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Controller Modes

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55 views

Controller Modes

Uploaded by

Betselot Sisay
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Addis Abeba Science and Technology University

Industrial Automation and Process Control


Feedback Controllers

1 Introduction
Two-Position (ON/OFF) Controller

2 Continuous Controller Modes


Proportional Control Mode
Integral Control Mode
Derivative Control Mode

3 Composite Controller Modes


Introduction

Introduction

In general, the controller operation for the error ep is expressed as a


relation:
F = f (ep )
where F (ep ) represents the relation by which the appropriate con-
troller output is determined.

Based on the controller output we can classify controllers into two


Discontinuous controller mode: In this controller modes the
controller output will be discontinuous with respect to error
Example: Two-Position (On/off) mode
Continuous controller mode: In this controller modes the
controller output will be continuous with respect to error
Example: PID controller
Introduction
Two-Position (ON/OFF) Controller

Two-Position (ON/OFF) Controller

The most elementary controller mode is the two-position or ON/OFF


controller mode.

It is the simplest and cheapest controller modes. The most general


form can be given by:

The relation shows that when the measured value is less than the
setpoint (i.e. ep > 0), the controller output will be full (i.e. 100%)

when the measured value is more than the setpoint (i.e. ep < 0),
the controller output will be zero (i.e. 0%).
Introduction
Two-Position (ON/OFF) Controller

Temperature control

Disadvantages: Frequent cycling of the actuator leads to premature


failure due to mechanical wear

This can be implemented using a comparator circuit


Introduction
Two-Position (ON/OFF) Controller

Neutral Zone
Neutral Zone: In practical implementation of the two-position con-
troller, there is an overlap as ep increases through zero or decreases
through zero. In this span, no change in the controller output occurs
which is illustrated in the Fig. below.
Introduction
Two-Position (ON/OFF) Controller

It can be observed that, until an increasing error changes by ∆ep


above zero, the controller output will not change state. In decreas-
ing, it must fall ∆ep below zero before the controller changes to 0%.
The range 2∆ep is referred to as neutral zone or differential gap.

Two-position controllers are purposely designed with neutral zone


to prevent excessive cycling.

The existence of such a neutral zone is an example of desirable


hysteresis in a system.

Generally the two-position control mode is best adapted to: Room


heating systems and air-conditioning systems.

Hysteresis sets an upper and lower threshold to eliminate the multi-


ple transitions caused by noise.
Introduction
Two-Position (ON/OFF) Controller

Implementation
we can design an electronic controller for two position (On-OFF)
controller using both comparator and schmitt trigger
Continuous Controller Modes

Continuous Controller Modes


In continuous controller modes the controller output changes smoothly
in response to the error or rate of change of error.

In most of the industrial processes one or combination of continuous


controllers are preferred.

Continuous Controller Modes


Proportional Control Mode
Integral Control Mode
Derivative Control Mode
Composite Controller Modes
Proportional-Integral Control (PI Mode)
Proportional-Derivative Control (PD Mode)
Proportional-Integral-Derivative Control (PID or Three Mode
Control)
Continuous Controller Modes
Proportional Control Mode

Proportional Control Mode


In this mode a linear relationship exist between the controller output
and the error.

For some range of errors about the setpoint, each value of error has
unique value of controller output in one-to-one correspondence.

The range of error to cover the 0% to 100% controller output is


called proportional band, because the one-to-one correspondence
exist only for errors in this range.

The analytical expression for this mode is given by:


p = K p e p + P0
where Kp = proportional gain (% per %)
P0 = controller output with no error or zero error (%)
Continuous Controller Modes
Proportional Control Mode

In Fig. below, proportional band is dependent on the gain.


A high gain (G1) leads to fast response, but narrow band of errors
within which output is not saturated.

Low gain (G2) leads to slow response, but wide band of errors within
which output is not saturated.
Continuous Controller Modes
Proportional Control Mode

In general, the proportional band is defined by the equation:

PB = 100/Kp
Offset: The characteristic of the proportional control mode is that
it produces a permanent residual error in the operating point of the
controlled variable when a load change occurs and is referred to as
offset.

It can be minimized by larger constant Kp which also reduces the


proportional band.
Continuous Controller Modes
Proportional Control Mode

Implementation

we can design a proportional controller using a simple feedback am-


plifier circuit.

The proportional gain will vary using a potentiometer on the feed-


back resistance
Continuous Controller Modes
Proportional Control Mode

Problem-1: A proportional controller has a gain of Kp = 2.0 and Po


= 50%. Plot the controller output for the following error signal.
Continuous Controller Modes
Integral Control Mode

Integral Control Mode

The integral control eliminates the offset error problem by allowing


the controller to adapt to changing external conditions by changing
the zero-error output.

Integral action is provided by summing the error over time, mul-


tiplying that sum by a gain, and adding the result to the present
controller output.

If the error makes random excursions above and below zero, the net
sum will be zero, so the integral action will not contribute.

But if the error becomes positive or negative for an extended pe-


riod of time, the integral action will begin to accumulate and make
changes to the controller output.
Continuous Controller Modes
Integral Control Mode

The analytical expression for integral mode is given by the equation;


Z t
p(t) = KI ep dt + p(0)
0

where p(0) = controller output when the integral action starts (%)
KI = Integral gain (s −1 )

The integral gain is often represented by the inverse, which is called


the integral time or reset action, i.e. TI = 1/KI , which is expressed
in minutes instead of seconds because this unit is more typical of
many industrial process speeds.
Continuous Controller Modes
Derivative Control Mode

Derivative Control Mode

Derivative controller action responds to the rate at which the error


is changing- that is, derivative of the error.

The analytical expression for derivative control mode is given by;


dep
p(t) = KD
dt
where KD = Derivative gain (s)
Derivative action is not used alone because it provides no output
when the error is constant.

Derivative controller action is also called rate action and anticipatory


control.
Continuous Controller Modes
Derivative Control Mode

For this example, it is assumed that the controller output with no


error or rate of change of error is 50%.

The derivative mode must be used with great care and usually with
a small gain, because a rapid rate of change of error can cause very
large, sudden changes of controller output and lead to instability.
Continuous Controller Modes
Derivative Control Mode

Implementation

It is impossible to use derivative controller to use alone. Instead we


can use a derivative controller with a low pass filter to eliminate the
effect of nose on the system
Continuous Controller Modes
Derivative Control Mode

Therefor the effect of each controller parameter Kp, Kd and Ki on


a closed loop system are summarized in the table below.
Composite Controller Modes

Composite Controller Modes

In complex industrial processes most of these control modes do not


fit the control requirements. It is both possible and expedient to
combine several basic modes, thereby gaining the advantages of
each mode.

In some cases, an added advantage is that the modes tend to elim-


inate some limitations they individually posses.

The most commonly used composite controller modes are:


Proportional-Integral Control (PI Mode)
Proportional-Derivative Control (PD Mode)
Proportional-Integral-Derivative Control (PID or Three Mode
Control)

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