Compensation of Dead Time in PID Controllers
|
|
- Edmund Higgins
- 6 years ago
- Views:
Transcription
1 Page 1 of 25 Compensation of Dead Time in PID Controllers Advanced Application Note
2 Page 2 of 25 Table of Contents: 1 OVERVIEW RECOMMENDATIONS CONFIGURATION TEST RESULTS REFERENCES...25
3 Page 3 of 25 1 Overview PID controllers with dead time compensation are reported to eliminate dead time in terms of a controller seeing the effect of changes in its controller output. For set point changes where all the controller needs to be concerned with is how its output responds to a new set point, the results are impressive for an exact knowledge of the process dead time. However, for unmeasured load disturbances at the process input, the ultimate performance is set by the total dead time from the process equipment, piping, control valves, instrumentation, and digital devices. This application note shows that a dead time compensator can offer some improvement in load rejection by facilitating more aggressive tuning of the PID but with a considerable risk of oscillations from an inaccurate dead time. The ultimate performance achievable in terms of load disturbance rejection depends upon the dead time. In the Theory section of Chapter 2 of Advanced Control Unleashed equations are developed that show the minimum peak error is proportional to the dead time and the minimum integrated error is proportional to the dead time squared for unmeasured load upsets. How close the actual performance of a control loop comes to this ultimate performance depends upon PID structure, tuning, and enhancements. This blog focuses on the effect of variations in dead time on the performance and robustness of dead time compensation as an enhancement and Lambda as a tuning rule for disturbance rejection. The two predominant methods of dead time compensation studied here are the Smith Predictor PID and the PID with a delayed external reset. The Smith Predictor was extensively documented in the 1970s. It provides a new controlled variable that is the response of the process variable to its controller output without dead time. It requires entry of three parameters commonly known as process gain, dead time, and time constant. The Smith Predictor uses these parameters to create models of the process from the controller output. In its most documented form, the Smith predictor subtracts a model of the process with dead time from a model of the process without dead time and adds the net result to the measured process variable to create a new controlled variable. If the model is perfect, the new controlled variable has zero dead time in terms of the controller seeing the effect of its own controller output. Since the maximum allowable controller gain is inversely proportional to dead time, the controller gain can theoretically increased without limit for a perfect model provided you ignore extenuating circumstances, such as loop interaction, measurement noise, and final element dead band and resolution. One of the practical issues with the Smith Predictor is that the new controlled variable of the PID is no longer the actual process variable. The original process variable must be restored for the operator interface to the PID. Also, performance monitoring or trending must look at the original process variable rather than the new controlled variable used by the PID. Terry Blevins proposed in the 1979 ISA paper Modifying the Smith Predictor for an Application Software Package a multiplicative and additive correction of the process variable to deal with changes in the slope (gain) and intercept (bias), respectively in the process model. The PID with a delayed external reset was informally presented in the 1980s and published in the early 1990s. It simply consists of putting a dead time (DT) block in the external reset. This method only requires that a single parameter commonly known as process dead time be entered as the dead time in the DT block. Terry Blevins documented in the early 1990s how the Smith Predictor for a particular Lambda tuning reduces to this PID with a delayed external reset. The delayed external reset method of dead time compensation has several advantages readily evident. The user is not required to identify or estimate the process gain or process time constant. Also, the actual process variable is left intact. Other possibilities also exist for a more informative external reset signal than just the Analog Output (AO) block BKCAL_OUT, such as the use of read back actual valve position from a Digital Valve Controller (DVC) or a secondary loop s process variable for a cascade control loop. These alternative external reset (ER) signals may potentially be able to compensate for dynamics and disturbances of control valves or secondary loops. These ER signals can additionally protect the primary controller from outrunning the slewing rate of the control valve or the response of the secondary loop and prevent the walk off of override controllers. However, if a feedforward multiplier or split range block is
4 Page 4 of 25 used, the signal used for external reset must be converted back to its original basis as the controller output (e.g. divided by feedforward multiplier). For more details on the value and use of external reset, see the article The Power of External Reset Feedback in the May 2006 issue of Control magazine. The results presented here show that for a perfect model and the same controller tuning the PID with a delayed external reset performed better for processes with a small dead time to time constant ratio (time constant dominant), whereas the Smith Predictor performed better for processes with a large dead time to time constant ratio (dead time dominant). The Smith Predictor did not do as well for small dead time to time constant ratios because the control error seen in the controlled variable by the PID is much smaller than the actual control error in the process variable. In both cases, the improvement was not as impressive as the improvement gained from setting Lambda equal to the dead time rather than the time constant. Surprisingly the improvement in load disturbance rejection from dead time compensation was greater for processes with small dead time to time constant ratios. This goes against the conventional wisdom that the best opportunity for dead time compensation is for dead time dominant loops. The results can be explained in terms of the ultimate limit for performance of dead time dominant loops being lower. The reduction in the peak excursion from more aggressive tuning settings is negligible for dead time dominant processes because the peak error is essentially the open loop error. Another startling result was how quickly a Smith Predictor erupted into rapidly growing oscillations in the controller output when the model dead time was more than twice the actual process dead time. The fast full scale oscillations in the controller output resembled on-off control. While it is relatively well known that dead time compensators are sensitive to model mismatch, the effect was expected to be gradual and thought to be more in terms of a model dead time being too small. The concern for rapid deterioration for a model dead time being too large was raised in Good Tuning a Pocket Guide and was documented for model predictive control in Models Unleashed. While a PID with delayed external reset is also adversely affected by a dead time mismatch in both directions, this PID develops a small amplitude high frequency dither rather than a full scale oscillation in controller output for an excessively high model dead time. The consequence is less severe and may be adequately handled by the addition of a small dither filter inserted in the PID controller output, but this was not tested. Another major point here is that PID controller tuning for self-regulating processes without extenuating circumstances can only initiate oscillations for an identified (modeled) process dead time or gain that is too small or an identified time constant that is too large. For PID controllers with dead time compensation or model predictive controllers, high and low identified (model) values can cause oscillations. In order to get the performance benefit from dead time compensation, the PID must be tuned more aggressively. In other words, a PID with dead time compensation will perform the same as a PID without dead time compensation if they are tuned the same. While the improvement in integrated absolute error (IAE) for load upsets from more aggressive tuning (higher controller gain and lower reset time) can be accurately estimated for a regular PID, the equation does not work well for a dead time compensator. Furthermore, a dead time compensator soon reaches a point of diminishing returns. For example, the improvement in load rejection of a Smith Predictor from a controller gain that is quadrupled may not be noticeable whereas for a regular PID, it normally results in a four fold reduction in IAE. It is important to remember there is a tradeoff between performance and robustness for any feedback controller in that as you make controller tuning more aggressive to improve load rejection you make the controller more sensitive to changes in the process gain, dead time, or time constant. A nonlinear gain from the installed characteristic of a control valve has been widely discussed. However, the nonlinearity of the process gain of the temperature or composition response is the inverse and consequently the combined effect is less than documented when these loops directly manipulate a control valve. The variability of dead time is often larger than the variability of the process gain or time constant because the dead time is inversely proportional to a rate (e.g. flow rate or pumping rate or rate of change of a signal) and has many different sources (e.g. valve deadband or resolution, piping transportation delay, mixing delay, process lags in series, sensor lags, signal filters, and discrete communication or scan intervals). Thus, it is problematic to compute the dead time accurately enough to get the benefit of a dead time compensator.
