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P, PI and PID Controllers - A Comparative Study
P, PI and PID Controllers - A Comparative Study
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The controller (an analogue/digital circuit, and software), is trying to keep the
controlled variable such as temperature, liquid level, motor velocity, robot joint
angle, at a certain value called the set point (SP).
A feedback control system does this by looking at the error (E) signal, which
is the difference between where the controlled variable (called the process
variable (PV)) is, and where it should be.
Based upon the error signal, the controller decides the magnitude and the
direction of the signal to the actuator.
The proportional (P), the integral (I), and the derivative (D), are all basic controllers.
Types of controllers: P, I, D, PI, PD, and PID controllers
Proportional Control
With proportional control, the actuator applies a corrective force that is proportional
to the amount of error:
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11/1/2017 P, PI and PID Controllers: A Comparative Study
Output p = K p × E
Output p = system output due to proportional control
K p = proportional constant for the system called gain
E = error, the difference between where the controlled variable should be and where
it is. E = SP – PV.
One way to decrease the steady-state error is to increase the system gain (K p ), but
high K p can lead to instability problems.
Increasing K p independently without limit is not a sound control strategy.
Integral Control
The introduction of integral control in a control system can reduce the steady-state
error to zero. Integral control applies a restoring force that is proportional to the
sum of all past errors, multiplied by time.
Output I = K I × ∑(E×Δt)
Output I = controller output due to integral control
K I = integral gain constant (sometimes expressed as 1/T I )
∑(E×Δt) = sum of all past errors (multiplied by time)
For a constant value of error ∑(E×Δt) will increase with time, causing the restoring
force to get larger and larger.
Eventually, the restoring force will get large enough to overcome friction and move
the controlled variable in a direction to eliminate the error.
Derivative Control
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11/1/2017 P, PI and PID Controllers: A Comparative Study
PID control
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11/1/2017 P, PI and PID Controllers: A Comparative Study
∑(E×Δt) = sum of all past errors (area under the error/time curve)
When you are designing a PID controller for a given system, follow the steps shown
below to obtain a desired response.
A proportional controller (K p ) will have the effect of reducing the rise time and
will reduce ,but never eliminate, the steady-state error.
An integral control (K i ) will have the effect of eliminating the steady-state
error, but it may make the transient response worse.
A derivative control (K d ) will have the effect of increasing the stability of the
system, reducing the overshoot, and improving the transient response.
41 upvotes 7 comments
Posted by:
Mallesham Devasane
GATE EE
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11/1/2017 P, PI and PID Controllers: A Comparative Study
Venkat Jan 7
@Mallesham Devasane
Can u provide ur mail Id???
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Sanjay Feb 5
Simply wow
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