As integral action is
increased, the process
becomes faster, but at the
expense of more sustained
oscillations
ys
cint
Time
ys
cder
Time
p
1
p
PID
Time
PID
Time
Flow
Setpoint
FT
Air Pressure
Time
Flow Rate
20
40
Time (seconds)
60
F
L
in
sp
F
LC
LT
FT
RSP
FC
out
sp
PC
Vent
PT
C.W.
TT
TC
sp
RSP
Process
Stream
FC
FT
Gas
p 60;
v 20
1 Kp
1
Kc 1
1 0
30s 60s 1 20 s 1
K c Kp
p1
p
0.02
0.10
0.057
0.056
325
140
1.48
0.74
0.80
1.50
0.051
0.057
48
28
0.37
0.14
FT
AT
FC
RSP
AC
Overview
The characteristic equation determines the dynamic behavior
of a closed loop system
There are a number of different ways to apply a PID controller.
Proportional, integral, and derivative action each have unique
characteristics.
Use a PI controller unless offset is not important or if the
process is sluggish.
When analyzing the dynamics of a loop, consider the dynamics
of the actuator, the process, and the sensor separately.