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IMPLEMENTATION

OF
FEEDBACK CONTROLLERS
COMPUTER
CENTRE
CO-ORDINATING
COMPUTER
CO-ORDINATING
COMPUTER
SUPERVISORY
COMPUTER
CON..TER
SUPERVISORY
COMPUTER
SUPERVISORY
COMPUTER
SUPERVISORY
COMPUTER
CO..LER CO..LER CO..LER
CO..LER
CO..LER CO..LER
INV..TER
P.AMP P.AMP P.AMP P.CON
DC
MOTOR
FAN
SERVO
DRIVE
FLOW
CONTROL
VALVE
LEVEL
CONTROL
FURNACE
M
M
S T I R R E D-T A N K H E A T E R
WHY PROCESS TO BE CONTROLLED?

Safety
Environmental friendly
Operator friendly
To improve product quality
To increase production rate
Highly integrated plant with small
surge capacities

Tougher competition
To make profitable
Reduced raw material cost
Extended equipment life
Most economical operating
conditions
Reduced energy consumption
Typical Response to a step change in load variable
0 Time
PV
No control
P control
PI
PI
PID
0 Time
Increasing K
c
No control (K
c
= 0)
Typical process responses P control: effect of K
C
Time
0
Increasing T
I
Time
0
Increasing k
c
PI control : effect of T
I

PV
PV
PV
PI control : effect of K
C
SP
SP
SP
SP
Typical Response to a step change in load variable
Time
0
T
D
Increasing
PID Control: effect of T
D
PV
SP
Increasing T
D
from zero
Improves speed of response by Reducing
maximum deviation
response time
oscillation


LV Simple PID Position Algorithm
Algorithm: Parallel PID controller
Dn In pn n
m m m m + + =
}
+ + =
t
t
I
p
dt
de
T dt t e
T
t e K t m
D
0
) (
) (
1
) ( ) (
( )
1
1

=

A
+
A
+ =
n n
D
n
k
k
I
n n
e e
t
T
e
T
t
e m
LV Simple PID Position Algorithm Cont.
Controller Inputs
PV = Process Variable
SP = Set Point
t
n
= Most recent sampling start instant
n
t

LV Simple PID Position Algorithm Cont.
Controller Tuning Parameters
P= K
p
= Proportional component
I = 1

/T
I
= Integral component
D= T
D
=Derivative component
m
max
= Upper limit of controller output
m
min
= Lower limit of controller output
n
t

LV Simple PID Position Algorithm Cont.
Error
n n n
PV SP e =
Deviation Error
1 _ n n n
e e e = A
LV , P--- Controller
n n p pn
e P e K m = =
LV, I Controller

=
A
=
n
k
k
I
In
e
T
t
m
1
n
I
n I In
e
T
t
m m
A
+ =
) 1 (
I
n
n I In
T
t e
m m
A
+ =
) 1 (
t e I m m
n n I n I
A + =
) 1 (
Where
I
T
I
1
=
LV, D Controller
t
e
T m
n
D Dn
A
A
=
t
e
D m
n
Dn
A
A
=
Where
D
T D =
LV Simple PID Controller Cont
Dn In pn n
m m m m + + =
Controller Output
Controller Output Limiting
min
m m
n
s
If
Then
min
m m
n
=
If
max
m m
n
>
Then max
m m
n
=
n n
m m =
Otherwise
LV Simple PID Controller Cont
Normalization of Output
If
Then
Otherwise
min max
m m >
max
m
m
m
n
n
=
min
m
m
m
n
n
=
LV Simple PID Position Algorithm
A
1 _ n n n
t t t = A
Input Parameters : PV, SP, t
n

Tuning Parameters: P, I, D, m
max
,m
min

Parameter Initialization: m
I0
=0,m
D0
=0

IS
1msec t >
1msec t =
+
+
A
No
Yes
LV Simple PID Position Algorithm Cont.
n n n
PV SP e =
n p pn
e K m =
t e I m m
n n I n I
A + =
) 1 (
1 _ n n n
e e e = A
t
e
D m
n
Dn
A
A
=
n D n I n p n
m m m m + + =
A
B
LV Simple PID Position Algorithm Cont.
Controller Output Limiting
IS
No
Yes
IS
No
B
min
m m
n
s
max
m m
n
>
min
m m
n
=
Yes
max
m m
n
=
+
+
+
B B B
C
LV Simple PID Position Algorithm Cont.
Normalization of Output
No
IS
B
Yes
+
+
B B C
min max
m m >
max
m
m
m
n
n
=
min
m
m
m
n
n
=

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