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Close Loop
The measure of the output is called the feedback signal.
A feedback control system is a control system that tends
to maintain a prescribed relationship of one system
variable to another by comparing functions of these
variables and using the difference as a means of control.
The introduction of feedback enables us to control a
desired output and can improve accuracy, but it requires
attention to the issue of stability of response.
Example of Modern Control System
Another Example
The PID controller is by far the most common
control algorithm. Most practical feedback
loops are based on PID control or some minor
variations of it. Many controllers do not even
use derivative action. The PID controllers
appear in many different forms, as a stand-
alone controllers, they can also be part of a
DDC (Direct Digital Control) package or a
hierarchical distributed process control system
or they are built into embedded systems.
The Proportional Term
Simplified
block
diagram of
what PID
controller
does
Set point is subtracted from the measured to
create the error
The error is simply multiplied by one, two or all
of the calculated P, I & D actions (Depending
which ones are turned on).
Then the resulting error x control action are
added together and sent to the controller
output.
These 3 modes are used in different
combinations:
P Sometimes used
PI Most often used
PID Sometimes used
PD rare, can be useful for controlling servo motors.
P Controller
Enable only P control
In Proportional Only mode, the controller
simply multiplies the Error by the
Proportional Gain (Kp) to get the controller
output.
Small proportional gain (Kp) is the safest
way to set point, but your controller
performance will be slow. If the Kp is
increased, Overshoot in the signal will be
present.
PI Controller
Enable Only PI Control
In Proportional Integral mode, the
controller make the following:
Multiplies the error by the Proportional Gain (Kp) and added to
the Integral error multiplied by Ki, to get the controller output.
The integral term(when added to the proportional term)
accelerates the movement of the process towards set point
and eliminates the residual steady-state error that occurs with
a proportional only controller.
However, since the integral term is responding to accumulated
errors from the past, it can cause the present value to
overshoot the set point value (cross over the set point and then
create a deviation in the other direction).
PD Controller
Enable Only PD Control
In Proportional Differential mode, the
controller make the following:
Multiplies the Error by the proportional Gain (Kp) and added to
the derivative error multiplied by Kd, to get the controller output.
The derivative term slows the rate of change of the controller
output and this effect is most noticeable close to the controller
set point. Hence, derivative control is used to reduce the
magnitude of the overshoot produced by the integral component
and improve the stability.
However, differentiation of an signal amplifies noise and thus this
is highly sensitive to noise in the error term, and cause a process
to become unstable.
PID Controller
Enable PID Control
In Proportional Integral Differential mode,
the controller make the following: