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4 Apr 12
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* J.B. Riggs, & M.N. Karim
Chemical and Bio-Process
Control, 3rd ed. (2006)
4
Kc and I
levels good?
Kc
Rules of Thumb
*
sec
**
sec
Feedback Control
Design
Disturbances:
Load
Setpoint
Questions:
Type of controller to use?
How select best adjustable parameters?
Performance criteria?
Guidelines:
Define performance.
Obtain best parameters, for K C , I , D
Select controller with best performance.
10
Derivative:
Anticipates future error
Stabilizing effect
Noise problem
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Examples:
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13
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15
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E s
Controllers:
P-Only:
m t m K c r (t ) c(t )
P-I Controller:
P-I-D Controller:
M s
Kc
E ( s)
Gc
Kc
m t m K c e(t )
e(t ) dt
M s
1
K c 1
E (s)
I s
1
d e(t )
m t m K c e(t ) e(t ) dt D
dt
I
Chapter 5 ~ p 183
M s
M s
1
K c 1
D s
E ( s)
I s
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P-I-D Controller:
R (t )
Derivative Action:
1
d e(t )
m t m K c e(t ) e(t ) dt D
dt
I
C (t )
e(t )
C (t )
R (t )
e(t )
t
slope
d e(t )
dt
slope
C (t )
d C (t )
dt
1
d C (t )
m t m K c e(t ) e(t ) dt D
dt
I
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Derivative Action:
Another potential problem: noise
R (t )
Ds
filter
D s 1
C (t )
e(t )
C (t )
e(t )
t
slope
small
0.05 0.2
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PID
Derivative action:
Advantages:
Reduces overshoot
Reduces oscillations
Recommended for slow/sluggish processes (speed up control)
Disadvantages:
Susceptible to noise
Filtering (or averaging PV) introduces delay
3rd tuning parameter
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PID Control
PID Tuning
Tune for PI
Derivative:
Add in D
Minimum response time
D initial = Tu/8
Adjust Kc and I by same factor (%)
Check response has correct level of integral action
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Rules of Thumb
*
**
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