Okay, let's solve this step-by-step:
* Set point (Io) = 12 rpm
* Range = 15 - 10 = 5 rpm
* Initial controller output = 22%
* KI = -0.15%/s/% error
* Error = Actual - Set point = ?
* Given: Initial output is 22%
* To find: What is the actual speed?
Using the integral control equation:
Iout = Io - KI * ∫edt
22% = 12rpm - 0.15%/s/% * ∫e dt
∫e dt = (22% - 12rpm)/0.15%/s/% = 40%*
Here in this presentation we will discussing about Inductive Transducer and its working principle, a brief classification of Inductive Transducer and derivation of transducer applications
A proportional–integral–derivative controller (PID controller) is a control loop feedback mechanism (controller) commonly used in industrial control systems. A PID controller continuously calculates an error value as the difference between a measured process variable and a desired setpoint.
Here in this presentation we will discussing about Inductive Transducer and its working principle, a brief classification of Inductive Transducer and derivation of transducer applications
A proportional–integral–derivative controller (PID controller) is a control loop feedback mechanism (controller) commonly used in industrial control systems. A PID controller continuously calculates an error value as the difference between a measured process variable and a desired setpoint.
The ability to tune a PID loop manually is an art that is quickly becoming scarce, but, like driving a car with a stick shift, it can be very helpful in the right circumstance. In industrial processes automation, most modern control loops are equipped with an auto-tuning algorithm, but in spite of this, there are some loops these automated methods cannot tame.
Having knowledge of the different tuning elements and how to adjust them can help you bring these unruly loops under control. If you have the responsibility to keep the processes running at your plant or factory, this webinar will help you better understand the basics of PID control.
In this webinar you will learn:
The purpose of each of the PID tuning elements
How adjusting the individual PID elements will affect the process
General PID profiles for pressure / flow loops
General PID profiles for temperature loops
An explanation of some supporting parameters like cycle time, manual reset, and anti-reset windup
Instrumentation and process control fundamentalshossam hassanein
Basic course covers:
-Basic understanding of process control
-Important process control terminology
-Major components of a process loop
-Instrumentation P&ID symbols
Process load,process lag,self regulation,error,control lag,dead time,cycling,discontinious control modes,two position control modes,flaoting control modes,propotional band,offset,propotional control, integral control,derivative control,pid control,pi control,pd control,tuning of pid control
CodeRage XI international Conference: Arduino + Delphi Mobile Apps Vic Fernandes
This is the playback of my CodeRage XI international Conference lecture speaking about Arduino + Delphi Mobile Apps
This presentation was done in 9 cities around Brazil for the ExtremeDelphi event during 2016 and also in Rome-Italy at the ITDevCon event.
Very happy to be speaking for the first time at the CodeRage!!! Only great speakers and hundreds of attendees from all around the world! Wow!
The ability to tune a PID loop manually is an art that is quickly becoming scarce, but, like driving a car with a stick shift, it can be very helpful in the right circumstance. In industrial processes automation, most modern control loops are equipped with an auto-tuning algorithm, but in spite of this, there are some loops these automated methods cannot tame.
Having knowledge of the different tuning elements and how to adjust them can help you bring these unruly loops under control. If you have the responsibility to keep the processes running at your plant or factory, this webinar will help you better understand the basics of PID control.
In this webinar you will learn:
The purpose of each of the PID tuning elements
How adjusting the individual PID elements will affect the process
General PID profiles for pressure / flow loops
General PID profiles for temperature loops
An explanation of some supporting parameters like cycle time, manual reset, and anti-reset windup
Instrumentation and process control fundamentalshossam hassanein
Basic course covers:
-Basic understanding of process control
-Important process control terminology
-Major components of a process loop
-Instrumentation P&ID symbols
Process load,process lag,self regulation,error,control lag,dead time,cycling,discontinious control modes,two position control modes,flaoting control modes,propotional band,offset,propotional control, integral control,derivative control,pid control,pi control,pd control,tuning of pid control
CodeRage XI international Conference: Arduino + Delphi Mobile Apps Vic Fernandes
This is the playback of my CodeRage XI international Conference lecture speaking about Arduino + Delphi Mobile Apps
This presentation was done in 9 cities around Brazil for the ExtremeDelphi event during 2016 and also in Rome-Italy at the ITDevCon event.
