PRINCIPLES OF PID

CONTROLLERS
Lecture 02 – Control System

Rizqiya W. Saputra, M.T.

 INTRO

• Automatic controllers are used onboard ships for the adjustment

of one or more parameters in a system. Function of the
controller is to maintain the parameter as per desired value
(value set by the operator).
• The parameter could be jacket water temperature (for engine
jacket water cooling system), lubricating oil temperature (for
engine lube oil system), fuel oil pressure (for boiler fuel oil
system), etc. PID controls are commonly used for these
applications.
• Advantage of automatic indicating controller is that it controls as
well as indicates the parameter reading. Refer to the next
diagram and explanation to understand the basic principle of
PID controllers. These controllers are normally located near the
variable measuring point so that use of a transmitter (to transmit
parameter signals to the controller) is not required.
 ON-OFF OR TWO STEP ACTION

• Automatic controllers are used onboard ships for the adjustment

of one or more parameters in a system. Function of the
controller is to maintain the parameter as per desired value
(value set by the operator).
• The parameter could be jacket water temperature (for engine
jacket water cooling system), lubricating oil temperature (for
engine lube oil system), fuel oil pressure (for boiler fuel oil
system), etc. PID controls are commonly used for these
applications.
• Advantage of automatic indicating controller is that it controls as
well as indicates the parameter reading. Refer to the next
diagram and explanation to understand the basic principle of
PID controllers. These controllers are normally located near the
variable measuring point so that use of a transmitter (to transmit
parameter signals to the controller) is not required.
ON-OFF OR TWO STEP ACTION (2)
ON-OFF OR TWO STEP ACTION (3)

• Now as we know there is a thermal inertia in this

system. Or in other words the position of temperature
sensor and that of steam coil is different. That is why
we cannot observe an increase in temperature as soon
as the steam valve opens. The same phenomenon
explains why temperature is increasing even after the
steam valve is shut. Anyway disadvantage of this
control is the large deviation from the desired value or
set point. Hence the application of such control is
limited.
 PROPORTIONAL ACTION

• This is a continuous control action in which the

controller output is proportional to the deviation
between measured value and desired value. Let us
take an example of a simple water lever control as
shown in the figure below.
 PROPORTIONAL ACTION (2)

• Consider a water tank with an outlet valve, a water supply

valve, control lever on a pivot, control strings, and float as
shown in the figure. One end of the control lever is
connected to the float while other end to the water supply
valve. The system is designed in such a way that, when
float goes down supply valve is opened more thereby
increasing water supply to the tank. Similarly an elevation
of the float results in closure of the supply valve. At this
point quantity of water supplied and flown out of the tank
is same or the system is in equilibrium. Suddenly
demand of water increases or the discharge valve is
opened more. This result in reduction in water level
inside the tank and causes float to lower. As float lowers it
raises the control string connected to the water supply
valve, thereby increasing the supply of water.
 PROPORTIONAL ACTION (3)

As shown in the figure above, a new equilibrium is attained by the system. Once
again supply and demand of water is same. But we can see a drop in water level
from the desired value. This deviation from the measured value and desired value
is known as offset. It is an inherent property of the proportional control. Offset
can be reduced but cannot be eliminated in such systems. The amount by which
the input signal value must change to move the correcting unit between its
extreme positions is known as proportional band. This concept can be made
clear from the figures shown above. Move the position of the pivot towards right
(closer towards the float). Now we can see that a small change in water level
causes an amplified effect in opening or closing the supply valve. In other words
the system becomes more sensitive.
 PROPORTIONAL ACTION (4)

• Also here the offset is reduced comparing to the scenario before.

Similarly, moving the pivot towards the left cause minor changes for
the supply valve even though float lowers or rises drastically. Here
sensitivity of the system is less. It is clear that offset can be reduced
to minimum when sensitivity is higher. But this results in hunting of
the system. Hunting means excessive fluctuation of the measured
value around desired value. System response to proportional action
is shown below.
 INTEGRAL OR RESET ACTION

• Integral action or reset action is used in conjunction with

proportional action, to remove offset from the system. Here
controller output varies at a rate proportional to the deviation
between measured and desired value. Refer to the figure below.
 INTEGRAL OR RESET ACTION (2)

• Here in addition to the feedback bellows, we have integral action

bellows also. Consider the integral action valve is open. Now as the
flapper moves closer to the nozzle because of a deviation, output air
pressure increases, the same air pressure acts on feedback bellows
to move the flapper away from nozzle to an equilibrium position.
Now there is an offset. Again the same control air pressure acting on
the integral bellows moves the flapper towards the nozzle to
increase control air pressure. Hence a new equilibrium is attained
with no offset. Note that all these actions take place simultaneously.
When the integral action valve is fully open, integral action will be
too fast that result in hunting. When the valve is crack open, there is
no hunting but it takes long time to remove offset. In other words
time required to remove the offset (Reset Time) can be adjusted by
opening or closing integral action valve. Closure of the integral
action valve means no integral action. Reset time to be set in such a
way that system operates fast to remove offset and minimal hunting.
All pressure control systems onboard ships are normally
proportional-integral (PI) controls.
 DERIVATIVE OR RATE ACTION

• Derivative action is utilized along with proportional

and integral actions. This is applied in systems where
time delay between changes in measured value and
their correction is long. Example is temperature
control for jacket water system. Here controller output
is proportional to the rate of change of deviation. Refer
to the figure below.
DERIVATIVE OR RATE ACTION (2)
DERIVATIVE OR RATE ACTION (3)

• Here a derivative action valve is introduced as shown in

the figure. Closing this valve any amount would introduce
derivative action in the system. Consider the derivative
action valve is closed 70%. When flapper moves towards
nozzle because of a deviation, controller output pressure
increases, the same pressure acts on the feedback
bellows through the derivative action valve. As the valve
is only little open, it takes time to move the flapper away
from the nozzle by negative feedback, thereby allowing
control air output pressure to be higher for long time,
which again allow more time for corrective action. Also
derivative action can be varied by adjusting opening or
closing derivative action valve. When derivative action
valve is fully open, there is no derivative action.
SYSTEM RESPONSE OF PID CONTROL
THANKS