EE428 Industrial Process Control

Chapter 4
Dr. Jawad Arif
Controller
On-Off Control
On-Off Control

• The inherent cycle is detrimental to most of the actuators

On-Off Control: Differential Gap / deadband
On-Off Control: Differential Gap / deadband
On-Off Control: Differential Gap / deadband
On-Off Control: Differential Gap / deadband

𝐷𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑡𝑖𝑎𝑙 𝐺𝑎𝑝
% 𝐷𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑡𝑖𝑎𝑙 𝐺𝑎𝑝 𝐷𝑒𝑎𝑑𝑏𝑎𝑛𝑑 =
𝑇𝑜𝑡𝑎𝑙 𝐶𝑜𝑛𝑡𝑟𝑜𝑙 𝑅𝑎𝑛𝑔𝑒

4
=
50
= 0.08 𝑜𝑟 8%
Proportional Control
Proportional Control
Proportional Control

𝑃𝑒𝑟𝑐𝑒𝑛𝑡𝑎𝑔𝑒 𝑜𝑓 𝑂𝑢𝑡𝑝𝑢𝑡 𝐶ℎ𝑎𝑛𝑔𝑒

𝐺𝑎𝑖𝑛 =
𝑃𝑒𝑟𝑐𝑒𝑛𝑡𝑎𝑔𝑒 𝑜𝑓 𝐼𝑛𝑝𝑢𝑡 𝐶ℎ𝑎𝑛𝑔𝑒
Proportional Control
• Proportional Band

1
𝑃𝐵 = ∗ 100
𝐺𝑎𝑖𝑛

1
𝐺𝑎𝑖𝑛 = ∗ 100
𝑃𝐵
Proportional Control
• In a system that has a narrow proportional band, the response to a
disturbance is rapid.

• The temperature is adjusted to the set point quickly.

• The response to a system with a wider proportional band will take

longer.
Proportional Control
• It would appear that the system with the narrow proportional band is
better because the setpoint temperature would be restored more
quickly.
• However, the characteristic of a narrow proportional band is that a
sys tem has a tendency to oscillate.
Proportional Control
• When the system responds quickly, it tends to overshoot the set
point.
• The system tries to correct itself by shifting the valve in the opposite
direction.
• However, the system overshoots again in the opposite direction.
• The oscillations normally die out,
Proportional Control
• If the proportional band is too small, oscillations will not stop.
• A proportional band of zero percent will cause the system to operate
almost the same as the On-Off control.
Proportional Control: Steady state error
• Steady state error cannot be eliminated in proportional control.
Mainly due to changes in load.
Proportional Control: Steady state error
Proportional Control: Steady state error
Proportional Integral Control
Proportional Integral Derivative Control
Proportional Integral Derivative Control
Robotic
Arm
RIN

5V +
Rf Integral
Negative Feedback
Rf Controller
Output

RIN

+
+
Difference op-amp
DAC Proportional Power Amplifier

Rf
PC

+
Derivative
Proportional Integral Derivative Control
 Time proportioning control
• In this type of control a PWM wave is applied to the actuators.

• It is suitable for actuators that can only turn fully on or fully off &
have don’t wear out due to frequent switching.

• PWM allows to implement a gain similar to proportional

controller/PID controller to such actuators.
Time proportioning control