Very happy to be speaking for the first time at the CodeRage!!! Only great speakers and hundreds of attendees from all around the world! Wow!
Design and Implementation of a Quadrotor HelicopterHicham Berkouk
This is a project on building a quadrotor from scratch. From the history; physics and modeling to system hardware and software. The control algorithm is built arround a PID loop. For more details, please feel free to comment or send me an email to: hicham.berkouk@outlook.com
proportional controllers, proportional integral controllers and proportional derivative controllers and proportional integral derivative controllers used in the various fields in the control systems.
Mechatronics is a multidisciplinary field that refers to the skill sets needed in the contemporary, advanced automated manufacturing industry. At the intersection of mechanics, electronics, and computing, mechatronics specialists create simpler, smarter systems.
Analysis and Design of PID controller with control parameters in MATLAB and S...MIbrar4
• To learn the need of controller
• Types of Basic Controllers (P, I and D Controllers) and their properties.
• Controller combinations (PI, PD and PID Controllers) and their properties.
• PID tunning by MATLAB.
• Comparative performance analysis of PI, PD and PID Controllers
PERFORMANCE COMPARISON OF TWO CONTROLLERS ON A NONLINEAR SYSTEMijccmsjournal
Various systems and instrumentation use auto tuning techniques in their operations. For example, audio
processors, designed to control pitch in vocal and instrumental operations. The main aim of auto tuning is
to conceal off-key errors, and allowing artists to perform genuinely despite slight deviation off-key. In this
paper two Auto tuning control strategies are proposed. These are Proportional, Integral and Derivative
(PID) control and Model Predictive Control (MPC). The PID and MPC controller’s algorithms
amalgamate the auto tuning method. These control strategies ascertains stability, effective and efficient
performance on a nonlinear system. The paper test and compare the efficacy of each control strategy. This
paper generously provides systematic tuning techniques for the PID controller than the MPC controller.
Therefore in essence the PID has to give effective and efficient performance compared to the MPC. The
PID depends mainly on three terms, the P ( ) gain, I ( ) gain and lastly D ( ) gain for control each
playing unique role while the MPC has more information used to predict and control a system.
Fundametals of HVAC Refrigeration and AirconditioningCharlton Inao
This course is designed to tackle the fundamentals of Heating, Ventilating, Air Conditioning, and Refrigeration as they relate to human comfort in residential and industrial design applications. The main focus of the course will be to examine the fundamental criteria involved in sizing and design of HVAC systems as well as to investigate the equipment used to satisfy the design criteria. The culmination part of the course is the design of air conditioning and ventilation of a commercial or residential building as a final project or case study.
Team formation
The course is designed to explore the entrepreneurial mindset and culture, utilizing a technology or engineering background. This fits into goals of starting a company or being involved in an entrepreneurial or R&D effort in companies of all sizes and industries. The course is also applicable in training future scientist and engineers to participate in in business ventures and Research and Development (R&D) activities.
Air conditioning systems
2. Properties of moist air
3. Moist air processes
4. Space air conditioning
5. Indoor air quality--comfort and health
6. Heat transfer from human body
7. Heat transfer in building envelopes
8. Infiltration heat load and weatherizing
9. Computation of the heating load
10. Heat gain by solar radiation
11. Computation of the cooling load
12. Energy requirements for HVAC systems; building energy audit
13. Fans--performance, selection, and installation
14. Air flow in ducts and fittings
15. Design of duct systems
16. Codes & standards for building energy systems
17. Annual energy consumption
Air conditioning systems
2. Properties of moist air
3. Moist air processes
4. Space air conditioning
5. Indoor air quality--comfort and health
6. Heat transfer from human body
7. Heat transfer in building envelopes
8. Infiltration heat load and weatherizing
9. Computation of the heating load
10. Heat gain by solar radiation
11. Computation of the cooling load
12. Energy requirements for HVAC systems; building energy audit
13. Fans--performance, selection, and installation
14. Air flow in ducts and fittings
15. Design of duct systems
16. Codes & standards for building energy systems
17. Annual energy consumption
Air conditioning systems
2. Properties of moist air
3. Moist air processes
4. Space air conditioning
5. Indoor air quality--comfort and health
6. Heat transfer from human body
7. Heat transfer in building envelopes
8. Infiltration heat load and weatherizing
9. Computation of the heating load
10. Heat gain by solar radiation
11. Computation of the cooling load
12. Energy requirements for HVAC systems; building energy audit
13. Fans--performance, selection, and installation
14. Air flow in ducts and fittings
15. Design of duct systems
16. Codes & standards for building energy systems
17. Annual energy consumption
Air conditioning systems
2. Properties of moist air
3. Moist air processes
4. Space air conditioning
5. Indoor air quality--comfort and health
6. Heat transfer from human body
7. Heat transfer in building envelopes
8. Infiltration heat load and weatherizing
9. Computation of the heating load
10. Heat gain by solar radiation
11. Computation of the cooling load
12. Energy requirements for HVAC systems; building energy audit
13. Fans--performance, selection, and installation
14. Air flow in ducts and fittings
15. Design of duct systems
16. Codes & standards for building energy systems
17. Annual energy consumption
The course is designed to explore the entrepreneurial mindset and culture, utilizing a technology or engineering background. This fits into goals of starting a company or being involved in an entrepreneurial or R&D effort in companies of all sizes and industries. The course is also applicable in training future scientist and engineers to participate in in business ventures and Research and Development (R&D) activities.
