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ON-OFF Control
ON-OFF Controller
Example :
Process : Water tank of 10 litres
Target: Reach + maintain a
temperature of
90oC.
Water : 10
Litres
Heater
Senso
r
Vout
(ON) V0
(OFF)
0
VL
VH
Vin
Example:
Level measurement in a sump tank is
provided by a transducer scaled as 0.2
V/m. A pump is to be turned on by
application of +5V when the sump
level exceeds 2.0m. The pump is to be
turned back off when the sump level
drops to 1.5m. Find R2 if R1 is given
5k
Vout = VB
Example:
The level in a sump tank is to be controlled with
a three-position controller. The following
specifications are given:
1. The level measurement sensor has a transfer
function of 0.45 V/m
2. The valve is linearly driven from fully open to
fully closed by a voltage from 0 to 8V
3. The following specifications are given:
level < 2m
valve 20% open
level > 2m < 3m
valve 65% open
level > 3m
valve 100% open
Proportional Controller (P
Mode)
Continuous control mode
Typical behavior/characteristics:
The signal output of a controller is proportional
Example:
A proportional controller has the scale 010 volts corresponds to a 0-100% output.
If R2 = 10 K, and full scale error is 10
volt, find the value of V0 and R1 to
support a 20% proportional band about a
50% zero-error controller output.
Advantages:
Simple
Easiest of the continuous controllers tune
Provides good stability, rapid response and
relatively stable.
Disadvantages:
Only control results in offset Never
reaches SP
Action is instantaneous As soon as error is
produced, control action is taken.
Used to stabilize unstable output
Example:
Suppose that V(0)=0 for an integral
controller.
It is required that the controller
output should saturate 15 seconds
after a constant 5% error is applied.
The input range is 0-5 volts and the
output range is 0-10 volts. Calculate
the integration gain and the suitable
values of R and C. Assume C=50F
Derivative Control
Also called Rate Control Action
Continuous control mode
Typical behavior/characteristic:
- The controller output is proportional to the
rate of the error (time derivative)
Faster/quick response compared to P
Can cause the damage to the FCE because of
too fast rate of change of the error
Can amplify the noise in the system
Cannot compensating the system error: e =
w-x=0
Summary
Remark: Each mode has its advantages and
drawbacks
individually
P mode Advantage: Fast response action
Drawback: Produces steady state error (offset)
I mode Advantage: Steady state error is null
Drawback: Increases the response time
D Mode Advantage: increases the damping of the
system
Drawback: Amplifies the noise which can cause
problems including instability
Therefore, the pure controller mode (P or I or D) is
seldom used in process control because of the advantage
of composite modes in providing good control.
Composite Controller
Proportional- Integral Control (PI
Mode)
This controller can:
eliminate an offset due to integral action
the system response is slow due to lag
introduced = -90o
better dynamic response than integral alone
I action repeats P action in Ti seconds
the slope depends on Ti
Kp
Ki
Parallel controller -
Gp
100/P
B
Gp
1/T
i
I
t
I
P+I
Example:
PI controller has a proportional band of
30% and an integration time =10 seconds.
The 4-20mA input volts converts to a 0.4-2
volt error signal and the controller output
range is 0-10 volts.Calculate values of Kp,
KI, R1, and R2. C is given by 10F