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Chapter 8
Proportional Control
Chapter 8
2
Although Eq. 8-1 indicates that the set point can be time-varying,
in many process control problems it is kept constant for long
periods of time.
For proportional control, the controller output is proportional to
the error signal,
Chapter 8
p ( t ) = p + Kce ( t ) (8-2)
where:
p ( t ) = controller output
p = bias (steady-state) value
K c = controller gain (usually dimensionless)
3
Chapter 8
4
The key concepts behind proportional control are the following:
100%
PB (8-3)
Kc
5
In order to derive the transfer function for an ideal proportional
controller (without saturation limits), define a deviation variable
p ( t ) as
p ( t ) p ( t ) p (8-4)
(8-5)
6
Integral Control
For integral control action, the controller output depends on the
integral of the error signal over time,
1 t
p (t ) = p + 0 e ( t *)dt * (8-7)
I
Chapter 8
P ( s ) 1 I s +1
= Kc 1 + = Kc (8-9)
E (s) s
I
I s
Chapter 8
Reset Windup
Derivative Control
Chapter 8
9
Thus, for ideal derivative action,
de ( t )
p (t ) = p + D (8-10)
dt
where D , the derivative time, has units of time.
For example, an ideal PD controller has the transfer function:
Chapter 8
P ( s )
= K c (1 + D s ) (8-11)
E (s)
P ( s ) Ds
= Kc 1 + (8-12)
E (s) D s + 1
Chapter 8
11
Proportional-Integral-Derivative (PID) Control
Now we consider the combination of the proportional, integral,
and derivative control modes as a PID controller.
Many variations of PID control are used in practice.
Next, we consider the three most common forms.
Chapter 8
1 t de ( t )
p ( t ) = p + K c e ( t ) + 0 e ( t *) dt * + D dt (8-13)
I
12
The corresponding transfer function is:
P ( s ) 1
= K c 1 + + Ds (8-14)
E (s) I s
P ( s ) I s + 1 D s + 1
= Kc (8-15)
E (s)
I Ds s + 1
13
Expanded Form of PID Control
In addition to the well-known series and parallel forms, the
expanded form of PID control in Eq. 8-16 is sometimes used:
t de ( t )
p ( t ) = p + K c e ( t ) + K I e ( t *) dt * + K D (8-16)
0 dt
Chapter 8
14
This sudden change is undesirable and can be avoided by basing
the derivative action on the measurement, ym, rather than on the
error signal, e.
We illustrate the elimination of derivative kick by considering
the parallel form of PID control in Eq. 8-13.
Replacing de/dt by dym/dt gives
Chapter 8
1 t dym ( t )
p ( t ) = p + K c e ( t ) + 0 e ( t *) dt * D dt (8-17)
I
15
For proportional control, when Kc > 0, the controller output p(t)
increases as its input signal ym(t) decreases, as can be seen by
combining Eqs. 8-2 and 8-1:
p ( t ) p = K c ysp ( t ) ym ( t ) (8-22)
16
Figure 8.11 Reverse
Chapter 8
and direct-acting
proportional
controllers. (a) reverse
acting (Kc > 0. (b)
direct acting (Kc < 0)
17
Example: Flow Control Loop
Chapter 8
Assume FT is direct-acting.
18
Automatic and Manual Control Modes
Automatic Mode
Controller output, p(t), depends on e(t), controller
constants, and type of controller used.
( PI vs. PID etc.)
Chapter 8
Manual Mode
Controller output, p(t), is adjusted manually.
Manual Mode is very useful when unusual
conditions exist:
plant start-up
plant shut-down
emergencies
Percentage of controllers "on manual ??
(30% in 2001, Honeywell survey)
19
Example: Liquid Level Control
Control valves are air-to-open
Level transmitters are direct acting
Chapter 8
Simple
Cheap
Chapter 8
21
On-Off Controllers (continued)
Synonyms:
two-position or bang-bang controllers.
Chapter 8
22
Practical case (dead band)
Chapter 8
23
Chapter 8
24
Proportional-Integral (PI) Control
1
t
p ( t ) = p + K c e ( t ) + e ( t ) dt
I 0
ysp
26
Some controllers are calibrated in 1/I
("repeats per minute") instead of I .
27
PID Controller
Ideal controller
p( t ) = p + K c e( t ) + e( t )dt + D
I 0 dt
P(s) 1
= K c 1 + + Ds
E(s) Is
Transfer function (actual)
P(s) Is + 1 Ds + 1
= K c
E(s) Is Ds + 1
= small number (0.05 to 0.20) lead / lag units
28
Controller Comparison
29
Typical Response of Feedback Control Systems
Consider response of a controlled system after a
sustained disturbance occurs (e.g., step change in
the disturbance variable)
Chapter 8
30
Figure 8.13.
Proportional control:
y effect of controller
gain.
Chapter 8
31
y y
Chapter 8
32
Position and Velocity Algorithms for Digital PID
Control
A straight forward way of deriving a digital version of the parallel
form of the PID controller (Eq. 8-13) is to replace the integral and
derivative terms by finite difference approximations,
Chapter 8
t k
0 e ( t *) dt e j t (8-24)
j =1
de ek ek 1
(8-25)
dt t
where:
t = the sampling period (the time between successive
measurements of the controlled variable)
ek = error at the kth sampling instant for k = 1, 2, 33
There are two alternative forms of the digital PID control
equation, the position form and the velocity form. Substituting (8-
24) and (8-25) into (8-13), gives the position form,
Chapter 8
t k D
pk = p + K c ek + e j + ( ek ek 1 ) (8-26)
1 j =1 t
t k D
pk = p + K c ek + e j + ( ek ek 1 ) (8-26)
1 j =1 t
Chapter 8
t D
pk = pk pk 1 = K c ( ek ek 1 ) + ek + ( ek 2ek 1 + ek 2 )
I t
(8-28)
35
The velocity form has three advantages over the position form:
36