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    Performance of P-Only, PI and PID Controllers

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    jovita cahyonugroho
    1) The document discusses the performance of P-only, PI, and PID controllers as their tuning parameters are varied. 2) Increasing the controller gain (Kc) or decreasing the integral time (τI) makes the control more aggressive, initially resulting in faster response but eventually causing oscillations, ringing, or instability if increased too much. 3) Too little proportional or integral action is easy to identify, while too much of either results in ringing and requires comparing the controller output and process variable lag to differentiate.

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    Performance of P-Only, PI and PID Controllers

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    jovita cahyonugroho
    37 views21 pages
    1) The document discusses the performance of P-only, PI, and PID controllers as their tuning parameters are varied. 2) Increasing the controller gain (Kc) or decreasing the integral time (τI) makes the control more aggressive, initially resulting in faster response but eventually causing oscillations, ringing, or instability if increased too much. 3) Too little proportional or integral action is easy to identify, while too much of either results in ringing and requires comparing the controller output and process variable lag to differentiate.

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    Chap08

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    1) The document discusses the performance of P-only, PI, and PID controllers as their tuning parameters are varied. 2) Increasing the controller gain (Kc) or decreasing the integral time (τI) makes the control more aggressive, initially resulting in faster response but eventually causing oscillations, ringing, or instability if increased too much. 3) Too little proportional or integral action is easy to identify, while too much of either results in ringing and requires comparing the controller output and process variable lag to differentiate.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    37 views21 pages

    Performance of P-Only, PI and PID Controllers

    Uploaded by

    jovita cahyonugroho
    1) The document discusses the performance of P-only, PI, and PID controllers as their tuning parameters are varied. 2) Increasing the controller gain (Kc) or decreasing the integral time (τI) makes the control more aggressive, initially resulting in faster response but eventually causing oscillations, ringing, or instability if increased too much. 3) Too little proportional or integral action is easy to identify, while too much of either results in ringing and requires comparing the controller output and process variable lag to differentiate.

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    © All Rights Reserved
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    Download as ppt, pdf, or txt
    You are on page 1of 21

    Chapter 8

    Performance of P-only, PI
    and PID Controllers
    Overall Course Objectives
    • Develop the skills necessary to function as an
    industrial process control engineer.
    – Skills
    • Tuning loops
    • Control loop design
    • Control loop troubleshooting
    • Command of the terminology
    – Fundamental understanding
    • Process dynamics
    • Feedback control
    P-only Control
    • For an open loop overdamped process as K c is
    increased the process dynamics goes through the
    following sequence of behavior
    – overdamped
    – critically damped
    – oscillatory
    – ringing
    – sustained oscillations
    – unstable oscillations
    Dynamic Changes as Kc is
    Increased for a FOPDT Process

    Time Time Time

    Time Time Time


    Root Locus Diagram
    (Kc increases a to g)
    8 8
    g
    f
    d
    4 4
    Imaginary Axis

    0 0
    a b c b a e
    -4 -4
    d
    f g
    -8 -8
    -5 -4 -3 -2 -1 0 1
    Real Axis
    Effect of Kc on Closed-Loop 

    1.5
    overdamped
    Damping Factor ( ')

    0.5 underdamped

    0
    unstable
    -0.5
    0 2 4 6 8
    Kc
    Effect of Kc on Closed-Loop p

    0.6
    Time Constant ( 'p )

    0.4

    0.2

    0
    0 2 4 6 8
    Kc
    P-only Controller Applied to First-
    Order Process without Deadtime
    • Without deadtime, the system will not become
    unstable regardless of how large Kc is.
    • First-order process model does not consider
    combined actuator/process/sensor system.
    • Therefore, first-order process model without
    deadtime is not a realistic model of a process
    under feedback control.
    PI Control
    • As Kc is increased or I is decreased (i.e.,
    more aggressive control), the closed loop
    dynamics goes through the same sequence
    of changes as the P-only controller:
    overdamped, critically damped, oscillatory,
    ringing, sustained oscillations, and unstable
    oscillations.
    Effect of Variations in Kc

    Time Time Time

    Effect of Variations in I

    Time Time Time


    Analysis of the Effect of Kc and
    I

    • When there is too little proportional action


    or too little integral action, it is easy to
    identify.
    • But it is difficult to differentiate between
    too much proportional action and too much
    integral action because both lead to ringing.
    Response of a Properly Tuned PI
    Controller

    Lag

    ys

    Time
    Response of a PI Controller with
    Too Much Proportional Action

    Lag

    ys

    Time
    Response of a PI Controller with
    Too Much Integral Action
    c

    Lag

    ys

    Time
    PID Control
    • Kc and I have the same general effect as
    observed for PI control.
    • Derivative action tends to reduce the
    oscillatory nature of the response and
    results in faster settling for systems with
    larger deadtime to time constant ratios.
    Comparison between PI and PID
    for a Low p/p Ratio

    PI

    PID
    Time
    Comparison between PI and PID
    for a Higher p/p Ratio

    PI

    PID

    Time
    An Example of Too Much
    Derivative Action
    ys

    Time
    Effect of D on Closed-Loop 
    1.5
    Damping Factor ( )

    overdamped

    1
    underdamped

    0.5

    0
    0 0.25 0.5 0.75
    D
    Demonstration: Visual Basic
    Simulator
    Effect of Kc, I, and D
    Overview
    • As the controller aggressiveness is increased
    (i.e., Kc is increased or I is decreased), the
    response goes from overdamped to critically
    damped to oscillatory to ringing to sustained
    oscillations to unstable.
    • Too little proportional or integral action are
    easy to identify while too much proportional
    or integral results in ringing. Differentiating
    between too much integral or proportional
    action requires comparing the lag between
    the controller output and the CV.

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