5 Page 5 of 25 The calculation of process dead times and the role of PID structure will be addressed will be detailed in Advanced Application Notes 004 and 005, respectively. Only a small portion of the test results are included here as figures. A more complete compilation of test results is posted on the web site under the category of Continuous Control. Information on disturbances, dead time, and controller tuning is also posted on the this website under the categories of Plant Design and Tuning and Control System Performance.
6 Page 6 of 25 2 Recommendations To improve the performance of a PID controller for load disturbances at the process input: (1) First improve the PID controller tuning before even considering dead time compensation. Setting Lambda equal to the maximum dead time (Lambda factor equal to the maximum dead time to time constant ratio) is effective for load disturbances at the process input if there are no extenuating circumstances. (2) Add feedforward control whenever it is possible to measure or infer load disturbances at the process input. (3) If there is economic justification for further improvement and the dead time can be updated within 25% accuracy for varying operating conditions, trial test and closely monitor a PID with delayed external reset for low dead time to time constant ratios. (4) For loops with high dead time to time constant ratios, multiple manipulated variables, interactions, or constraints, consider model predictive control.
7 Page 7 of 25 3 Configuration A DeltaV library module template titled PID_DEADTIME is available for implementing the Smith Predictor in DeltaV. It provides additional features such as a bias or process gain correction to the process model for major load disturbances. This study used a simple Smith Predictor of the form commonly documented in the literature. Figure 3-1a shows the module used for testing the PID with a Smith Predictor. It includes a simple process simulation that consists of an actuator and a first order plus dead time process. The three process parameters are PROCESS_GAIN, PROCESS_DELAY, and PROCESS_LAG. The actuator can simulate stroking lags, delay, deadband, and stick-slip but these were all set to zero or negligible values for this study. The module also includes noise added to the AT2 block output and a periodic load upset added to the process input. The load upset goes through a filter block whose filter time is the upset lag (UPSET_LAG). If the upset lag is zero, the upset is a step change at the process input. The Smith Predictor is a composite block shown in Figure 3-1a. The output of the AV2 block is the input signal to the Smith Predictor. The three parameters provided to the Smith Predictor are MODEL_GAIN, MODEL_DELAY, and MODEL_LAG. For a perfect model, these parameter values are equal to their corresponding process parameter values. A DITHER_FILTER block was inserted between the OUT and the AV2 block CAS_IN but it did nothing in these tests (filter time constant was kept at zero). Note that in control literature, different nomenclature is often used for the three dynamic parameters of a first order plus dead process or model. For each parameter below, the first name is the most common and the last name is most specific. process gain = plant gain = open loop gain process dead time = plant delay = total loop dead time process time constant = plant lag = open loop time constant Figure 3-1b shows the drill down into the composite block. The Smith Predictor input signal is multiplied by the model gain in the MLTY1 block and then goes through a filtered with a process lag in the FLTR1 block. The output of FILTR1 block is delayed via the DT1 block and subtracted in the SUB1 block from its undelayed output. The Smith Predictor output is added in the main module via the SUM2 block to the output of the PV2 block, which has added noise to the AT2 block output. If the model is perfect and there are no disturbances or noise, the model with the delay cancels out the measured process variable from the AI block. What is left is the process model without any dead time (delay). Any loop without dead time and extenuating circumstances can have its controller gain increased without limit and still be stable. A common mistake is to forget that the process variable used by PID as the controlled variable is no longer the actual process variable but a model of the process response without dead time based solely on the controller output. Trends of the PID PV will show a much smaller deviation from the set point and a false sense of actual control loop performance.
8 Page 8 of 25 Smith Predictor Output Figure 3-1a Test Module with Embedded Smith Predictor Composite Block Smith Predictor Embedded Composite Figure 3-1b Drill Down of Embedded Smith Predictor Composite Block
9 Page 9 of 25 Figure 3-2a shows the test module for PID with delayed external reset. A dead time block DELAY_COMP was inserted between the BKCAL_OUT of the AV2 block and the BKCAL_IN of the block. This method of dead time compensation requires just one parameter, which is the model dead time (MODEL_DELAY). A DITHER_FILTER block was inserted between the OUT and the AV2 block CAS_IN but it did nothing in these tests (filter time constant was kept at zero). This test module employs the same type of process simulation used in the test module for the Smith Predictor. Figure 3-2b shows that in order for external reset signal to be used, the Dynamic Reset Limit box must be checked in FRSPID_OPTS for the PID. This method dead time compensation has several advantages readily evident. The user is not required to identify or estimate the process gain or process time constant. Also, the actual process variable is left intact. Other possibilities also exist for a more informative external reset signal than just the Analog Output (AO) block BKCAL_OUT, such as the use of read back actual valve position from a Digital Valve Controller (DVC) or a secondary loop s process variable for a cascade control loop. These alternative external reset (ER) signals may potentially be able to compensate for dynamics and disturbances of control valves or secondary loops. These ER signals can additionally protect the primary controller from outrunning the slewing rate of the control valve or the response of the secondary loop and prevent the walk off of override controllers. However, if a feedforward multiplier or split range block is used, the signal used for external reset must be converted back to the original basis of the controller output (e.g. divided by feedforward multiplier).
