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Feedback Controllers
Chapter 8
On-off Controllers
Simple
Cheap
Used In residential heating and domestic refrigerators
Limited use in process control due to continuous
cycling of controlled variable excessive wear
on control valve.
Examples
Batchprocesscontrol(PLC=programmablelogiccontroller)
Solenoidinhomeheatingunit
Sprinklersystems
Cruisecontrol?
On-Off Controllers
Chapter 8
Synonyms:
two-position or bang-bang controllers.
e = error =
set point measured variable
Chapter 8
= tolerance
Chapter 8
Chapter 8
Chapter 8
Chapter 8
Proportional Band, PB
100%
PB
Kc
Chapter 8
or
p( t ) p K c Ysp ( t ) Ym ( t )
Chapter 8
Chapter 8
1
p( t ) p e( t )dt
I 0
P(s) 1
E(s) Is
1
p( t ) p K c e( t ) e( t )dt
I 0
Chapter 8
P(s)
1
Transfer function for PI control
K c 1
Chapter 8
E(s)
Is
Chapter 8
Chapter 8
Chapter 8
1
p t p Kc e t
I
0 e t * dt *
de t
dt
(8-13)
D s
(8-14)
Chapter 8
1
K c 1
E s
I s
P s
I s 1
D s 1
Kc
E s
I
D 1
(8-15)
de t
dt
Chapter 8
p t p K c e t K I e t * dt * K D
(8-16)
Chapter 8
Chapter 8
Automatic Mode
Controller output, p(t), depends on e(t), controller
constants, and type of controller used.
( PI vs. PID etc.)
Manual Mode
Controller output, p(t), is adjusted manually.
Manual Mode is very useful when unusual
conditions exist:
plant start-up
plant shut-down
emergencies
Percentage of controllers "on manual ??
(30% in 2001, Honeywell survey)
Chapter 8
D
t n 1
pn p K c en ek en en 1
14I 2k 143 1 44 2D 4 43
I
Chapter 8
Chapter 8
No control
(Kc=0)
Increasing KC
Chapter 8
Time
y
Increasing D
Time
Increasing I
y
Increasing KC
Chapter 8
Time
(b)
Time
(a)
Figure 8.14 Proportional-integral control: (a) effect of integral time, (b) effect of controller gain
integral action ~
Kc / I
Chapter 8
Chapter 8
Chapter 8
Chapter 8
Question:
1. Type of controller action? Select Kc so that
Kc Kv K p 0
(a) air-to-open valve: sign of Kv?
(b) sign of process gain?
Chapter 8
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