Professional Documents
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Eng R. L. Nkumbwa
School of Technology
Copperbelt University
2010
PID Controllers
P (Proportional)
I (Integral)
D (Derivative)
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Historical Note
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Structure of a Controller
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Structure of a Controller
This
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Modes of Controllers
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Proportional (P)
Proportional plus Reset (PI)
Proportional plus Rate (PD)
Proportional plus Reset plus Rate (PID)
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Proportional Controllers
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Proportional Controllers
Offset,
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Characteristics of the PI
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Disadvantages of the
Proportional Control
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Disadvantages of the
Proportional Control
The
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PI Equations
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PI Characteristics
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Characteristics of the PI
The
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Reset Wind-Up
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PD Controller
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PD Controller
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mode.
This is because a steady-state input produces a
zero output in a differentiator.
If the differentiator were used as a controller, the
input signal it would receive is the error signal.
As just described, a steady-state error signal
corresponds to any number of necessary output
signals for the positioning of the final control
Eng R. L. Nkumbwa, Copperbelt
element.
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University, School of Technology
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Proportional Action
As
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Effects of Disturbance
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Industrial Applications
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Controller Action
When
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Controller Action
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Controller Action
As
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PID Controller
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Ziegler-Nichols Method
Ziegler-Nichols
method
based on a open-loop process
based on a critical gain
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Ziegler-Nichols (Z-N)
Oscillation Method
This
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Ziegler-Nichols (Z-N)
Oscillation Method
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Reaction Curve
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Plant Response
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Plant Response
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Observation
We
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Cohen-Coon Reaction
Curve Method
Cohen
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Lead-Lag Compensators
Closely
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