10 Page 10 of 25 Delayed External Reset Figure 3-2a Test Model for PID with Delayed External Reset Figure 3-2b Enabling of Dynamic Reset Limit in FRSPID_OPTS for PID with Delayed External Reset
11 Page 11 of 25 4 Test Results In all of the test results the used for comparison purposes is always an uncompensated PID with Lambda equal to the process time constant (lag), which is equivalent to a Lambda factor of one. All tests have an unmeasured load disturbance at the process input. The first upset in each figure is for a step disturbance. The second upset in each figure is for a disturbance that has been slowed down by a time constant (upset lag) that is twice the original process dead time. The first set of test results in Figure 4-1a through 4-1f illustrates the effect of different tuning for different model accuracies for a low and high dead time to time constant ratio. Here is an uncompensated PID with Lambda equal plant delay (process dead time) which is equivalent to a Lambda factor set equal to the delay/lag ratio (dead time to time constant ratio). Figures 4-1a through Figure 4-1c is for a control loop with a 0.2 delay/lag (dead time to time constant) ratio. This ratio of 0.2 is seen in concentration and temperature control of columns and vessels where there is a low degree of back mixing. Single large gas pressure volumes and highly agitated vessels with a low turnover time can have a much lower delay/lag ratio if there is no significant additional dead time associated with an analyzer, sensor, or wireless communication time. The improvement in the integrated absolute error (IAE) is about 66% from setting the Lambda equal to the process dead time instead of the process time constant and matches well the improvement predicted by Equations 2-2a and 2-2b in the book New Directions in Bioprocess Modeling and Control. This IAE improvement holds up even for the 50% increase in plant delay in Figure 4-1b. For the 50% decrease in plant delay in Figure 4-1c, the IAE is slightly less for both and but the per cent improvement is basically the same. Figure 4-1d through Figure 4-1f is for a control loop with a 4.0 delay/lag (dead time to time constant) ratio. This ratio of 4.0 is seen in concentration and temperature control of plug flow pipelines and exchanger volumes where there is essentially no back mixing. This high ratio also occurs when chromatographs with a cycle time and sample transportation delay much larger than the residence time of an agitated volume. Even higher ratios occur for sheet thickness control. The improvement in the IAE is negligible but the controller is less oscillatory for the original plant delay and a 50% increase in plant delay (process dead time). An upset lag makes both loops less oscillatory. For a decrease in plant delay both controllers have a very smooth responses but the return to set point is noticeably faster for.
12 Page 12 of 25 Load Upset IAE Improvement (%) Original Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI = standard PI ) Figure 4-1a Uncompensated PID for 0.2 Delay/Lag Ratio and Original Plant Delay Load Upset IAE Improvement (%) 50% Increase in Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI = standard PI ) Figure 4-1b Uncompensated PID for 0.2 Delay/Lag Ratio and 50% Increase in Plant Delay
13 Page 13 of 25 Load Upset IAE Improvement (%) 50% Decrease in Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI = standard PI ) Figure 4-1c Uncompensated PID for 0.2 Delay/Lag Ratio and 50% Decrease in Plant Delay Original Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI = standard PI ) Figure 4-1d Uncompensated PID for 4.0 Delay/Lag Ratio and Original Plant Delay
14 Page 14 of 25 50% Increase in Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI = standard PI ) Figure 4-1e Uncompensated PID for 4.0 Delay/Lag Ratio and 50% Increase in Plant Delay 50% Decrease in Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI = standard PI ) Figure 4-1f Uncompensated PID for 4.0 Delay/Lag Ratio and 50% Decrease in Plant Delay
15 Page 15 of 25 The second set of test results shows how well a Smith Predictor can do. Here is a Smith Predictor PID with the gain doubled and the reset time halved after Lambda has again been set equal to the plant delay (process dead time). In other words, this has twice the proportional and integral action of the uncompensated in the first set of test results. Figures 4-2a through Figure 4-2d is for a control loop with a 0.2 delay/lag ratio. The improvement in the integrated absolute error (IAE) in Figure 4-2a is about 76% over the uncompensated conservatively tuned, which is about 10% better than an uncompensated more aggressively tuned in the first set of test results. This improvement holds up for 50% changes in the plant delay as illustrated by Figure 4-2b and Figure 4-2c. However, if the model delay is more than 100% higher than the plant delay, the Smith Predictor breaks out into growing oscillations in the controller output as shown in Figure 4-2d. The risk of essentially on-off control from a high model dead time may be an unacceptable risk. Figures 4-2e through Figure 4-2h is for a control loop with a 4.0 delay/lag ratio. The Smith Predictor is less oscillatory than the uncompensated conservatively tuned for the original plant delay and a increase in plant delay shown in Figures 4-2e and Figure 4-2f. However, for an decrease in plant delay shown in Figure 4-2g, which is normally thought of as a more stable condition, high frequency oscillations start to appear. If the model delay is more than 100% higher than the plant delay, the Smith Predictor breaks out into growing oscillations in the controller output as shown in Figure 4-2h.
16 Page 16 of 25 Load Upset IAE Improvement (%) Original Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI (AT2/PV)= Smith Predictor PI Figure 4-2a Smith Predictor PID for 0.2 Delay/Lag Ratio and Original Plant Delay Load Upset IAE Improvement (%) 50% Increase in Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI (AT2/PV)= Smith Predictor PI Figure 4-2b Smith Predictor PID for 0.2 Delay/Lag Ratio and 50% Increase in Plant Delay
17 Page 17 of 25 Figure 4-2c Smith Predictor PID for 0.2 Delay/Lag Ratio and 50% Decrease in Plant Delay 110% Increase in Model Delay Original Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI (AT2/PV)= Smith Predictor PI Figure 4-2d Smith Predictor PID for 0.2 Delay/Lag Ratio and 110% Increase in Model Delay
18 Page 18 of 25 Original Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI (AT2/PV)= Smith Predictor PI Figure 4-2e Smith Predictor PID for 4.0 Delay/Lag Ratio and Original Plant Delay 50% Increase in Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI (AT2/PV)= Smith Predictor PI Figure 4-2f Smith Predictor PID for 4.0 Delay/Lag Ratio and 50% Increase in Plant Delay
19 Page 19 of 25 50% Decrease in Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI (AT2/PV)= Smith Predictor PI Figure 4-2g Smith Predictor PID for 4.0 Delay/Lag Ratio and 50% Decrease in Plant Delay 110% Increase in Model Delay Original Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI (AT2/PV)= Smith Predictor PI Figure 4-2h Smith Predictor PID for 4.0 Delay/Lag Ratio and 110% Increase in Model Delay
20 Page 20 of 25 The third set of test results shows how well a simpler type of dead time compensated PID reset can do. Here is a PID with a delayed external reset. Like the Smith Predictor the gain is doubled and the reset time halved after Lambda has again been set equal to the plant delay (process dead time). In other words, this like the Smith predictor has twice the proportional and integral action of the uncompensated in the first set of test results. Figures 4-3a through Figure 4-3d is for a control loop with a 0.2 delay/lag ratio. The improvement in the integrated absolute error (IAE) in Figure 4-3a is about 88% over the uncompensated conservatively tuned, which is about 22% better than an uncompensated more aggressively tuned in the first set of test results. It is anticipated that the improvement increases as the delay/lag ratio decreases. The improvement is large enough for this dead time compensator to be considered for low delay/lag applications where the plant delay is accurately known. The improvement deteriorates and the response becomes oscillatory for a 50% increase in the plant delay as illustrated by Figure 4-3b. A decrease in plant delay has little as shown in Figure 4-3c. However, if the model delay is more than 100% higher than the plant delay, the PID with a delayed external reset exhibits some decaying oscillations in the controller output as shown in Figure 4-3d. Figures 4-3e through Figure 4-3h is for a control loop with a 4.0 delay/lag ratio. The PID with a delayed external reset does not have the slow oscillations seen in the uncompensated conservatively tuned for the original plant delay and 50% changes plant delay shown in Figures 4-3f through Figure 4-3g. However, there is a persistent high frequency dither in the controller output. The a time constant could have been set in the DITHER_FILTER block to help smooth this out. Control valve dead band and resolution limits in the control valve may help prevent these oscillations from affecting the process. If the model delay is more than 100% higher than the actual plant delay, the dither amplitude gets larger and slower as shown in Figure 4-3h.
