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

0

• 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)

0

• 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