Nme 515 air conditioning and ventilation systems for submissionCharlton Inao
Chapter 1 Introduction
Chapter 2 Moist air properties and conditioning processes
Chapter 3 Air-conditioning systems
Chapter 4 Indoor and outdoor design conditions
Chapter 5 Space air diffusion and duct design
Chapter 6 Heat transmission in building structures
Chapter 7 Solar radiation
Chapter 8 Infiltration and ventilation
Chapter 9 Cooling/heating load calculations
Chapter 10 Building energy calculations
Nme 516 industrial processes for canvasCharlton Inao
The course involves the study and analysis of of industrial processing plants, focusing on local and international industries . It also deals with the analysis of flow sheets, equipment and operating data from simple cone-type rice mills, coconut oil mills, sugar centrals, plywood factories, cement plants to big power plants and processing plants.analysis of flow sheets, equipment and operating data from simple cone-type rice mills, coconut oil mills, sugar centrals, plywood factories, cement plants to big power plants and processing plants.
Nme 3107 technopreneurship for canvas june 17Charlton Inao
Technopreneurship is a philosophy, a way of building a career or perspective in life. The course covers the value of professional and life skills in entrepreneurial thought, investment decisions, and action that students can utilize in starting technology companies or exexuting R&D projects in companies as they start their careers.The net result is a positive outlook towards wealth creation, high value adding, and wellness in society.
Student information management system project report ii.pdfKamal Acharya
Our project explains about the student management. This project mainly explains the various actions related to student details. This project shows some ease in adding, editing and deleting the student details. It also provides a less time consuming process for viewing, adding, editing and deleting the marks of the students.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
Explore the innovative world of trenchless pipe repair with our comprehensive guide, "The Benefits and Techniques of Trenchless Pipe Repair." This document delves into the modern methods of repairing underground pipes without the need for extensive excavation, highlighting the numerous advantages and the latest techniques used in the industry.
Learn about the cost savings, reduced environmental impact, and minimal disruption associated with trenchless technology. Discover detailed explanations of popular techniques such as pipe bursting, cured-in-place pipe (CIPP) lining, and directional drilling. Understand how these methods can be applied to various types of infrastructure, from residential plumbing to large-scale municipal systems.
Ideal for homeowners, contractors, engineers, and anyone interested in modern plumbing solutions, this guide provides valuable insights into why trenchless pipe repair is becoming the preferred choice for pipe rehabilitation. Stay informed about the latest advancements and best practices in the field.
NO1 Uk best vashikaran specialist in delhi vashikaran baba near me online vas...Amil Baba Dawood bangali
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Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
Instead of buying and hoping for the best, we can use data science to help us predict which products may be good fits for us. It includes various function programs to do the above mentioned tasks.
Data file handling has been effectively used in the program.
The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
3. Continuous controllers
Now in the continuous controller’s theory,
there are three basic modes on which the
whole control action takes place and these
modes are written below. We will use the
combination of these modes in order to have
a desired and accurate output.
• Proportional controllers.
• Integral controllers.
• Derivative controllers.
4. Combinations of these three controllers are
written below:
• Proportional and integral controllers.(PI)
• Proportional and derivative
controllers.(PD)
• Proportional ,integral and derivative
controllers(PID)
5. Proportional control
Proportional control, the controller output is proportional to
the error signal,Proportional controllers there are two
conditions and these are written below:
• Deviation should not be large, it means there should be less
deviation between the input and output.