21 Page 21 of 25 Load Upset IAE Improvement (%) Original Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI = dead time compensated PI Figure 4-3a PID with Delayed External Reset for 0.2 Delay/Lag Ratio and Original Plant Delay Load Upset IAE Improvement (%) 50% Increase in Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI = dead time compensated PI Figure 4-3b PID with Delayed External Reset for 0.2 Delay/Lag Ratio and 50% Increase in Plant Delay
22 Page 22 of 25 Load Upset IAE Improvement (%) 50% Decrease in Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI = dead time compensated PI Figure 4-3c PID with Delayed External Reset for 0.2 Delay/Lag Ratio and 50% Decrease in Plant Delay 110% Increase in Model Delay Original Plant Delay Original Delay/Lag Ratio = 0.2 = standard PI = dead time compensated PI Figure 4-3d PID with Delayed External Reset for 0.2 Delay/Lag Ratio and 110% Increase in Model Delay
23 Page 23 of 25 Original Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI = dead time compensated PI Figure 4-3e PID with Delayed External Reset for 4.0 Delay/Lag Ratio and Original Model Delay 50% Increase in Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI = dead time compensated PI Figure 4-3f PID with Delayed External Reset for 4.0 Delay/Lag Ratio and 50% Increase in Plant Delay
24 Page 24 of 25 50% Decrease in Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI = dead time compensated PI Figure 4-3g PID with Delayed External Reset for 4.0 Delay/Lag Ratio and 50% Decrease in Plant Delay 110% Increase in Model Delay Original Plant Delay Original Delay/Lag Ratio = 4.0 = standard PI = dead time compensated PI Figure 4-3h PID with Delayed External Reset for 4.0 Delay/Lag Ratio and 110% Increase in Model Delay
25 Page 25 of 25 5 References 1-1 Boudreau, Michael, A. and McMillan, Gregory K., New Directions in Bioprocess Modeling and Control Maximizing Process Analytical technology Benefits, Instrumentation, Automations, and Systems (ISA), McMillan, Gregory, Good Tuning a Pocket Guide, 2 nd edition, Instrumentation, Automations, and Systems (ISA), McMillan, Gregory and Cameron, Robert, Models Unleashed Virtual Plant and Model Predictive Control Applications, Instrumentation, Automations, and Systems (ISA), Blevins, Terrence L., McMillan, Gregory K., Wojsznis, Willy K., and Brown, Michael W., Advanced Control Unleashed Plant Performance Management for Optimum Benefits, Instrumentation, Automations, and Systems (ISA), 2003.
DeltaV v11 PID Enhancements for
Aug 2010 Page 1 DeltaV v11 PID Enhancements for Wireless This document describes how enhancements to the PID block for wireless loops in DeltaV v11 improve performance, simplify tuning, and inherently
More informationProcidia Control Solutions Dead Time Compensation
APPLICATION DATA Procidia Control Solutions Dead Time Compensation AD353-127 Rev 2 April 2012 This application data sheet describes dead time compensation methods. A configuration can be developed within
More informationCHBE320 LECTURE XI CONTROLLER DESIGN AND PID CONTOLLER TUNING. Professor Dae Ryook Yang
CHBE320 LECTURE XI CONTROLLER DESIGN AND PID CONTOLLER TUNING Professor Dae Ryook Yang Spring 2018 Dept. of Chemical and Biological Engineering 11-1 Road Map of the Lecture XI Controller Design and PID
More informationFeedforward and Ratio Control
Feedforward and Ratio ISA Mentor Program Presentation by: Gregory K. McMillan Standards Certification Education & Training Publishing Conferences & Exhibits Presenter Gregory K. McMillan is a retired Senior
More informationGetting the Best Performance from Challenging Control Loops
Getting the Best Performance from Challenging Control Loops Jacques F. Smuts - OptiControls Inc, League City, Texas; jsmuts@opticontrols.com KEYWORDS PID Controls, Oscillations, Disturbances, Tuning, Stiction,
More informationDifferent Controller Terms
Loop Tuning Lab Challenges Not all PID controllers are the same. They don t all use the same units for P-I-and D. There are different types of processes. There are different final element types. There
More information-binary sensors and actuators (such as an on/off controller) are generally more reliable and less expensive
Process controls are necessary for designing safe and productive plants. A variety of process controls are used to manipulate processes, however the most simple and often most effective is the PID controller.
