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Chapter 8
FEEDBACK CONTROLLERS
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Chapter Objectives
Process Instrumentation and Control
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Process Instrumentation and Control
Historical Perspective:
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Process Instrumentation and Control
Introduction
Consider the following blending process (Fig. 8.1).
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Control system
Process Instrumentation and Control
Control objective:
To keep the tank exit composition x at the
desired setpoint by adjusting w2.
Measurement : Composition Analyzer-
Transmitter (AT)
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Process Instrumentation and Control
Block Diagram
Figs. 8.2 & 8.3: Flow control system/loop (top) and its
block diagram (bottom).
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Process Instrumentation and Control
Block Diagram
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Process Instrumentation and Control
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Process Instrumentation and Control
Feedback Control Error
e(t ) y SP (t ) y m (t ) (6.1)
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Process Instrumentation and Control
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Process Instrumentation and Control
Function of proportional term
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Process Instrumentation and Control
Proportional Band, PB:
100%
Definition : PB (6.3)
Kc
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Process Instrumentation and Control
Proportional controller
In order to derive the transfer function for an ideal
proportional controller, define a deviation variable
as
p (t ) p(t ) p (6.4)
Then (6.2) can be written as
p (t ) K c e(t ) (6.5)
Taking Laplace transform of (6.5) and rearranging
we get P ( s )
Kc (6.6)
E (s)
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Remarks
Process Dynamics and Control
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Process Instrumentation and Control
Ideal vs. actual
A controller saturates
when its output reaches a
physical limit, either pmax
or pmin.
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Process Instrumentation and Control
Reverse or Direct Acting Controller
Kc can be made positive or negative
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Integral Control
Process Dynamics and Control
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Process Instrumentation and Control
Function of integral term
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Process Instrumentation and Control
PI Controller
Integral control is used in conjunction with
proportional control as the proportional-integral (PI)
controller:
1
t
p (t ) p K c e(t ) e(t )dt (6.9)
I 0
P(s) 1
K c 1 (6.10)
E(s) Is
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PI Controller
Process Dynamics and Control
The
response of the PI controller to a unit step
change in e(t) is shown in Fig.
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Process Instrumentation and Control PI Controller
Disadvantages:
• Produces oscillatory response
• Reset windup
Valve
movement
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Process Instrumentation and Control
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Anti wind-up
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Derivative control
(Rate action, pre-act, anticipatory control )
Process Dynamics and Control
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Process Instrumentation and Control
Derivative control
• Derivative action is never used alone.
• Always used in conjunction with P or PI control.
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Process Instrumentation and Control
PID Controller
PID control algorithm is given by
1
t
de
p (t ) p K c e(t )
I 0 e(t )dt D dt (6.13)
control systems
Consider response of a controlled system after a sustained
disturbance occurs (e.g. step change in load variable)
No control
New steady state is reached
P control
Offset reduced
PI control
Offset eliminated
Oscillatory response
PID control
Oscillations reduced
Response time reduced
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Process Instrumentation and Control Too small a value of Kc
Sluggish response
Larger deviation
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Process Instrumentation and Control
Summary
2. Proportional:
• Simple
• Inherently stable when properly tuned
• Easy to tune
• Experiences offset at steady state
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Process Instrumentation and Control
3. Proportional + Integral:
• No offset
• Better dynamic response than reset alone
• Possibilities exist for instability due to lag introduced
4. Proportional + Derivative:
• Stable
• Less offset than proportional alone (use of higher gain
possible).
• Faster response time.
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Process Instrumentation and Control
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Process Instrumentation and Control
Conclusion
• P, I, D controller modes
– ON-OFF as a special case of P-controller
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