• Deviation should not be sudden.
Now we are in a condition to discuss proportional controllers,
as the name suggests in a proportional controller the output
(also called the actuating signal) is directly proportional to the
error signal.
This can be analyzed (proportional controller) mathematically.
As we know in proportional controller output is directly
proportional to error signal, writing this mathematically we
have,
6. Proportional control
Removing the sign of proportionality we have,
Where Kp is proportional constant also known as
controller gain. It is recommended that Kp should be
kept greater than unity. If the value of Kp is greater
than unity, then it will amplify the error signal and
thus the amplified error signal can be detected easily.
7. Advantages of Proportional Controller
Now let us discuss some advantages of proportional
controller. Proportional controller helps in reducing the
steady state error, thus makes the system more stable.
Slow response of the over damped system can be
made faster with the help of these controllers.
Disadvantages of Proportional Controller
Now there are some serious disadvantages of these
controllers and these are written as follows: Due to
presence of these controllers we some offsets in the
system.
Proportional controllers also increase the maximum
overshoot of the system.
Proportional control
9. Integral Controllers
As the name suggests in integral controllers
the output (also called the actuating signal) is
directly proportional to the integral of the
error signal. Now let us analyze integral
controller mathematically. As we know in an
integral controller output is directly
proportional to the integration of the error
signal, writing this mathematically we have,
10. Integral Controllers
Removing the sign of proportionality we have,
Where Ki is integral constant also known as controller gain.
Integral controller is also known as reset controller.
Advantages of Integral Controller
Due to their unique ability they can return the
controlled variable back to the exact set point following
a disturbance that’s why these are known as reset
controllers.
Disadvantages of Integral Controller
It tends to make the system unstable because it
responds slowly towards the produced error.
11. Derivative Controllers
We never use derivative controllers alone. It
should be used in combinations with other modes
of controllers because of its few disadvantages
which are written below: It never improves the
steady state error.
It produces saturation effects and also amplifies
the noise signals produced in the system
Now, as the name suggests in a derivative
controller the output (also called the actuating
signal) is directly proportional to the derivative of
the error signal. Now let us analyze derivative
controller mathematically. As we know in a
derivative controller output is directly
proportional to the derivative of the error signal,
writing this mathematically we have,
12. Derivative Controllers
Removing the sign of proportionality we have,
Where Kd is proportional constant also known as controller
gain. Derivative controller is also known as rate controller.
Advantages of Derivative Controller
The major advantage of derivative controller is that it
improves the transient response of the system
13. Proportional and Integral Controller
As the name suggests it is a combination of
proportional and an integral controller the output
(also called the actuating signal) is equal to the
summation of proportional and integral of the
error signal. Now let us analyze proportional and
integral controller mathematically. As we know in
a proportional and integral controller output is
directly proportional to the summation of
proportional of error and integration of the error
signal, writing this mathematically we have,
14. Proportional and Derivative Controller
As the name suggests it is a combination of
proportional and a derivative controller the
output (also called the actuating signal) is equals
to the summation of proportional and derivative
of the error signal. Now let us analyze
proportional and derivative controller
mathematically. As we know in a proportional
and derivative controller output is directly
proportional to summation of proportional of
error and differentiation of the error signal,
writing this mathematically we have,
15. PID controller
The PID controller is the most widely used
type of process controller. When combined
into a single control loop the proportional,
integral and derivative modes complement
each other to reduce the system error to zero
faster than any other controller.
17. PID control
• PID control is a feedback control method that
combines proportional, integral, and
derivative actions.
• The proportional action provides smooth
control without hunting.
• The integral action automatically corrects
offset.
• The derivative action responds quickly to
large external disturbances.
21. What is tuning?
• Tuning is adjustment of control parameters to
the optimum values for the desired control
response. Stability is a basic requirement.
However, different systems have different
behaviour, different applications have
different requirements, and requirements
may conflict with one another.
22. Manual Tuning
• The operator estimates the tuning
parameters required to give the desired
controller response.
• The proportional, integral, and
derivative terms must be adjusted, or
tuned, individually to a particular
system using a trial-and-error method
23. Semiautomatic or Autotune
• The controller takes care of calculating and
setting PID parameters.