More informationSTANDARD TUNING PROCEDURE AND THE BECK DRIVE: A COMPARATIVE OVERVIEW AND GUIDE
STANDARD TUNING PROCEDURE AND THE BECK DRIVE: A COMPARATIVE OVERVIEW AND GUIDE Scott E. Kempf Harold Beck and Sons, Inc. 2300 Terry Drive Newtown, PA 18946 STANDARD TUNING PROCEDURE AND THE BECK DRIVE:
More informationThink About Control Fundamentals Training. Terminology Control. Eko Harsono Control Fundamental - Con't
Think About Control Fundamentals Training Terminology Control Eko Harsono eko.harsononus@gmail.com; 1 Contents Topics: Slide No: Advance Control Loop 3-10 Control Algorithm 11-25 Control System 26-32 Exercise
More informationVarious Controller Design and Tuning Methods for a First Order Plus Dead Time Process
International Journal of Computer Science & Communication Vol. 1, No. 2, July-December 2010, pp. 161-165 Various Controller Design and Tuning Methods for a First Order Plus Dead Time Process Pradeep Kumar
More informationInternational Journal of Research in Advent Technology Available Online at:
OVERVIEW OF DIFFERENT APPROACHES OF PID CONTROLLER TUNING Manju Kurien 1, Alka Prayagkar 2, Vaishali Rajeshirke 3 1 IS Department 2 IE Department 3 EV DEpartment VES Polytechnic, Chembur,Mumbai 1 manjulibu@gmail.com
More informationClass 5. Competency Exam Round 1. The Process Designer s Process. Process Control Preliminaries. On/Off Control The Simplest Controller
Class 5 Competency Exam Round 1 Proportional Control Starts Friday, September 17 Ends Friday, October 1 Process Control Preliminaries The final control element, process and sensor/transmitter all have
More information6.4 Adjusting PID Manually
Setting Display Parameter Setting Display Operation Display > PARAMETER or PARA key for 3 seconds (to [MODE] Menu Display) > Right arrow key (to [PID] Menu Display ) > SET/ENTER key (The setting parameter
More informationLogic Developer Process Edition Function Blocks
GE Intelligent Platforms Logic Developer Process Edition Function Blocks Delivering increased precision and enabling advanced regulatory control strategies for continuous process control Logic Developer
More informationNonlinear Control Lecture
Nonlinear Control Lecture Just what constitutes nonlinear control? Control systems whose behavior cannot be analyzed by linear control theory. All systems contain some nonlinearities, most are small and
More informationMM7 Practical Issues Using PID Controllers
MM7 Practical Issues Using PID Controllers Readings: FC textbook: Section 4.2.7 Integrator Antiwindup p.196-200 Extra reading: Hou Ming s lecture notes p.60-69 Extra reading: M.J. Willis notes on PID controler
More informationAutomatic Controller Dynamic Specification (Summary of Version 1.0, 11/93)
The contents of this document are copyright EnTech Control Engineering Inc., and may not be reproduced or retransmitted in any form without the express consent of EnTech Control Engineering Inc. Automatic
More informationPROCESS DYNAMICS AND CONTROL
Objectives of the Class PROCESS DYNAMICS AND CONTROL CHBE320, Spring 2018 Professor Dae Ryook Yang Dept. of Chemical & Biological Engineering What is process control? Basics of process control Basic hardware
More informationPROCESS DYNAMICS AND CONTROL
PROCESS DYNAMICS AND CONTROL CHBE306, Fall 2017 Professor Dae Ryook Yang Dept. of Chemical & Biological Engineering Korea University Korea University 1-1 Objectives of the Class What is process control?
More informationPID control. since Similarly, modern industrial
Control basics Introduction to For deeper understanding of their usefulness, we deconstruct P, I, and D control functions. PID control Paul Avery Senior Product Training Engineer Yaskawa Electric America,
More informationExperiment 9. PID Controller
Experiment 9 PID Controller Objective: - To be familiar with PID controller. - Noting how changing PID controller parameter effect on system response. Theory: The basic function of a controller is to execute
More informationA M E M B E R O F T H E K E N D A L L G R O U P
A M E M B E R O F T H E K E N D A L L G R O U P Basics of PID control in a Programmable Automation Controller Technology Summit September, 2018 Eric Paquette Definitions-PID A Proportional Integral Derivative
More informationCHAPTER 4 PID CONTROLLER BASED SPEED CONTROL OF THREE PHASE INDUCTION MOTOR
36 CHAPTER 4 PID CONTROLLER BASED SPEED CONTROL OF THREE PHASE INDUCTION MOTOR 4.1 INTRODUCTION Now a day, a number of different controllers are used in the industry and in many other fields. In a quite
More informationFind, read or write documentation which describes work of the control loop: Process Control Philosophy. Where the next information can be found:
1 Controller uning o implement continuous control we should assemble a control loop which consists of the process/object, controller, sensors and actuators. Information about the control loop Find, read
More informationEnhance operational efficiency with Advanced Process Control (APC) Integration of APC in SIMATIC PCS 7 SIMATIC PCS 7. Answers for industry.
Enhance operational efficiency with Advanced Control (APC) Integration of APC in SIMATIC PCS 7 SIMATIC PCS 7 Answers for industry. Modern closed-loop control systems in the process industry In today s
More informationEffective Use of PID Features for Loop Performance and Optimization. Greg McMillan CDI Process & Industrial Hector Torres Solutia Inc.
Effective Use of PID Features for Loop Performance and Optimization Greg McMillan CDI Process & Industrial Hector Torres Solutia Inc. Photography & Video Recording Policy Photography and audio/video recording
More informationInstrumentationTools.com
Author: Instrumentation Tools Categories: Control Systems Ziegler-Nichols Closed-Loop Method (Ultimate Gain) Closed-loop refers to the operation of a control system with the controlling device in automatic
More informationSwitch Mode Power Conversion Prof. L. Umanand Department of Electronics System Engineering Indian Institute of Science, Bangalore
Switch Mode Power Conversion Prof. L. Umanand Department of Electronics System Engineering Indian Institute of Science, Bangalore Lecture - 30 Implementation on PID controller Good day to all of you. We
More informationF. Greg Shinskey. "PID Control." Copyright 2000 CRC Press LLC. <
F. Greg Shinskey. "PID Control." Copyright 2000 CRC Press LLC. . PID Control F. Greg Shinskey Process Control Consultant 97.1 Introduction 97.2 Open and Closed Loops Open-Loop
More informationPID Control Technical Notes
PID Control Technical Notes General PID (Proportional-Integral-Derivative) control action allows the process control to accurately maintain setpoint by adjusting the control outputs. In this technical
More informationModified ultimate cycle method relay auto-tuning
Adaptive Control - Autotuning Structure of presentation: Relay feedback autotuning outline Relay feedback autotuning details How close is the estimate of the ultimate gain and period to the actual ultimate
More informationChapter 4 PID Design Example
Chapter 4 PID Design Example I illustrate the principles of feedback control with an example. We start with an intrinsic process P(s) = ( )( ) a b ab = s + a s + b (s + a)(s + b). This process cascades
More informationPROCESS CONTROL DIAGNOSTICS. F. Greg Shinskey Process Control Consultant North Sandwich, NH 03259
PROCESS CONTROL DIAGNOSTICS F. Greg Shinskey Process Control Consultant North Sandwich, NH 03259 Abstract With all the tuning methods documented, it is remarkable how often controllers are mistuned, focusing
More informationController Algorithms and Tuning
The previous sections of this module described the purpose of control, defined individual elements within control loops, and demonstrated the symbology used to represent those elements in an engineering
More informationLESSON 2: ELECTRONIC CONTROL
Module 1: Control Concepts LESSON 2: ELECTRONIC CONTROL MODULE 1 Control Concepts OBJECTIVES: At the end of this module, you will be able to: 1. Sketch an open tank level application and state the mass
More informationPaul Schafbuch. Senior Research Engineer Fisher Controls International, Inc.
