Course PEF3006 Process Control Fall 2018 PID Control

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Presentation transcript:

By Finn Aakre Haugen (finn.haugen@usn.no) Course PEF3006 Process Control Fall 2018 PID Control By Finn Aakre Haugen (finn.haugen@usn.no) PEF3006 Process Control. USN. F. Haugen. 2018

Reviewing the feedback control loop: PEF3006 Process Control. USN. F. Haugen. 2018

The PID controller function (PID = Proportional + Integral + Derivative) Control error Control signal PID e u P I D uman Variables (signals): Parameters (constants): e – control error = ysp - ym u – total control signal uman or u0 – manual control signal up – proportional term ui – integral term ud – derivative term Kp – controller gain = 100/PB Ti – integral time [sec or min] Td – derivative time [sec or min] PEF3006 Process Control. USN. F. Haugen. 2018

The PID controller function (cont.) I-term, ui, and therefore total control signal, u, will change (increase or decrease) as long as control error is different from zero, causing the error to eventually become zero (in steady-state). P- and D-term contributes with speed in control action. D-term can also provide increased stability (damping). Unfortunately, D-term amplifies measurement noise. Therefore, the D-term is quite unpopular, and is often not used. PEF3006 Process Control. USN. F. Haugen. 2018

PEF3006 Process Control. USN. F. Haugen. 2018 Measurement filter Without meas filter: With meas filter: Purpose of the filter: To smooth noisy measurement signal, thereby causing the control signal to become smoother. Which filter to use? A time-constant filter is commonly used. Simulator of a time-constant filter. How to select the time-constant: Trial-and-error. Typical value in industrial control loops: A few seconds (e.g. 2 or 5 sec). PEF3006 Process Control. USN. F. Haugen. 2018

Let’s try these two simulators: Level control of wood-chip tank (where we study manual control and automatic feedback control and the P-, D-, and I-terms of the control signal - with and without measurement noise.) Temperature control of liquid tank (where we study manual control and automatic feedback control and the P-, and I-terms of the control signal - with and without measurement noise.) PEF3006 Process Control. USN. F. Haugen. 2018