Process Control & Instrumentation

PID CONTROLLER

MAPUA INSTITUTE OF
TECHNOLOGY
School of Chemical Engineering & Chemistry
 OUTLINE
Important Concepts
Process Time Lags
PID Control Algorithms
Selection Of Control Action
 PROCESS CONTROL
Definition
the physical regulation of a
process to maintain a
particular process variable
as close as possible to a
desired value.
 4 BASIC COMPONENTS IN A
FEEDBACK CONTROL LOOP
Operator

Set Point (SV)

3. Controller

Process Variable (PV) Controller Output

2. Measuring Element 4. Final Control Element

Controlled Manipulated
Variable (CV) Variable (MV)

Load 1. Process
Refining Process (Plant)
Variable
 FEEDBACK CONTROL ALGORITHM
Feedback Control = PID Control
OUT(t) = OUTdesign + OUT

where
OUT(t) = controller output, 0 - 100%
OUTdesign = design (steady state) controller output
OUT = control adjustment
 PID CONTROL ALGORITHM
P = Proportional Control Action
I = Integral Control Action
D = Derivative Control Action
 Proportional Control Action
control adjustment is proportional to the
magnitude of the error
OUT = (Kc)(e)

where
OUT = control adjustment, %
Kc = Proportionality Constant (Gain or Sensitivity)
e = ERROR = Set Point (SP) - Process Variable (PV)
 Integral Control Action
control adjustment is proportional to the
time integral of the error
t
OUT = (Kc)/( I) (e)dt
0
where
OUT = control adjustment, %
I = Integral Time Constant, time
 Derivative Control Action
control adjustment is proportional to the rate
of change of the error
OUT = (Kc)( D)(de/dt)

where
OUT = control adjustment, %
D = Derivative Time Constant, time
 Types of PID Controller
P - Proportional Controller
PI - Proportional Integral Controller
PD - Proportional Derivative Controller
PID - Proportional Integral Derivative Controller
 P - Proportional Controller
OUT(t) = OUTdesign + (Kc)(e)

only one tuning parameter ( Kc )

there is always an offset = steady state error or
permanent deviation between the Set Point and
the Process Variable
 PI - Proportional Integral
Controller t
OUT(t) = OUTdesign + (Kc)(e) + (Kc)/( I) (e)dt

eliminates offset
more unstable compared to P Controller
two tuning parameters ( Kc , I )
 PD - Proportional Derivative
Controller
OUT(t) = OUTdesign + (Kc)(e) + (Kc)( D)(de/dt)

faster response
does not eliminates offset
susceptible to noise
two tuning parameters ( Kc , D)
 PID - Proportional Integral
Derivative Controller
t
OUT(t) = OUTdesign + (Kc)(e) + (Kc)/( I) (e)dt + (Kc)( D)(de/dt)

faster response
eliminates offset
susceptible to noise
three tuning parameters ( Kc , I , D)
 Selection of Control Action
PROCESS PROPORTIONAL INTEGRAL DERIVATIVE

Flow & Liquid 0.2-50 Required Not Required

Pressure

Gas Pressure 20 - Not Required Not Required

Liquid Level 2-20 Occasionally Not Required

Required

Temperature 1-10 Required Required

CONSTANTAN