PROCESS
CONTROLLERS
Basics of Control System
The Controllers
ON/OFF Controller
Proportional Controller
Proportional Integral Controller
Proportional Derivative Controller
Proportional Integral and Derivative
Controller
On off conrol sy
ON-OFF Controller with
hysterisis
To reduce the switching rate , on-off
differential or hysteresis is programmed
into the controller
Proportional Controller
Proportional Controller
Proportional action can be accomplished in two
different ways
Time proportioning method
Output at the controller is continuously switched
fully on and fully off . The average value
produced is varied by changing the ratio of
signal on to signal off
Amplitude proportioning method
The most common method , the magnitude of
controller out put is proportional to the size of
error signal , which is difference between set
point and process variable
Proporpotional Gain and Band
The controller has the capability of
amplifying the amount at which output
changes in proportion to the change
applied to its input. There are two ways
to refer to the amplification of a
proportional controller
Proportional Gain
Proportional Band
Proportional Gain
The ratio of change in output to the
change in input .
Propotinal Gain is termed as Kp
Gain (Kp) percentage output change
percentage input change
Proportional Band
Proportional Band and
Proprotional Gain
Relationship b/w band and gain
Proportional Response
Integral Mode
A common characteristic of proportional
control is an error between the set point
and control point, which is referred to as
offset or droop. As the system load
and/or proportional band increases, so
does throttling range. For instance, with
10 degree throttling range and 100% loop
output, the actual control point will be
offset 5 degrees from set point. Offset is
an undesirable characteristic of
proportional only control loops and is
easily eliminated by adding Integral
Action.
Integral Action
The integral component of a control
loop has the effect of continuing to
increase or decrease the output as
long as any offset or droop continues
to exist. This action drives the controller
in the direction necessary to eliminate
the error caused by the offset.
Integral, or reset, adjusts a controller’s
output in accordance with both the size
of the deviation from set point and the
time it lasts.
Gain expressed as a whole number
Reset rate : Expressed in repeats per
minute
Reset time : expressed in minutes per
repeat
Reset rate = 1/Reset Time
It is used where load varies slowly , but by
a large amount . The magnitude of
integral should be large if proportional
gain is smaller and vice versa
Integrator circuit
PI Controller
Derivative Mode
The output of the derivative is proportional to
the rate of change of error
Derivative Control
Using the derivative control mode of a
controller can make certain types of control
loops respond a little faster than with PI
control alone (temperature control is a typical
application for PID control).
The derivative mode produces more control
action if the error changes at a faster rate. If
there is no change in the error, the derivative
action is zero. The derivative mode has an
adjustable setting called Derivative Time (Td).
The larger the derivative time setting, the more
derivative action is produced. A derivative time
setting of zero effectively turns off this mode. If
the derivative time is set too long, oscillations will
Derivative Mode
The derivative mode of the PID controller
provides more control action sooner than is
possible with P or PI control. This reduces the
effect of a disturbance and shortens the time it
takes for the level to return to its set point
The derivative mode is never used alone , but in
combination with proportional or proportional
plus integral.
It is suitable for those systems that have large
and rapid load changes in slow response
systems
Those in which systems are subject to
frequency start ups , such as batch processes.
Response of Derivative
mode
Proportional plus
Derivative
Proportional Integral Derivative
Response of PID controller
Discrete Control
Summary
Mode Combination Function Applications
Proportional To provide Gain For small set point or
small load changes
Proportional -integral To eliminate For large and slow
offset set point or load
changes
Proportional - To speed up For sudden set point
Derivate response and or quick load
minimize changes in a slow
overshoot response system
PID To speed up For large and sudden
Response, set point or load
minimize changes in a slow
overshoot ,and response system
eliminate offset
