Académique Documents
Professionnel Documents
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Process
dP cell
Capacitance
Radar, Sonic
Magnetic
Resistance
IR/Laser
Sensor
Transmitter
Controller
Transducer
Control valve
4-20 mA
1-5 Vdc
PID
Fuzzy logic
4-20 mA
3-15 psig
Linear
Equal percentage
I/P
Process
Sensor
Transmitter
Controller
SP
Pressure
Flow
Level
Temperature
pH
dP cell
Capacitance
Radar, Sonic
Magnetic
Resistance
IR/Laser
4-20 mA
1-5 Vdc
Field/profibus
CONTROLLER
TRANSMITTER
CONTROL
VALVE
PID
Fuzzy logic
PROCESS
Transducer
Control valve
4-20 mA
3-15 psig
Linear
Equal percentage
PV
*SP = set point
*PV = process value
PROCESS
CONTROL
VALVE
SP
CONTROLLER
Simulation mode
TRANSMITTER
PV
Transfer Functions
Convenient representation of a linear, dynamic model.
Chapter 4
output
forcing function
response
cause
effect
Chapter 4
G s
Y s
X s
where:
Y s L y t
X s L x t
Chapter 4
(1)
(2-36)
Chapter 4
(2)
(3)
But,
Chapter 4
dT
V C
wC Ti T Q
dt
(4)
Ti s T s Q s (5)
V C sT s T 0 wC
Chapter 4
T s
K
1
Q s
Ti s
s 1
s 1
where
1
V
K
and
wC
w
T (s)=G1(s)Q(s) G2(s)Ti(s)
(6)
T s
K
1
Q s
Ti s
s 1
s 1
T (s)=G1(s)Q(s) G2(s)Ti(s)
(6)
K
1
T s
Q s
Ti s
s 1
s 1
(6)
s 1
Chapter 4
Y (s )
X (s )
s 2s 1
2
First-order-plus-dead-time (FOPDT)
Ke st 0
Y (s )
X (s )
s 1
X(t)
Y(t)
t=0 t=t0
PV(s)
Process variable
H (s )
H(s)
C(s)
Transmitter output
C (s )
KT
PV (s ) T s 1
KT = transmitter gain
p t controller output
p bias (steady-state) value
K c controller gain (usually dimensionless)
p is controller output when the error is zero
Integral Control
For integral control action, the controller output depends on the
integral of the error signal over time,
1
p t p
I
0 e t * dt *
(8-7)
1
p t p Kc e t
I
0 e t * dt *
t
(8-8)
19
Transfer function
The PI controller has two parameters, Kc and I
Derivative Control
The function of derivative control gives the controller the
capability to anticipate where the process is heading by
calculating the derivative error
Thus, for ideal derivative action,
p t p D
de t
dt
(8-10)
1 t
p t p K c e t e t * dt *
I 0
de t
dt
(8-13)