This document discusses controller design techniques including classical root locus approach, frequency domain methods using lead, lag and lead-lag compensators, and PID control. It covers PID controller realizations in parallel and series forms, and addresses tuning PID gains using transient response and stability limit methods. Examples are provided to illustrate PID design and tuning for processes. Digital implementation of PID controllers and position and velocity forms are also summarized.
This document discusses controller design techniques including classical root locus approach, frequency domain methods using lead, lag and lead-lag compensators, and PID control. It covers PID controller realizations in parallel and series forms, and addresses tuning PID gains using transient response and stability limit methods. Examples are provided to illustrate PID design and tuning for processes. Digital implementation of PID controllers and position and velocity forms are also summarized.
This document discusses controller design techniques including classical root locus approach, frequency domain methods using lead, lag and lead-lag compensators, and PID control. It covers PID controller realizations in parallel and series forms, and addresses tuning PID gains using transient response and stability limit methods. Examples are provided to illustrate PID design and tuning for processes. Digital implementation of PID controllers and position and velocity forms are also summarized.
This document discusses controller design techniques including classical root locus approach, frequency domain methods using lead, lag and lead-lag compensators, and PID control. It covers PID controller realizations in parallel and series forms, and addresses tuning PID gains using transient response and stability limit methods. Examples are provided to illustrate PID design and tuning for processes. Digital implementation of PID controllers and position and velocity forms are also summarized.
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Chapter 5
Controller Design Contents • Classical Approach to design – Using root-locus • Frequency domain – Lead compensator – Lag compensator – Lead-Lag Compensator – PID • Controller realizations Basic control principles Basic control loops Feed back and Feed forward control Feedback control Various configurations • Feedback (series compensation and feedback compensation) Compensation types • State feedback Feed forward control • Feed forward with series compensation Proportional control • Valve is affected proportional to the level error Proportional control Practical example • Float control – proportional Proportional band • The input change required to change the output by 100% PB and its effect on control • When a step disturbance occurs Integral-reset control • Proportional only Integral action added • Removes offset Mathematical expression Units used in industry • MPR and RPM Disadvantages in PI • Integral windup • Instability due to Lag Derivative control- rate Simple flow control PD Control actions Control signals in P and PD Generally Examples- open tank flow control • Valve is in the inflow Flow control Pressure control Pressure control from both sides PID controller • Parallel form PID controller cont… • Series form Elimination of derivative kick • Derivative may have high output for a step change in error • So de/dt is replaced by –dym/dt Frequency domain effects • PD control – Decreases overshoot – Increases rise time – Passes high frequency signals – May have high output for jump in set point • PI control – Decreases steady state error – Decreases rise time – Integral wind up and saturation of actuator – Overshoot in Commercial PID controllers Design of PID controllers • Series/cascade of PI and PD – Rearrange the terms of standard PID into series cascade form
– Design PD controller to meet part of spec.
– Select remaining parameters to fulfill other spec Tuning PID controllers • Two methods – Transient response method
P Kp= tr/td PI kp=0.9tr/td ti=td/0.3 PID 1.2tr/td ti=2td tdc=0.5td
– Stability limit method
P Kp=0.5Kc PI Kp=0.5Kc ti=tosc/1.2 PID Kp=0.6Kc ti=tosc/2 td=tosc/8 Example • Step response test of a system gave td=150sec and tr=75sec, determine Kp, Kd and Ki of the PID controller • Soln. – Kp=1.2tr/td=1.2*75/150=0.6 – Ti=2*td=300sec – Td=0.5td=75sec – Kd=Kp*td=0.6*75=45 – Ki=Kp/Ti=0.6/300=0.002 Example 2 • A system has transfer function given by kp Gs ss 1s 4 kp • Design a PID controller using stability method • Soln. 1) find critical gain using RH criteria 2) substitute the value of Kc and find the critical frequency value and time period 3) determine Kp, Kd and Ki Assignment • Find very well known commercial PID process controller manufacturers from net and list their products – Example www.omega.com • Explain tuning algorithm of one of the commercial products you found Digital version of PID controllers • Block diagram of digital PID
ADC PC DAC
• The ADC will sample the signal and hold it for
some time and convert it to digital signal • Sampling has to fulfill Shannon's theorem • Pre-filter may be necessary Position form of digital PID • Replace the derivative and integral terms by their digital equivalent
• Substitute into the parallel form gives the
output at the kth iteration Velocity form of PID • Calculate the output for k-1th iteration and subtract from the kth output to get the difference