Paul Schafbuch Senior Research Engineer Fisher Controls International, Inc. Introduction Achieving optimal control system performance keys on selecting or specifying the proper flow characteristic. Therefore,
More informationLevel control drain valve tuning. Walter Bischoff PE Brunswick Nuclear Plant
Level control drain valve tuning Walter Bischoff PE Brunswick Nuclear Plant Tuning Introduction Why is it important PI and PID controllers have been accepted throughout process design and all forms of
More informationOptimize Your Process Using Normal Operation Data
Optimize Your Process Using Normal Operation Data Michel Ruel, PE Top Control, Inc. 49, rue du Bel-Air, bur.103, Lévis, QC G6V 6K9, Canada Phone +1.418.834.2242, michel.ruel@topcontrol.com Henri (Hank)
More informationApplication Note. Renu Electronics Private Limited. PID Instruction In IEC. Page 1
Application Note PID Instruction In IEC This document explains about PID Instruction in IEC. This application note is applicable for FP and FL products (IEC Supported). www.renuelectronics.com Page 1 Contents
More information2.1 PID controller enhancements
2. Single-Loop Enhancements 2.1 PID controller enhancements 2.1.1 The ideal PID controller 2.1.2 Derivative filter 2.1.3 Setpoint weighting 2.1.4 Handling integrator windup 2.1.5 Industrial PID controllers
More informationEffective Use of PID Controllers ISA New Orleans Standards Certification Education & Training Publishing Conferences & Exhibits
Effective Use of PID Controllers ISA New Orleans 3-7-2013 Standards Certification Education & Training Publishing Conferences & Exhibits 1 Presenter Greg is a retired Senior Fellow from Solutia/Monsanto
More informationQuickBuilder PID Reference
QuickBuilder PID Reference Doc. No. 951-530031-006 2010 Control Technology Corp. 25 South Street Hopkinton, MA 01748 Phone: 508.435.9595 Fax: 508.435.2373 Thursday, March 18, 2010 2 QuickBuilder PID Reference
More informationCHAPTER. delta-sigma modulators 1.0
CHAPTER 1 CHAPTER Conventional delta-sigma modulators 1.0 This Chapter presents the traditional first- and second-order DSM. The main sources for non-ideal operation are described together with some commonly
More informationThe PID controller. Summary. Introduction to Control Systems
The PID controller ISTTOK real-time AC 7-10-2010 Summary Introduction to Control Systems PID Controller PID Tuning Discrete-time Implementation The PID controller 2 Introduction to Control Systems Some
More informationGLOSSARY OF TERMS FOR PROCESS CONTROL
Y1900SS-1a 1 GLOSSARY OF TERMS FOR PROCESS CONTROL Accuracy Conformity of an indicated value to an accepted standard value, or true value. Accuracy, Reference A number or quantity which defines the limit
More information6545(Print), ISSN (Online) Volume 4, Issue 1, January- February (2013), IAEME & TECHNOLOGY (IJEET)
INTERNATIONAL International Journal of JOURNAL Electrical Engineering OF ELECTRICAL and Technology (IJEET), ENGINEERING ISSN 0976 & TECHNOLOGY (IJEET) ISSN 0976 6545(Print) ISSN 0976 6553(Online) Volume
More informationChapter 6 Controller Design Using Design Tools
Chapter 6 Controller Design Using Design Tools Defining Good Process Test Data The process should be at steady state before data collection starts The test dynamics should clearly dominate the process
More informationPID control of dead-time processes: robustness, dead-time compensation and constraints handling
PID control of dead-time processes: robustness, dead-time compensation and constraints handling Prof. Julio Elias Normey-Rico Automation and Systems Department Federal University of Santa Catarina IFAC
More informationIntroduction To Temperature Controllers
Introduction To Temperature Controllers The Miniature CN77000 is a full featured microprocessor-based controller in a 1/16 DIN package. How Can I Control My Process Temperature Accurately and Reliably?
More informationAndrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL. Andrea M. Zanchettin, PhD Spring Semester, Linear control systems design
Andrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL Andrea M. Zanchettin, PhD Spring Semester, 2018 Linear control systems design Andrea Zanchettin Automatic Control 2 The control problem Let s introduce
More informationProcess controls in food processing
Process controls in food processing Module- 9 Lec- 9 Dr. Shishir Sinha Dept. of Chemical Engineering IIT Roorkee A well designed process ought to be easy to control. More importantly, it is best to consider
More informationSECTION 6: ROOT LOCUS DESIGN
SECTION 6: ROOT LOCUS DESIGN MAE 4421 Control of Aerospace & Mechanical Systems 2 Introduction Introduction 3 Consider the following unity feedback system 3 433 Assume A proportional controller Design
More informationUnderstanding PID Control
1 of 5 2/20/01 1:15 PM Understanding PID Control Familiar examples show how and why proportional-integral-derivative controllers behave the way they do. Keywords: Process control Control theory Controllers
More informationNon Linear Tank Level Control using LabVIEW Jagatis Kumaar B 1 Vinoth K 2 Vivek Vijayan C 3 P Aravind 4
IJSRD - International Journal for Scientific Research & Development Vol. 3, Issue 01, 2015 ISSN (online): 2321-0613 Non Linear Tank Level Control using LabVIEW Jagatis Kumaar B 1 Vinoth K 2 Vivek Vijayan
More informationELT 215 Operational Amplifiers (LECTURE) Chapter 5
CHAPTER 5 Nonlinear Signal Processing Circuits INTRODUCTION ELT 215 Operational Amplifiers (LECTURE) In this chapter, we shall present several nonlinear circuits using op-amps, which include those situations
More informationRelay Based Auto Tuner for Calibration of SCR Pump Controller Parameters in Diesel after Treatment Systems
Abstract Available online at www.academicpaper.org Academic @ Paper ISSN 2146-9067 International Journal of Automotive Engineering and Technologies Special Issue 1, pp. 26 33, 2017 Original Research Article
More informationDESIGN AND ANALYSIS OF TUNING TECHNIQUES USING DIFFERENT CONTROLLERS OF A SECOND ORDER PROCESS
Journal of Electrical Engineering & Technology (JEET) Volume 3, Issue 1, January- December 2018, pp. 1 6, Article ID: JEET_03_01_001 Available online at http://www.iaeme.com/jeet/issues.asp?jtype=jeet&vtype=3&itype=1
More informationLoop Design. Chapter Introduction
Chapter 8 Loop Design 8.1 Introduction This is the first Chapter that deals with design and we will therefore start by some general aspects on design of engineering systems. Design is complicated because
