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Chapter 5 CS Design

This document discusses controller design techniques including classical root locus approach, frequency domain methods using lead, lag and lead-lag compensators, and PID control. It covers PID controller realizations in parallel and series forms, and addresses tuning PID gains using transient response and stability limit methods. Examples are provided to illustrate PID design and tuning for processes. Digital implementation of PID controllers and position and velocity forms are also summarized.

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Siferaw Negash
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61 views

Chapter 5 CS Design

This document discusses controller design techniques including classical root locus approach, frequency domain methods using lead, lag and lead-lag compensators, and PID control. It covers PID controller realizations in parallel and series forms, and addresses tuning PID gains using transient response and stability limit methods. Examples are provided to illustrate PID design and tuning for processes. Digital implementation of PID controllers and position and velocity forms are also summarized.

Uploaded by

Siferaw Negash
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Chapter 5

Controller Design
Contents
• Classical Approach to design
– Using root-locus
• Frequency domain
– Lead compensator
– Lag compensator
– Lead-Lag Compensator
– PID
• Controller realizations
Basic control principles
Basic control loops
Feed back and Feed forward control
Feedback control
Various configurations
• Feedback (series compensation and feedback
compensation)
Compensation types
• State feedback
Feed forward control
• Feed forward with series compensation
Proportional control
• Valve is affected proportional to the level error
Proportional control
Practical example
• Float control – proportional
Proportional band
• The input change required to change the
output by 100%
PB and its effect on control
• When a step disturbance occurs
Integral-reset control
• Proportional only
Integral action added
• Removes offset
Mathematical expression
Units used in industry
• MPR and RPM
Disadvantages in PI
• Integral windup
• Instability due to Lag
Derivative control- rate
Simple flow control
PD Control actions
Control signals in P and PD
Generally
Examples- open tank flow control
• Valve is in the inflow
Flow control
Pressure control
Pressure control from both sides
PID controller
• Parallel form
PID controller cont…
• Series form
Elimination of derivative kick
• Derivative may have high output for a step
change in error
• So de/dt is replaced by –dym/dt
Frequency domain effects
• PD control
– Decreases overshoot
– Increases rise time
– Passes high frequency signals
– May have high output for jump in set point
• PI control
– Decreases steady state error
– Decreases rise time
– Integral wind up and saturation of actuator
– Overshoot in
Commercial PID controllers
Design of PID controllers
• Series/cascade of PI and PD
– Rearrange the terms of standard PID into series
cascade form

– Design PD controller to meet part of spec.


– Select remaining parameters to fulfill other spec
Tuning PID controllers
• Two methods
– Transient response method

P Kp= tr/td
PI kp=0.9tr/td ti=td/0.3
PID 1.2tr/td ti=2td tdc=0.5td

– Stability limit method


P Kp=0.5Kc
PI Kp=0.5Kc ti=tosc/1.2
PID Kp=0.6Kc ti=tosc/2 td=tosc/8
Example
• Step response test of a system gave td=150sec
and tr=75sec, determine Kp, Kd and Ki of the
PID controller
• Soln.
– Kp=1.2tr/td=1.2*75/150=0.6
– Ti=2*td=300sec
– Td=0.5td=75sec
– Kd=Kp*td=0.6*75=45
– Ki=Kp/Ti=0.6/300=0.002
Example 2
• A system has transfer function given by
kp
Gs  
ss  1s  4  kp
• Design a PID controller using stability method
• Soln.
1) find critical gain using RH criteria
2) substitute the value of Kc and find the critical frequency
value and time period
3) determine Kp, Kd and Ki
Assignment
• Find very well known commercial PID process
controller manufacturers from net and list
their products
– Example www.omega.com
• Explain tuning algorithm of one of the
commercial products you found
Digital version of PID controllers
• Block diagram of digital PID

ADC PC DAC

• The ADC will sample the signal and hold it for


some time and convert it to digital signal
• Sampling has to fulfill Shannon's theorem
• Pre-filter may be necessary
Position form of digital PID
• Replace the derivative and integral terms by
their digital equivalent

• Substitute into the parallel form gives the


output at the kth iteration
Velocity form of PID
• Calculate the output for k-1th iteration and
subtract from the kth output to get the
difference

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