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Chapter 1
Flow out
FOPDT
y t
p
y t0 K p u t p
x
CONTROLLER
Desired Value
(Set Point)
ERROR
Measured
Variable
PROCESS
ALGORITHMS
Output
CONTROL
ELEMENT
Error
E MV - SP
Where:
E= Error
MV= Measured Variable
SP= Set Point
Algorithm
Proportional Control
Output Kc E
Where:
Kc = Proportional Gain
E = Error Signal
10
Offset
Desired Value
Controlled
Variable
Time
ESD Simulation Training
11
Proportional Band
1
K c
Proportional Band
100
Kc
Proportional Band
ESD Simulation Training
12
Integral Action
Output Ki Edt
Where:
Ki = Integral Constant
E = Error Signal
t = Time
13
Reset or Integral?
Kc
Ki
Ti
Ki KcK r
14
K-20
Controller Output
Controller Output
K-10
K-5
K=5
Ti-5
Ti-2
Ti-1
K-2
Ti-0.5
Time
1
Output K c (E
Ti
ESD Simulation Training
Time
E dt)
15
Derivative Action
dy
Output Kd
dt
Where:
Kd = Derivative constant
y = Measured variable
t = Time
16
Kc t
dy
E dt Kc.Td.
o
Ti
dt
Kc = controller gain
Ti = integral time
Td = derivative time (or rate)
ESD Simulation Training
17
18
Stabilise loop:
Add derivative action or reduce gain
19
20
Natural Period, Tu
Setpoint
Amplitude, A
Time
21
Performance Criterion
Gain
1/4 decay
0.5 Ku
P1
1/4 decay
0.45 Ku
0.833 Tu
PID
1/4 decay
0.6 Ku
0.5 Tu
0.125 Tu
PID
Some overshoot
0.33 Ku
0.5 Tu
0.33 Tu
PID
No overshoot
0.2 Ku
0.33 Tu
0.15 Tu
Integral time,
minutes
Derivative time,
minutes
22
Maximum Slope R1
M Step Change
L
Time, Minutes
23
Parameters (Reaction
Curve)
Control
Action
Gain
1
R1 L
PI
0.9
R1 L
PID
1.2
2
to
R1 L R1 L
Integral time,
minutes
Derivative time,
minutes
3L
2.5L to 2L
0.5L to 0.3L
24
Gas
To vent
Valve 2
Valve 1
Liquid
4Bar A
25
26