More informationInstrumentation and Process Control. Process Control. Pressure, Flow, and Level. Courseware Sample F0
Instrumentation and Process Control Process Control Pressure, Flow, and Level Courseware Sample 85982-F0 A INSTRUMENTATION AND PROCESS CONTROL PROCESS CONTROL Pressure, Flow, and Level Courseware Sample
More informationBINARY DISTILLATION COLUMN CONTROL TECHNIQUES: A COMPARATIVE STUDY
BINARY DISTILLATION COLUMN CONTROL TECHNIQUES: A COMPARATIVE STUDY 1 NASSER MOHAMED RAMLI, 2 MOHAMMED ABOBAKR BASAAR 1,2 Chemical Engineering Department, Faculty of Engineering, Universiti Teknologi PETRONAS,
More informationCohen-coon PID Tuning Method; A Better Option to Ziegler Nichols-PID Tuning Method
Cohen-coon PID Tuning Method; A Better Option to Ziegler Nichols-PID Tuning Method Engr. Joseph, E. A. 1, Olaiya O. O. 2 1 Electrical Engineering Department, the Federal Polytechnic, Ilaro, Ogun State,
More informationModel Based Predictive Peak Observer Method in Parameter Tuning of PI Controllers
23 XXIV International Conference on Information, Communication and Automation Technologies (ICAT) October 3 November, 23, Sarajevo, Bosnia and Herzegovina Model Based Predictive in Parameter Tuning of
More informationCHAPTER 11: DIGITAL CONTROL
When I complete this chapter, I want to be able to do the following. Identify examples of analog and digital computation and signal transmission. Program a digital PID calculation Select a proper execution
More informationPosition Control of DC Motor by Compensating Strategies
Position Control of DC Motor by Compensating Strategies S Prem Kumar 1 J V Pavan Chand 1 B Pangedaiah 1 1. Assistant professor of Laki Reddy Balireddy College Of Engineering, Mylavaram Abstract - As the
More informationIntroduction to Servo Control & PID Tuning
Introduction to Servo Control & PID Tuning Presented to: Agenda Introduction to Servo Control Theory PID Algorithm Overview Tuning & General System Characterization Oscillation Characterization Feed-forward
More informationPID Tuning Guide. For the Allen-Bradley Family of PLCs. A Best-Practices Approach to Understanding and Tuning PID Controllers
PID Tuning Guide For the Allen-Bradley Family of PLCs A Best-Practices Approach to Understanding and Tuning PID Controllers First Edition by Robert C. Rice, PhD Table of Contents 2 Forward 3 The PID Controller
More informationAdvanced Control Foundation: Tools, Techniques and Applications. Terrence Blevins Willy K. Wojsznis Mark Nixon
Advanced Control Foundation: Tools, Techniques and Applications Terrence Blevins Willy K. Wojsznis Mark Nixon 1 Introduction The mathematical basis for many of the advanced control techniques in use today
More informationGlossary of terms. Short explanation
Glossary Concept Module. Video Short explanation Abstraction 2.4 Capturing the essence of the behavior of interest (getting a model or representation) Action in the control Derivative 4.2 The control signal
More informationEmbedded Control Project -Iterative learning control for
Embedded Control Project -Iterative learning control for Author : Axel Andersson Hariprasad Govindharajan Shahrzad Khodayari Project Guide : Alexander Medvedev Program : Embedded Systems and Engineering
More informationPerformance Monitor Raises Service Factor Of MPC
Tom Kinney ExperTune Inc. Hubertus, WI Performance Monitor Raises Service Factor Of MPC Presented at ISA2003, Houston, TX October, 2003 Copyright 2003 Instrumentation, Systems and Automation Society. All
More informationTuning interacting PID loops. The end of an era for the trial and error approach
Tuning interacting PID loops The end of an era for the trial and error approach Introduction Almost all actuators and instruments in the industry that are part of a control system are controlled by a PI(D)
More informationIMC based Smith Predictor Design with PI+CI Structure: Control of Delayed MIMO Systems
MATEC Web of Conferences42, ( 26) DOI:.5/ matecconf/ 26 42 C Owned by the authors, published by EDP Sciences, 26 IMC based Smith Predictor Design with PI+CI Structure: Control of Delayed MIMO Systems Ali
More informationDESIGN OF PID CONTROLLERS INTEGRATOR SYSTEM WITH TIME DELAY AND DOUBLE INTEGRATING PROCESSES
DESIGN OF PID CONTROLLERS INTEGRATOR SYSTEM WITH TIME DELAY AND DOUBLE INTEGRATING PROCESSES B.S.Patil 1, L.M.Waghmare 2, M.D.Uplane 3 1 Ph.D.Student, Instrumentation Department, AISSMS S Polytechnic,
More informationApplication Note (A13)
Application Note (A13) Fast NVIS Measurements Revision: A February 1997 Gooch & Housego 4632 36 th Street, Orlando, FL 32811 Tel: 1 407 422 3171 Fax: 1 407 648 5412 Email: sales@goochandhousego.com In
More informationBulletin 1402 Line Synchronization Module (LSM)
Bulletin 1402 (LSM) Application Notes Table of Contents What is Synchronization?...................................... 2 Synchronization............................................. 3 1771 Modules and
More informationCHAPTER 4 AN EFFICIENT ANFIS BASED SELF TUNING OF PI CONTROLLER FOR CURRENT HARMONIC MITIGATION
92 CHAPTER 4 AN EFFICIENT ANFIS BASED SELF TUNING OF PI CONTROLLER FOR CURRENT HARMONIC MITIGATION 4.1 OVERVIEW OF PI CONTROLLER Proportional Integral (PI) controllers have been developed due to the unique
More informationI/A Series Software. Extended Proportional-Integral-Derivative (PIDX) Controller PSS 21S-3F3 B4 OVERVIEW PRODUCT SPECIFICATIONS
PRODUCT SPECIFICATIONS I/A Series Software PSS 21S-3F3 B4 Extended Proportional-Integral-Derivative (PIDX) Controller The Extended Proportional-Integral-Derivative (PIDX) block adds batch control, a sample-data
More informationCSE 3215 Embedded Systems Laboratory Lab 5 Digital Control System
Introduction CSE 3215 Embedded Systems Laboratory Lab 5 Digital Control System The purpose of this lab is to introduce you to digital control systems. The most basic function of a control system is to
More informationSxWEB PID algorithm experimental tuning
SxWEB PID algorithm experimental tuning rev. 0.3, 13 July 2017 Index 1. PID ALGORITHM SX2WEB24 SYSTEM... 2 2. PID EXPERIMENTAL TUNING IN THE SX2WEB24... 3 2.1 OPEN LOOP TUNING PROCEDURE... 3 2.1.1 How
More informationLinearity Improvement Techniques for Wireless Transmitters: Part 1
From May 009 High Frequency Electronics Copyright 009 Summit Technical Media, LLC Linearity Improvement Techniques for Wireless Transmitters: art 1 By Andrei Grebennikov Bell Labs Ireland In modern telecommunication
More informationControl Theory. This course will examine the control functions found in HVAC systems and explain the different applications where they are applied.
