PID CONTROL

(Proportional-Integral-Derivative)

PID Control is a control loop that regulates a process variable (tank level, temperature, pressure, cruise control) around a desired set point. It can exist as either a positive or negative feedback loop Positive loops work to maximize error Negative loops work to minimize error around a constant value

Negative Feedback
e(t) = h(t) - hsp C(t) e(t) h(t)

Disturbance occurs Sensor measures controlled variable Comparator compares current value (measured variable) with set point value

Error e(t) generated?

Controller adjusts valve to reduce the error

Torrichellis Law Fo = Ao 2gh

Process Variable (PV)

e(t) = h(t) - hsp When h(t) hsp ; e(t) 0

Process Variable (PV) Controller Output (CO) Load C(t)

e(t) = h(t) - hsp When h(t) hsp ; e(t) 0

e(t)

Process Variable (PV) Controller Output (CO) Load C(t)

e(t) = h(t) - hsp When h(t) hsp ; e(t) 0

Modes of Control
PID uses three modes of feedback control Proportional proportional to error itself Integral proportional to the integral of the error over time Derivative proportional to instantaneous change of the error (anticipates error) P
= [ +

I
1

D
() +

 = [ +

() +

Co = Controller Offset (value of C(t) when e(t) = 0) i = integral time D = derivative time Kc = Controller Gain (sensitivity of
response)=

Sometimes also expressed as Proportional Band % = 100/

High Kc (low PB) = fast, aggressive response Low Kc (high PB) = sluggish response

Ziegler-Nichols Tuning Method

Controller P PI PID PB i 2* PBu 2.2*PBu tu/1.2 1.7*PBu tu/2 D tu/8

Empirical method to estimate the optimal parameters for tuning Based upon decay ratio standard for PI control should be 0.25 Uses Ultimate Proportional Band (PBu) and the Ultimate Time Period (tu)

P only control creates an offset =

Increasing PB% decreases Kc, causing sluggish response and greater offset

Decreasing PB% causes a more aggressive response and less offset

Overshoot

PI Control creates an overshoot (control response is nonspontaneous) = [ +

1

()]

Small i causes integral term to become more significant, causing more oscillation (underdamped)

Increasing i causes less oscillation; at ZN value, decay ratio = 0.25

At Large i, integral term is small, and system is overdamped

P vs. PI
Proportional only control created offsets. PB% 3.2 0.8 0.1
Offset (mm)
1.68

Proportional-Integral control created overshoots, but eliminates offset.

i 2.6 5.2 12.5 Decay Ratio Overshoot 0.59 0.93 0.1 0.9 0 0.7

0.3
0.27

Since no offsets exist for the PI control, it is the better choice for level control (fluctuated less than 1 mm). The ZN parameters work well; the decay ratio of 0.1 was less than the standard 0.25 and so the level converged quickly to the set point.

Positive Feedback
Tank Overflows

In a positive feedback loop, the valve opens the entire way and allows the highest flow rate into the tank. This maximizes the deviation from the set point, until the tank overflows.

A negative feedback loop controls the valve (incoming flow rate) so that a constant desired level in the tank is maintained. This is more useful for industrial settings.