Basic Of PID Control

&
Tuning
 BASIC ON/OFF CONTROL

Inflow
START

Qin

L2
Solenoi
d
L1
S
P Solenoid
P
power
supply
Qou
t
 In On/Off control- control signal is either 0% or 100%
 Control at set point not achievable, a dead band must
be incorporated
 Useful for large , sluggish system particularly those
incorporating electric heaters
 Examples- Large tank level control
- Lube oil tank temperature control by
heaters
 BASIC PROPORTIONAL
CONTROL

V1
Qo=50

Qin 50%
60% Air to Close Qo=60

SP
50kPa
40kPa 20-100 kPa
L
T

50t/h
60t/h
Qout
 P.C provides a control signal, proportional to the
magnitude and direction of the error signal.

 After a disturbance, P.C will provide only a new mass

balance situation. A change in control signal requires
a change in error signal, therefore offset will occur.

 P.C stabilizes an error; it does not remove it

 TERMINOLOGY

M=Measure signal k= gain

SP=set point b=bias

e(error)= SP - M

m= controller signal output

m=ke + b

PB=proportional band

100%
Gain(k)=
PB

 Proportional band is defined as that input signal span change, in

percent, which will cause a hundred percent change in output
PRACTICAL PROPORTIONAL
CONTROL

V1 Flow
Change
Kp=
50%
60%
60 Air to Open 1
% Kp=
Qin 2
Kp=
5
LI Kp 1
5
2
C
=

50kPa 20-100 kPa

L
T
40kPa
45kPa
48kPa
60t/h
50t/h
Qout
 Loss In
Higher PB Lower PB
Volume

Outflow

Inflow

t0

t
t t1
t0
Offset New Level S
Offset New Level SP
Level originally SP t1
t1
 STEP
CHANGE
TIME

WIDE PB

OFFSET

MODERATE PB

NARROW PB
 SUMMARY & OPTIMUM PB
 Highly stable but sluggish system
 Fast acting system with large offset
 Unstable on/off system
 Require bias to avoid undesirable situation because m=
ke, so m= ke + b
 Optimum setting for PB should result in the process
decaying in a ¼ decay mode

A/4 A/16
A
 RESET OF INTEGRAL
ACTION
 To restore the process to the set point after disturbance
then only proportional is insufficient
 The additional inflow must replace the lost volume

Initial mass balance

Reset action
Loss in volume

Outflow
Inflow

Set point

Offset removed

Additional Control signal restores

process to set point
 PHENOMENA OF RESET
ACTION
 Reset action is the Integration of the error signal to zero
 After time say ‘t’ reset action has repeated original proportional
response , it is called repeat time
 R.A is defined as either reset rate in repeats per minute (RPM) or
reset time in minutes per repeat (MPR) . MPR= 1/RPM
 Reset action will cause a ramping of the output signal to provide
the necessary extra control action.

t
ese
R t
st R ese
Fa ma
l
r
No

t
Slow rese
Ke
Proportiona
l
Response
 Exam
ple
 A direct acting controller has a proportional band of 50% is subjected to
a sustained error. The set point is 50% and the measurement 55%.
 After 4 minutes the total output signal from the controller has increased
by 30%. What is the reset rate setting in RPM and MPR?
Soluti
on PB = 50% gain = 100% = 2
50%
Since ↑↑ k will be negative
Proportional Signal = -2 x error = -2 x
-5%
Total=signal
+10% after 4 minutes = +30%
=P+I
∴Integral Signal = +20%
i.e., integral action has repeated original proportional signal twice in 4
minutes, 1 repeats per 2 minutes or 0.5 repeats per minute.
Reset rate = 0.5 RPM or 2 MPR
 SUMMAR
Y
 Mathematical expression for integral action

• m = control signal
• e = error signal (e = SP . M) ∴(+ or -)
• k = controller gain (↑↑ = −) (↑↓ = +)
• TR = reset time (MPR)
• b = bias signal

 Reset action removes offset

 If reset action is faster than the process can respond, Reset
Windup can occur
 Reset Action makes a control loop less stable
 Do not subject process loops with reset control to sustained
errors . the control signal will be ramped to the extreme
value . reset windup will occur.
 DERIVATIVE ACTION

