Traditional PID Control Method

Fundamental of instruments and process course

Name: MYO ZAW OO
Student ID : 3122999029
Introduction
 The PID ( common feedback controller).
 PID regulation is the most technologically mature continuous system which is employed
widely. PID control will be the most suitable means if we do not completely understand a
system and its controlled objects or we cannot determine system parameters by effective
measurement methods.
 In practical applications, depending on the circumstances, the structure of the PID control can
be flexibly changed.

e (t) = r (t) – y (t)

Defining Terms:

 Process Variable (PV): the process signal for which control is desired.
 Setpoint (SP): The target for the PV, usually provided by operations staff but may be
programmatically generated is sometimes called setpoint variable (SV).
 Control Output (CO): The result of the PID calculation, which becomes the output to
command a field device that can affect the PV is sometimes called the manipulated
variable (MV).
 Error: the difference between the PV and the SP.
 Dead time: the time it takes for the PV to respond to a change of the CO.
 Direct acting: Increasing the CO increases the PV (see also reverse acting).
 Reverse acting: Increasing the CO decreases the PV (see also direct acting).
 Process gain: how far the PV moves for a change in the CO (for self-regulating
processes), or how far and how fast the PV moves for a change in the CO (for non-self-
regulating processes)
 Process dead time: how long it takes from when the CO changes until the PV first
moves
Defects of PID control

 PID controllers cannot solve properly systems of Multiple-Inputs and Multiple-Outputs

(MIMO) with strong interaction.

 PID controllers do not have predictive abilities.

 The PID does not handle deadtime dominant processes very well and it is quite difficult to
achieve fast response and stability.

 The PID is that it is a feedback algorithm so cannot take any control action until it sees a
disturbance and an error is produced. Depending on the dynamics of the process the
recovery time can then be quite long resulting in poor performance.
Improving PID Controller Performance:

• Variable speed integral PID algorithm

It solves the overshoot and integral saturation issues that plague the standard PID algorithm. We
can easily set it up and improve the regulatory quality.
Main Idea:
• In other words, when the deviation is large, the integral accumulation speed slows down and
the integral control strength is weak; on the other hand, the integral accumulation speed is
accelerated and the integral control strength is strengthened. Change the integral speed in
accordance with the system deviation so that it corresponds to the deviation size.
• Set a coefficient f[e(K)] , which is a function of e(K). When [e(k)] increases, the result of
function decreases, otherwise, it increases.
The expression of the integral item is:
T

In the formula, k=1,2,…e(k) is the deviation of the signal at time k. f[e(k)] is integral coefficient, it
is the function of e(k).
Poor tuned vs. well tuned

• For almost all measurable and controllable continuous industrial processes, there is an
optimal setpoint (SP) that the measured process variable (PV) should follow as closely as
possible.
PID Controller Implementation Issues

• Industrial PID control typically comes packaged, so understanding how the PID controller has
been set up is essential before beginning a tuning exercise. This typically entails carefully
reading the manufacturer's user manual and, if necessary, meeting and speaking with the
controller manufacturer's staff.
• However, there are several common problems in the implementation of the terms of the PID
controller and it is useful to examine general solutions and terminology even if specific
industrial details are not available. Table (1) shows some common process control problems
and the appropriate PID implementation solution.
Table(1):Process control problems and implementing the PID
controller
Advantage
The advantage of PID controller is its feasibility and easy to be implemented. The PID gains can be
designed based upon the system parameters if they can be achieved or estimated precisely.
Moreover, the PID gain can be designed just based on the system tracking error and treats the
system to be "blackbox" if the system parameters are unknown. However, PID controller generally
has to balance all three-gains impact to the whole system and may compromise the transient
response, such as settling time, overshoots, oscillations. If the system parameters can not be
precisely estimated or achieved, the designed PID gains may not resist the uncertainties and
disturbances, and thus present low robustness. Even though the PID gains can be well-designed,
the PID controller still has low robust ability compared with the robust controller when the
system encounters to multiple challenges from the operating environment of the system, such as
temperature, weather, power surge, and so on.

Disadvantages
The disadvantage of the PID is that it is a feedback algorithm so cannot take any control
action until it sees a disturbance and an error is produced. Depending on the dynamics of
the process the recovery time can then be quite long resulting in poor performance. This
and other problems can often be overcome using other techniques such as feedforward
but on it’s own the PID has that one big disadvantage.
Conclusion
• Several of the problems can be solved with some
external tricks, like use of cascade loops, additive and
multiplicative feedforward, reset feedback, deadtime
compensators and others.
• There are several other algorithms with better
performance at the cost of much harder implementation
and tuning effort, with lower robustness. So it generally
ends up in a costbenefit analysis.

Thanks