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Controllers: Closed Loop
Controllers: Closed Loop
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Topics
• Proportional Mode
• Derivative Mode
• Integral Mode
• PID Controller
2
Continuous controllers
Now in the continuous controller’s theory,
there are three basic modes on which the
whole control action takes place and these
modes are written below. We will use the
combination of these modes in order to have
a desired and accurate output.
• Proportional controllers.
• Integral controllers.
• Derivative controllers.
Combinations of these three controllers are
written below:
• Proportional and integral controllers.(PI)
• Proportional and derivative
controllers.(PD)
• Proportional ,integral and derivative
controllers(PID)
Proportional control
Proportional control, the controller output is proportional to
the error signal,Proportional controllers there are two
conditions and these are written below:
• Deviation should not be large, it means there should be less
deviation between the input and output.
• Deviation should not be sudden.
Now we are in a condition to discuss proportional controllers,
as the name suggests in a proportional controller the output
(also called the actuating signal) is directly proportional to the
error signal.
This can be analyzed (proportional controller) mathematically.
Table 8-1 Ziegler–Nichols Tuning Rule Based on Step Response of Plant (First
Method)
Instructional Objectives
• At the end of the chapter, the students should
be able to
1) Understand the parameters of P, I,D and PID
control mode.
2) Explain t he concept of proportional band
and proportional gain.
3) Solve practical process and control
problems related to the closed cloop control
modes.
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Proportional Control
Output=Kp e
Proportional Band
Controller Output
0
Error
Transfer function for the controller
Gc(s)=Kp
Proportional Gain=Kp=100/PB
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System with Proportional control
Kp=100/PB
Error
0
Time Iout= Kpe + Io
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Proportional Control
Change in Controller Output from Setpoint Kpe
0
0 oChange in Controller Output from Setpoint Kp 0 change in error
0
Iout Kpe Io
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Proportional Control Problems(Process)
• A proportional controller
Solution:
has Kp of 20 and a set New Output
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Proportional Control Problem
• .Consider the proportional mode Figure
level controller system in the
figure below. Valve A is a linear
with a flow scale factor of 10
m3/hr per percent controller
output.
• The controller output is nominally
50% with a proportional gain
Kp=10%.A load change occurs
when flow through valve B
changes from 500 m3/hr to 600
m3/hr .Calculate the new
controller output and the offset
error. 35
Solution
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Derivative Controllers
• Derivative Control- the change in controller output
from the set point value is proportional to the rate of
change with time of the error signal.
de
Iout Io Kd
dt
Transfer Function by
( Iout Io)(s) K D sE ( s)
Laplace Transform
Where Io = the setpoint output value
Iout=the output value that will occur when the error e is
changing at the rate de/dt
KD = the constant of proportionality and is commonly referred to
as the derivative time since it has units of time
KDs = transfer function
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Derivative Controllers
Constant rate
of change of
error signal
with time With derivative control, as soon as the error
signal begins to change there can be quite a
large controller output since it is proportional
Error
0
to the rate of change of the error signal and
not its value. The controller output is
constant because the rate of change is
constant and occurs immediately as the
Time
deviation occurs.
Controller Output
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Sample 1: Derivative Control-Problem
Solution:
A derivative controller de
has a set point of Iout Io Kd dt
50% and derivative
constant KD= 0f 0.4 a)
dI
/dt=KIe
K is the constant of proportionality and, when the controller
I
output is expressed as a percentage and the error as a percentage,
has units of s -1 (per second). The reciprocal of KI is called the
integral time TI and is in seconds. Integrating the above equation
gives:
Iout t
dI 0 K I edt
Io is the controller output at
zero time
Io Iout= is the output at time t
t
(Iout Io) K edt
0 I
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Integral Control
• The transfer function is obtained by taking
Laplace transform. Thus
1
(Iout Io)(s) K IE(s)
s
1
Transfer function = K I
s
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Integral Control
Constant
percent error
value The figure illustrates the action of an
integral controller when there is a
constant error input to the controller. We
Error
0
Time can consider the graph in two ways.