 The proportional mode considers the present state of the

process error
 The integral mode looks at the past history of the error
 The derivative mode anticipates the future values of the
error and acts on that prediction
 Derivative is related to the rate of change of the error
signal and an anticipatory control, which provides a large
initial control signal to limit the final deviation

inpu
t

outp Proportiona
ut l action
Derivati
ve
action
 PHENOME
NA
 Mathematical equation for PD controller

• m = controller signal
• k = controller gain
• TD = derivative time
• e = error
• b = bias signal

 It should help reduce the time required to stabilize an error ,

derivative action ceases when the error stops
changing.
 Its use, in practice, is also limited to slow acting processes.
 EXAMPL

E
Consider a simple flow control system

Proce A C
ss Tim
t t t
Proportional
0 1 2 e
action
A-B Rate action due to end of
Rate Rate increase in e
action action
Contr A-B B-C Control signal at end of
ol excursion
signa Rate action due to end of
l increase in e
Proportional
action
B-C
 SUMMA
RY
 Derivative or rate action is anticipatory and will
usually reduce, but not eliminate, offset.
 Its units are minutes (advance of proportional action).
 It tends to reduce lag in a control loop.
 Its use is generally limited to slow acting processes.
 PID
Response
 PID Tuning

 The term tuning is used to describe methods used to select

the best controller setting to obtain a particular form of
performance.
 There are three methods that widely used for tuning
1. Process reaction
method
 This method uses certain measurements made from
testing the system with the control loop open so that no
control action occurs.
 A test input signal is applied to the correction unit and the
response of the controlled variable determined.
  Give step input as a test signal
 The graph of controlled variable is plotted against time

Final
value

Maximum
Measur gradient
ed line
Variabl Response of
e Controlled
M variable
Percentage
change of the
variable per
minute
Original
value Tim
L e
Start of test
signal
 Criteria given by Ziegler and Nichols
Type of Kp Ti Td
controll
er
P P/ML
PI 0.9/ML 3.3L
 The basis
PID behind these criteria
1.2P/M 2L is 0.5L
to give a closed-loop
response for theLsystem which exhibits a quarter amplitude
decay
 EXAMPLE

8
L = 5 min
M = 8/10 = 0.8 % / min
Kp = 1.2P / ML = 1.2 X 10/0.8 X 5
=3
Ti = 2L = 10 min
Td = 0.5L = 2.5 min
0
5 10 15
0
 2. Ultimate cycle
method
1. Set the controller to manual operation and the plant near
to its normal operating conditions.
2. Turn off all control modes but proportional.
3. Set Kp to a low value, i.e. the proportional band to a wide
value.
4. Switch the controller to automatic mode and then
introduce a small set-point change, e.g. 5 to 10% and
observe the response.
5. Set Kp to a slightly higher value, i.e. make the proportional
band narrower.
6. Introduce a small set-point change, e.g. 5 to 10% and
observe the response.
7. Keep on repeating 6 and 7 until the response shows
sustained oscillations which neither grow nor decay.
 Note the value of Kp giving this condition (Kpu) and the period
(Tu) of the oscillation.
 tu

 The Ziegler and Nichols criteria controller settings to have

quarter amplitude decay is given by Table

Type of Kp Ti Td
controll
er
P 0.5 Kpu
PI 0.45 Tu/1.2
Kpu
PID 0.6 Kpu Tu/2 Tu/8
 2. Quarter
Amplitude Decay
 The controller is set to proportional only
 With a step input to the control system, Amplitude
the output is monitored and amplitude reduced by a
decay is determined quarter

Control
 If the amplitude decay is greater than a

variabl
quarter the proportional gain is increased

led
 If the amplitude decay is less than a

e
quarter the proportional gain is T
decreased
 By method of trial & error the test input
is repeated until a quarter wave
amplitude decay is obtained Tim
 Note this value of proportional gain e
 The integral time constant is set to be
T/1.5
 The derivative time constant is T/6
Thank You!