CE2PSC - Process Control

8 Basic Control Modes

Chemical Engineering & Applied Chemistry

Aston University

1
Re-cap

• On-off control system never reaches steady-state

2
 Simulation of an ON-OFF Controller
Process
Gain (K) 1
Time Constant (T) 50
Delay (L) 0 Output
Set Point ON-OFF Process Process V
+ Controller K/(1+Ts) * e^(-Ls)
Controller -
Deadband 10%

(All times in seconds)

Simulation of an ON OFF Controller

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0.5
SetPoint / Process Value

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0.1

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-10

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Re-cap

• Proportional (only) control

 Proportional to deviation from set point.

 Considers only present value
 Big Kc, rapid control, potentially unstable
 Always has offset (small for big Kc)

4
Integral (I-Only) Control
Eliminates offset. How?

p: control output
τI: integral time How p(t) changes
when τI is smaller?

PV

𝑝
p(t)

5
Integral Control

• Proportional to integral of deviation from set point

• Eliminates offset of P only control
• Considers past values
• Small τI , rapid rise, increased overshoot

6
 PID LOOP SIMULATOR
Process
Gain (K) 1
Time Constant (T) 10
Delay (L) 10 Output
Set Point Controller Process Process
+ C + 1/Is + Ds K/(1+Ts) * e^(-Ls)
Controller -
Gain (C)
Integral (I) 7
Derivative (D)

(All times in seconds)

PID Loop Simulation Process Value Set Point

4
SetPoint / Process Value

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-6
PI control

Response of proportional-integral controller to unit step change

8
 PID LOOP SIMULATOR
Process
Gain (K) 1
Time Constant (T) 10
Delay (L) 10 Output
Set Point Controller Process Process
+ C + 1/Is + Ds K/(1+Ts) * e^(-Ls)
Controller -
Gain (C) 1.5
Integral (I) 15
Derivative (D)

(All times in seconds)

PID Loop Simulation Process Value Set Point

1.6

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1.2
SetPoint / Process Value

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0
Derivative control

p: control output
τI: derivative time

 Proportional to derivative of deviation from set point

 Reduces overshoot of PI controller
 Predicts future values

10
PID controller
Many variations of PID control are used in practice.

Parallel Form of PID Control

11
 PID LOOP SIMULATOR
Process
Gain (K) 1
Time Constant (T) 10
Delay (L) 10 Output
Set Point Controller Process Proces
+ C + 1/Is + Ds K/(1+Ts) * e^(-Ls)
Controller -
Gain (C) 0.5
Integral (I) 10
Derivative (D) 4

(All times in seconds)

PID Loop Simulation Process Value Set Point

1.4

1.2

1
SetPoint / Process Value

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