Scribd
Upload
92 views

Proportional Controllers

This document summarizes different types of controllers used in process control systems. It describes proportional (P), proportional-integral (PI), proportional-derivative (PD), and proportional-integral-derivative (PID) controllers. A PI controller uses proportional and integral control modes to eliminate steady-state error. A PD controller uses proportional and derivative control modes to reduce process oscillations. A PID controller combines all three control modes - proportional, integral, and derivative - to provide responses with lower overshoot and faster settling times than other controller types.

Uploaded by

Umair Majeed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
92 views

Proportional Controllers

This document summarizes different types of controllers used in process control systems. It describes proportional (P), proportional-integral (PI), proportional-derivative (PD), and proportional-integral-derivative (PID) controllers. A PI controller uses proportional and integral control modes to eliminate steady-state error. A PD controller uses proportional and derivative control modes to reduce process oscillations. A PID controller combines all three control modes - proportional, integral, and derivative - to provide responses with lower overshoot and faster settling times than other controller types.

Uploaded by

Umair Majeed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 18

PROPORTIONAL-

INTEGRAL (PI) CONTROL


Recall: PROPORTIONAL CONTROL
Proportional controller output as a function of
error input to the controller
ON/OFF CONTROL

➢A special case of
proportional control is
on/off control.
➢ If the gain Kc is made very
high, the valve will move
from one extreme position
to the other if the process
deviates only slightly from
the set point
PROPORTIONAL-INTEGRAL (PI) CONTROL

• If we cannot tolerate any residual error, we will have to introduce an additional


control mode: integral control.
• If we add integral control to our proportional controller, we have what is termed PI,
or proportional-integral control.
PROPORTIONAL-INTEGRAL (PI)
CONTROL (Cont…)

• The integral mode ultimately drives the error to zero. This controller
has two adjustable parameters for which we select values, the gain and
the integral time.
• Thus, it is a bit more complicated than a proportional controller, but in
exchange for the additional complexity, we reap the advantage of no
error at a steady state.
Response of a PI controller to a unit-
step change in error
Proportional Integral Transfer Function
Reset Time
PI Controller Analysis

𝝉𝑰 /𝟐 𝝉𝑰 𝟐𝝉𝑰
PROPORTIONAL-DERIVATIVE (PD) CONTROL
➢ Derivative control is another mode that can be added to our
proportional or proportional-integral controllers.
➢ It acts upon the derivative of the error, so it is most active when
the error is changing rapidly. It serves to reduce process
oscillations.
Response of a PD
controller to a ramp
input in error
Transfer Function of a
PD Controller
PROPORTIONAL-INTEGRAL-DERIVATIVE (PID) CONTROL
Disadvantages of Derivative Control
Motivation for Addition of Integral and
Derivative Control Modes
• Having introduced ideal transfer functions for
integral and derivative modes of control, we
now wish to indicate the practical motivation for
use of these modes. The curves of the Figure
show the behavior of a typical feedback control
system using different kinds of control when it
is subjected to a permanent disturbance.
• This may be visualized in terms of the stirred-
tank temperature control system after a step
change in T i . The value of the controlled
variable is seen to rise at time zero owing to the
disturbance. With no control, this variable
continues to rise to a new steady-state value.
With control, after some time the control system
begins to take action to try to maintain the
controlled variable close to the value that
existed before the disturbance occurred.
Characteristics of Different Controllers
• PROPORTIONAL CONTROL: Proportional
control produces an overshoot followed by an
oscillatory response, which levels out at a value that
does not equal the setpoint; this ultimate displacement
from the setpoint is the offset.
• PROPORTIONAL-DERIVATIVE CONTROL:
For this case the response exhibits a smaller
overshoot and a smaller period of oscillation
compared to the response for proportional control.
The offset that still remains is less than that for
proportional control.
PROPORTIONAL-INTEGRAL-DERIVATIVE
• PROPORTIONAL-INTEGRAL CONTROL. In
this case, the response has about the same overshoot CONTROL. As one might expect, the use of PID
as proportional control, but the period is larger; control combines the beneficial features of PD and PI
however, the response returns to the setpoint (offset control. The response has lower overshoot and returns
0) after a relatively long settling time. The most to the setpoint more quickly than the responses for the
beneficial influence of the integral action in the other types of controllers.
controller is the elimination of offset.

You might also like