• Measures sensor output
• Calculates error, sum of error, rate of change
of error
• Calculates desired power with PID equations
• Updates control output
24. PID Tuning Software
• PID Tuning Software: There is some prepared
software that they can easily calculate the
gain parameter. Any kind of theoretical
methods can be selected in some these
methods.
Some Examples:
• MATLAB Simulink PID Controller Tuning,
• BESTune, Exper Tune etc.
25. Ziegler-Nichols Rules for Tuning PID Controllers
-Ziegler and Nichols proposed rules for determining values of the
proportional gain Kp, integral time Ti, and derivative time Td
based on the transient response characteristics of a given plant.
-Such determination of the parameters of PID controllers or
tuning of PID controllers can be made by engineers on-site by
experiments on the plant.
-Such rules suggest a set of values of Kp, Ti, and Td that will give a
stable operation of the system. However, the resulting system
may exhibit a large maximum overshoot in the step response,
which is unacceptable.
- We need series of fine tunings until an acceptable result is
obtained.
26. Ziegler-Nichols 1st Method of Tuning Rule
- We obtain experimentally the response of the plant to a
unit-step input, as shown in Figure 10-2.
-The plant involves neither integrator(s) nor dominant complex-
conjugate poles.
-This method applies if the response to a step input exhibits an S-
shaped curve.
- Such step-response curves may be generated
experimentally or from a dynamic simulation of the plant.
Figure 10-2 Unit-step response of a plant.
29. Instructional Objectives
• At the end of the chapter, the students should
be able to
1) Understand the parameters of P, I,D and PID
control mode.
2) Explain t he concept of proportional band
and proportional gain.
3) Solve practical process and control
problems related to the closed cloop control
modes.
29
31. System with Proportional controlControllerOutput
Time
0
Error
Time
0
Kp=100/PB
Iout= Kpe + Io
Change in output(s) =KpE(s)
Transfer Function= change
in output(s)/E(s)= Kp
31
33. Proportional Control Problems(Process)
• A proportional controller
has Kp of 20 and a set
point of 50% output. Its
output is to have a which
at the set point allows a
flow of 2.0 m3/s. the valves
change its output in direct
proportion to the controller
output. What will be the
controller output and the
offset error when the flow
has to be changed to
2.5m3/sec?
50%
62.5%
I0
2.0 m3/s
Solution:
By proportion:
a) Controller Output at the new
flow rate
50%/2.0m3/s =x%/2.5m3/s = 62.5%
Iout = 62.5%
2.5 m3/sIout
b) The offset error
Kp= change in output/E
E= change in output/Kp
= (62.5%-50%)/20
= 0.625%=0.63%
New Output
33
34. Proportional Control Problems
• A pneumatic proportional
controller is used to control
temperature within the range of
60 °C to 100 °C . The controller is
adjusted so that the output
pressure goes from 3 psi(valve to
fully open) to 15 psi(valve to fully
closed) as the measured
temperature goes from 71 °C to
75 °C with the set point held
constant. Find the gain and the
proportional band.
• Answer a) Gain= 3psi/ °C
b) PB= 10 %
Solution:
)s(E
Kp)s(outputinChangeFunctionTransfer
b)PB=75-71/ 100-60=0.1x 100%=10%
a)15psi-3psi/75-71C
=3psi/C
34
35. Proportional Control Problem
• .Consider the proportional mode
level controller system in the
figure below. Valve A is a linear
with a flow scale factor of 10
m3/hr per percent controller
output.
• The controller output is nominally
50% with a proportional gain
Kp=10%.A load change occurs
when flow through valve B
changes from 500 m3/hr to 600
m3/hr .Calculate the new
controller output and the offset
error.
Figure
35
37. Derivative Controllers
• Derivative Control- the change in controller output
from the set point value is proportional to the rate of
change with time of the error signal.
dt
de
KdIoIout
Transfer Function by
Laplace Transform
)())(( ssEKsIoIout D
Where Io = the setpoint output value
Iout=the output value that will occur when the error e is
changing at the rate de/dt
KD = the constant of proportionality and is commonly referred to
as the derivative time since it has units of time
KDs = transfer function
37
38. Derivative ControllersErrorControllerOutput
Time
Time
0
0
With derivative control, as soon as the error
signal begins to change there can be quite a
large controller output since it is proportional
to the rate of change of the error signal and
not its value. The controller output is
constant because the rate of change is
constant and occurs immediately as the
deviation occurs.
