بسم الله الرحمن الرحيم Advanced Control Lecture three

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Presentation transcript:

بسم الله الرحمن الرحيم Advanced Control Lecture three PID Controllers 1- Action and types (Smith & Corripio: Chapter 5) 2- Reset windup (Smith & Corripio: Chapter 5) 3- Modifications (Smith & Corripio: Chapter 5 and Astrom & Hagglund: Chapter 3) Lecturer: M. A. Fanaei Ferdowsi University of Mashhad

PID Control Action of Controller: If the action is not correctly selected, the controller will not control Reverse action (increase/decrease) In feedback control loop, the multiplication of Process gain (Kp), Control valve gain (Kv), Sensor gain (Km) and Controller gain (Kc) must be positive. Reverse action : If Kp Kv Km > 0 → Kc > 0

PID Control Direct action (increase/increase) Direct action : If Kp Kv Km < 0 → Kc < 0 To determine the action of a controller, the engineer must know: The process characteristics The fail-safe action of the control valve

PID Control Type of PID Controller Classic PID: Parallel PID: Series PID: Range : 0.05 to 0.2 (0.1)

PID Control

PID Control Reset Windup

PID Control Reset Feedback (RFB) Internal Reset Feedback Mmax Mmin

PID Control Reset Feedback (RFB)

PID Control Reset Feedback (RFB) External Reset Feedback

Tracking Time Constant PID Control Back Calculation Internal tracking signal Tracking Time Constant Td < Tt < Ti Back-Calculation with internal tracking

PID Control Back Calculation External tracking signal Back-Calculation with external tracking

PID Control Proportional and Derivative Kick Proportional Kick Derivative Kick Two Degrees of Freedom or ISA - PID Range: 0-1 Range: 0-1, Commonly zero

PID Control