When the controller output is constant,
that is , dP/dt is zero, the error is zero.
When the controller output varies at
constant rate, that is dP/dt is constant,
Controller Output
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Integral Control
Thus up to the time when the error occurs,
the value of the integral is zero. Hence
Iout=Io. When the error occurs it
maintains a constant value.
Thus the area under the graph is increasing
as time increases. Since the area
increases at a constant rate, the
controller output increases at a constant
rate. 43
Integral Control-Problem
Consider an integral controller Given
with a value of KI =0.1/s and KI = 0.1/s
an output of 40% at the set Io=40%
point. What will be the E=error(constant)=20%
output after times a)1 s b)2 Required:
s, if there is a sudden a) Iout @ t=1s
change to a constant error b) Iout @ t=2s
of 20%. t
( Iout Io) 0
K I edt
When the error does not vary with
time, the equation becomes
( Iout Io) K I et
Iout K I et Io
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Solution
Error(%) 1
Time ,s 1 2
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PID Controller Problem
Figure
t
de 1
Error(%)
Iout Kp(e K Iedt K D ) Io
0
dt
Solution:
a) For (a) e=0; de/dt= 1/s and t
1 2
0
edt 0
Time ,s
Thus: Iout= 4(0 + 0 + 0.5x 1) + 50 = 52 %
b) For (b) we have , at 2 sec, e=1%
t
0
edt 1.5 s
, since the integral is the area under the error-time graph up to
2 s, only 1.5 sec because of the half area covered in square 1
and de/dt= 0, for constant error rate change of 1 %
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PID Controllers Summary
• Proportional term responds immediately to the
current tracking error; it cannot achieve the desired
set point accuracy without an unacceptably large
gain. Needs the other terms.
• Derivative action reduces transient errors.
• Integral term yields zero steady-state error in
tracking a constant setpoint. It also rejects constant
disturbances.
Proportional-Integral-Derivative (PID)
control provides an efficient solution to
many real-world control problems
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Assignment/Homework to be graded as
Project Report
PROBLEMS:
1)A proportional controller has Kp of 20 and a set point of 50% allows a flow of 8.0 m3/s . The valve changes its
output in direct proportion to the controller output. What will be the controller output and the offset
error when the flow has to be changed to 10 m3/s.
2) A derivative controller has a set point of 50% and a derivative constant Kd of 0.5s. The error starts at zero
and then changes at 2%/s for 3 s before becoming constant for 2 s, after which it decreases at 1%/sec to
zero. What will be the controller output at
a) 0 s b) 1 s c) 4 s d) 6 s
3) An integral controller has a set point of 50% and a value of KI of 0.1/s. the error starts at zero and changes
at 4%/s for 2 s before becoming constant for 3 s. What will be the output after times times of a) 1 s b) 3
s?
4) A three mode (PID) controller has Kp as 2, KI as 0.1/s, Kd as 1.0s, and a set point output of 50%. The error
starts at zero and changes at 5% for 2 s before becoming constant for 3s. It then decreases at 2%/s to zero
and remains at zero. What will be the controller output at
a) 0 s b) 3 s c) 7 s d) 11 s?
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Assignment-Project No. 3
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Assignment 2: Derivative Control-Problem
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Assignment 3 Problem Integral
Control
• An integral controller has a set point of 50%
and a value of Ki of 0.1/s. The error starts at
zero and changes at 4%/s for 2 s before
becoming costant at 3 s, what will be the
ouput after times of a) 1 s b) 5s
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Assignment 4. Problem PID Controller
A three mode (PID) controller has Kp as 2,
KI as 0.1/s, Kd as 1.0s, and a set point
output of 50%. The error starts at zero
and changes at 5% for 2 s before
becoming constant for 3s. It then
decreases at 2%/s to zero and remains at
zero. What will be the controller output
at
a) 0 s b) 3 s c) 7 s d) 10 s?
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