Derivative controllers do not respond to
steady state error signals, since with steady
error the rate of change of error with time is
zero. Because of this the derivative control is
often combined with proportional control.
Constant rate
of change of
error signal
with time
38
39. Sample 1: Derivative Control-Problem
A derivative controller
has a set point of
50% and derivative
constant KD= 0f 0.4
s. What will be the
controller output
when the error a)
changes at 1%/s, b)
is constant at 4%?
Solution:
dt
de
KdIoIout
Iout= Kd de/dt + Io
= 0.4s (1%/s) + 50%
= 50.4%
a)
b) With de/dt = zero, then Iout=Io
that is 50%. The output only
differs from the setpoint value
when the error is changing.
Error is constant at 4%.
Derivative of a constant is
zero(0). Iout=50% 39
40. Integral Control
dt
I
K
t
Io)(Iout
0
e
Integral control – is one where the rate of change of the control
output is proportional to the input error signal e.
d /dt=KIeI
I
I
K is the constant of proportionality and, when the controller
output is expressed as a percentage and the error as a percentage,
has units of s -1 (per second). The reciprocal of KI is called the
integral time TI and is in seconds. Integrating the above equation
gives:
teI d
I
K
t
d
0
Iout
Io
Io is the controller output at
zero time
Iout= is the output at time t
40
41. • The transfer function is obtained by taking
Laplace transform. Thus
Integral Control
(s)EK
s
1
s)Io)(Iout I (
Transfer function = IK
s
1
41
42. Integral ControlControllerOutput
Time
0
The figure illustrates the action of an
integral controller when there is a
constant error input to the controller. We
can consider the graph in two ways.
When the controller output is constant,
that is , dP/dt is zero, the error is zero.
When the controller output varies at
constant rate, that is dP/dt is constant,
the error must have a constant value
Error
Time
0
Constant
percent error
value
Io
Area under the error
graph between t=0
and t
edt
t
0
42
43. Thus up to the time when the error occurs,
the value of the integral is zero. Hence
Iout=Io. When the error occurs it
maintains a constant value.
Thus the area under the graph is increasing
as time increases. Since the area
increases at a constant rate, the
controller output increases at a constant
rate.
Integral Control
43
44. Integral Control-Problem
Consider an integral controller
with a value of KI =0.1/s and
an output of 40% at the set
point. What will be the
output after times a)1 s b)2
s, if there is a sudden
change to a constant error
of 20%.
Given
KI = 0.1/s
Io=40%
E=error(constant)=20%
Required:
a) Iout @ t=1s
b) Iout @ t=2s
edtKIoIout I
t
0
)(
When the error does not vary with
time, the equation becomes
IoetKIout
etKIoIout
I
I
)(
a)t=1s; Iout=0.1x20x1 + 40= 42%
b)t=2s; Iout=0.1x20x2 + 40= 44%44
45. Integral Control Problem
An integral controller is used for speed control
with a set point of 12 rpm with a range of 10
to 15 rpm. The controller output is 22%
initially. The integral constant KI=-0.15%
controler output per second per percentage
error. If the speed jumps to 13.5% rpm,
calculate the out put after a) 2 seconds
b)4 seconds c)6 seconds for a constant ep.
45
47. PID Controller
Combining all three modes of
control(proportional, integral and derivative)
enables a controller to be produced which has
no offset error and reduces the tendency for
oscillations. Such a controller is known as
three mode controller or PID controller. The
equation describing its action is:
Io)
dt
de
KedtKKp(eIout DI
t
0
47
48. PID Controller
)(sEsK(s)EKpK
s
1
(s)KpE(s)Io)-(Iout DI
Transfer function by Laplace
Transform
)DI sKK
s
1
(1KpFunctionTransfer
Problem:
What will the controller output of a three
mode controller having Kp as 4, KI as
0.6/s, Kd as 0.5s, a set point output of
50% and subject to error change show in
the figure below, a) immediately the
change starts to occur from t=0 sec,
and b) 2 s after it starts.