Introduction The purpose of automatic HVAC system control is to modify equipment performance to balance system capacity with prevailing load requirements. All automatic control systems do not employ the
More information1. Consider the closed loop system shown in the figure below. Select the appropriate option to implement the system shown in dotted lines using
1. Consider the closed loop system shown in the figure below. Select the appropriate option to implement the system shown in dotted lines using op-amps a. b. c. d. Solution: b) Explanation: The dotted
More informationClosed-Loop Position Control, Proportional Mode
Exercise 4 Closed-Loop Position Control, Proportional Mode EXERCISE OBJECTIVE To describe the proportional control mode; To describe the advantages and disadvantages of proportional control; To define
More informationConfiguration Example of Temperature Control
Controllers Technical Information Configuration Example of Control controllers The following is an example of the configuration of temperature control. Controller Relay Voltage Current SSR Cycle controller
More informationChE 4162 Control Laboratory Methodologies Fall Control Laboratory Methodologies
Control Laboratory Methodologies Edited by: HJT from Material by DBM 1/11 9/23/2016 1. Introduction There seem to be about as many ways to study and tune control systems as there are control engineers.
More informationDesigning PID for Disturbance Rejection
Designing PID for Disturbance Rejection Control System Toolbox provides tools for manipulating and tuning PID controllers through the PID Tuner app as well as commandline functions. This example shows
More informationFundamentals of Servo Motion Control
Fundamentals of Servo Motion Control The fundamental concepts of servo motion control have not changed significantly in the last 50 years. The basic reasons for using servo systems in contrast to open
More informationController Tuning for Disturbance Rejection Associated with Delayed Double Integrating processes, Part IV: PID Plus First-Order Lag Controller
Controller Tuning for Disturbance Rejection Associated with Delayed Double Integrating processes, Part IV: PID Plus First-Order Lag Controller Galal Ali Hassaan Emeritus Professor, Department of Mechanical
More informationThe issue of saturation in control systems using a model function with delay
The issue of saturation in control systems using a model function with delay Ing. Jaroslav Bušek Supervisor: Prof. Ing. Pavel Zítek, DrSc. Abstract This paper deals with the issue of input saturation of
More informationAnti Windup Implementation on Different PID Structures
Pertanika J. Sci. & Technol. 16 (1): 23-30 (2008) SSN: 0128-7680 Universiti Putra Malaysia Press Anti Windup mplementation on Different PD Structures Farah Saleena Taip *1 and Ming T. Tham 2 1 Department
More informationAVR221: Discrete PID Controller on tinyavr and megaavr devices. Introduction. AVR 8-bit Microcontrollers APPLICATION NOTE
AVR 8-bit Microcontrollers AVR221: Discrete PID Controller on tinyavr and megaavr devices APPLICATION NOTE Introduction This application note describes a simple implementation of a discrete Proportional-
More informationLAMBDA TUNING TECHNIQUE BASED CONTROLLER DESIGN FOR AN INDUSTRIAL BLENDING PROCESS
ISSN : 0973-7391 Vol. 3, No. 1, January-June 2012, pp. 143-146 LAMBDA TUNING TECHNIQUE BASED CONTROLLER DESIGN FOR AN INDUSTRIAL BLENDING PROCESS Manik 1, P. K. Juneja 2, A K Ray 3 and Sandeep Sunori 4
More information2. Basic Control Concepts
2. Basic Concepts 2.1 Signals and systems 2.2 Block diagrams 2.3 From flow sheet to block diagram 2.4 strategies 2.4.1 Open-loop control 2.4.2 Feedforward control 2.4.3 Feedback control 2.5 Feedback control
More informationProcess Control Laboratory Using Honeywell PlantScape
Process Control Laboratory Using Honeywell PlantScape Christi Patton Luks, Laura P. Ford University of Tulsa Abstract The University of Tulsa has recently revised its process controls class from one 3-hour
More informationTTH300. Temperature transmitter. Additional Information. FOUNDATION Fieldbus. Measurement made easy
ABB MEASUREMENT & ANALYTICS INTERFACE DESCRIPTION TTX300 Temperature transmitter FOUNDATION Fieldbus Measurement made easy TTX300-FF Additional Information Additional documentation on TTX300 is available
More informationSeries Resistance Compensation
Series Resistance Compensation 1. Patch clamping Patch clamping is a form of voltage clamping, a technique that uses a feedback circuit to set the membrane potential, V m, of a cell to a desired command
More informationCHAPTER 4 LOAD FREQUENCY CONTROL OF INTERCONNECTED HYDRO-THERMAL SYSTEM
53 CHAPTER 4 LOAD FREQUENCY CONTROL OF INTERCONNECTED HYDRO-THERMAL SYSTEM 4.1 INTRODUCTION Reliable power delivery can be achieved through interconnection of hydro and thermal system. In recent years,
More informationClosed-Loop Transportation Simulation. Outlines
Closed-Loop Transportation Simulation Deyang Zhao Mentor: Unnati Ojha PI: Dr. Mo-Yuen Chow Aug. 4, 2010 Outlines 1 Project Backgrounds 2 Objectives 3 Hardware & Software 4 5 Conclusions 1 Project Background
More informationPID Tuner (ver. 1.0)
PID Tuner (ver. 1.0) Product Help Czech Technical University in Prague Faculty of Mechanical Engineering Department of Instrumentation and Control Engineering This product was developed within the subject
More informationSimulation and Analysis of Cascaded PID Controller Design for Boiler Pressure Control System
PAPER ID: IJIFR / V1 / E10 / 031 www.ijifr.com ijifr.journal@gmail.com ISSN (Online): 2347-1697 An Enlightening Online Open Access, Refereed & Indexed Journal of Multidisciplinary Research Simulation and
More information