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Performance of P-only, PI
and PID Controllers
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
Imaginary Axis
4
e
0
a
-4
-4
d
f
-8
-5
-4
-3
-2
Real Axis
-1
-8
1
Effect of Kc on Closed-Loop
Damping Factor ( ')
1.5
overdamped
1
underdamped
0.5
0
unstable
-0.5
0
Kc
Effect of Kc on Closed-Loop p
Time Constant ( 'p )
0.6
0.4
0.2
0
0
Kc
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
Lag
ys
Time
Lag
ys
Time
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.
PID
Time
PID
Time
ys
Time
Effect of D on Closed-Loop
Damping Factor ( )
1.5
overdamped
1
underdamped
0.5
0
0
0.25
0.5
0.75
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.