1Error(%)
1 2Time ,s
48
49. PID Controller Problem
Io)
dt
de
KedtKKp(eIout DI
t
0
Solution:
a) For (a) e=0; de/dt= 1/s and
edt
t
0
0
Thus: Iout= 4(0 + 0 + 0.5x 1) + 50 = 52 %
b) For (b) we have , at 2 sec, e=1%
1
Error(%)
1 2
Figure
Time ,s
edt
t
0
1.5 s , since the integral is the area under the error-time graph up to
2 s, only 1.5 sec because of the half area covered in square 1
and de/dt= 0, for constant error rate change of 1 %
Iout=4( 1 + 0.6x 1.5 + 0) + 50= 57.6%
49
50. Summary of the Characteristics of the Most Commonly Used Controller
Modes
1. Two Position:
Inexpensive.
Extremely simple.
2. Proportional:
Simple.
Inherently stable when properly tuned.
Easy to tune.
Experiences offset at steady state. (OK for level control)
3. Proportional plus integral:
No offset.
Better dynamic response than reset alone.
Possibilities exist for instability due to lag
introduced.
4. Proportional plus derivative:
Stable.
Less offset than proportional alone (use of
higher gain possible).
Reduces lags, i.e., more rapid response.
5. Proportional plus integral plus derivative:
Most complex
Rapid response
No offset.
Best control if properly tuned.
50
51. PID Controllers Summary
• Proportional gain increases response speed, to
much gain causes system to ring.
• Integral gain kills steady-state error, wind-up
and/or too much gain can cause system to go
unstable.
• Derivative gain adds damping and stability, but
is sensitive to jitter and noise.
51
52. 52
PID Controllers Summary
• Proportional term responds immediately to the
current tracking error; it cannot achieve the desired
set point accuracy without an unacceptably large
gain. Needs the other terms.
• Derivative action reduces transient errors.
• Integral term yields zero steady-state error in
tracking a constant setpoint. It also rejects constant
disturbances.
Proportional-Integral-Derivative (PID)
control provides an efficient solution to
many real-world control problems
53. Assignment/Homework to be graded as
Project Report
PROBLEMS:
1)A proportional controller has Kp of 20 and a set point of 50% allows a flow of 8.0 m3/s . The valve changes its
output in direct proportion to the controller output. What will be the controller output and the offset
error when the flow has to be changed to 10 m3/s.
2) A derivative controller has a set point of 50% and a derivative constant Kd of 0.5s. The error starts at zero
and then changes at 2%/s for 3 s before becoming constant for 2 s, after which it decreases at 1%/sec to
zero. What will be the controller output at
a) 0 s b) 1 s c) 4 s d) 6 s
3) An integral controller has a set point of 50% and a value of KI of 0.1/s. the error starts at zero and changes
at 4%/s for 2 s before becoming constant for 3 s. What will be the output after times times of a) 1 s b) 3
s?
4) A three mode (PID) controller has Kp as 2, KI as 0.1/s, Kd as 1.0s, and a set point output of 50%. The error
starts at zero and changes at 5% for 2 s before becoming constant for 3s. It then decreases at 2%/s to zero
and remains at zero. What will be the controller output at
a) 0 s b) 3 s c) 7 s d) 11 s?
53
54. Assignment-Project No. 3
• A proportional controller is used to control the height of water
in a tank where the water level can vary from zero(0) to 4.0
meters. The required height of water is 3.5m and the
controller is fully close a valve when the water rises to 3.9 m
and fully open it when the water falls to 3.1m. What
proportional band and transfer function will be required? Ans.
a) PB=20% b) Kp=Transfer function=5
54
55. Assignment 2: Derivative Control-Problem
• A derivative controller has a set point of 50%
and derivative constant of Kd 0.5s. The error
starts at zero and then changes at 2%/s for 3
seconds before becoming constant for 2
seconds, after which it decreases at 1%/s to
zero. What will be the controller output a t
a) 0 s and b)1s c)4s d)6s
55
56. Assignment 3 Problem Integral
Control
• An integral controller has a set point of 50%
and a value of Ki of 0.1/s. The error starts at
zero and changes at 4%/s for 2 s before
becoming costant at 3 s, what will be the
ouput after times of a) 1 s b) 5s
56
57. Assignment 4. Problem PID Controller
A three mode (PID) controller has Kp as 2,
KI as 0.1/s, Kd as 1.0s, and a set point
output of 50%. The error starts at zero
and changes at 5% for 2 s before
becoming constant for 3s. It then
decreases at 2%/s to zero and remains at
zero. What will be the controller output
at
a) 0 s b) 3 s c) 7 s d) 10 s?
57