Controller Modes
1. ON-OFF controller/two position
controller
2. Three-position controller
3. Proportional Action Control
4. Integral/Reset Action Control
5. Derivative/Rate Action Control
6. P+I Control
7. P+D Control
8. P+I+D Control
ON-OFF Control
Discontinuous control mode
Also called two-position control
The simplest form of control
It is very commonly used in industry
The manipulated variable is quickly changed
to either a maximum or a minimum value
The minimum value of the manipulated
variable is usually zero (off)
Transmit only two output signals: ON (100%),
OFF (0%)
Only responds when its above or below the
setpoint
ON-OFF Controller
Example :
Process : Water tank of 10 litres
Target: Reach + maintain a
temperature of
90oC.
Water : 10
Litres
Heater
Senso
r
Two-positions controller with
hysteresis
ON-OFF Controller made from Op- amps
Vin reaches VH Comparator ON
state(V0)
Vin falls below a value VL
Comparator OFF
state (0)
The HIGH (ON) or V1=Vsp
switch voltage is
VH = Vsp
The LOW (OFF) switch voltage
is
VL = Vsp R1/R2 V0
Vout
(ON) V0
(OFF)
0
VL
VH
Vin
Example:
Level measurement in a sump tank is
provided by a transducer scaled as 0.2
V/m. A pump is to be turned on by
application of +5V when the sump
level exceeds 2.0m. The pump is to be
turned back off when the sump level
drops to 1.5m. Find R2 if R1 is given
5k
Three-Position Controller made from
Op- amps
In this circuit assumed:
The output of the comparators is 0V
for the OFF state
Vo volts for the ON state
The summing amplifier includes a
bias voltage input VB which allows
the three-position mode response to
be biased up or down in voltage to
suit particular needs.
The inverter is to convert the sign of
the inverting action of the summing
amplifier
Equation presented the generic threemode controller response:
Vin < Vsp1
Vout = VB
Vsp1 < Vin < Vsp2 Vout = VB + R3/R1
Vo
Vin > Vsp2
Vout = VB + R3/R1 Vo + R3/R2 Vo
Response of the three-position controller with the
bias
equal to zero
Example:
The level in a sump tank is to be controlled with
a three-position controller. The following
specifications are given:
1. The level measurement sensor has a transfer
function of 0.45 V/m
2. The valve is linearly driven from fully open to
fully closed by a voltage from 0 to 8V
3. The following specifications are given:
level < 2m
valve 20% open
level > 2m < 3m
valve 65% open
level > 3m
valve 100% open
Comparators are available that have
outputs of
0 V for OFF and 5V for ON. Design a
three position op amp controller. R3 is
given by 10k
Proportional Controller (P
Mode)
Continuous control mode
Typical behavior/characteristics:
The signal output of a controller is proportional
to the input or error
Stay at the same ratio
Proportional control is a pure gain adjustment
acting on the error signal to provide the driving
input to the process.
Implementation of this mode requires
a circuit which has a response given
by
Where: U =controller output (0 100%)
K = Proportional gain (controller transfer
function)
PB = proportional band in percentage
Ep = error in percent of variable range
Pp = controller output with no error
(bias)
Example:
A proportional controller has the scale 010 volts corresponds to a 0-100% output.
If R2 = 10 K, and full scale error is 10
volt, find the value of V0 and R1 to
support a 20% proportional band about a
50% zero-error controller output.
Advantages:
Simple
Easiest of the continuous controllers tune
Provides good stability, rapid response and
relatively stable.
Disadvantages:
Only control results in offset Never
reaches SP
Action is instantaneous As soon as error is
produced, control action is taken.
Used to stabilize unstable output
Integral Action Control
Also called Reset Action Control
Continuous control mode
Typical behavior/characteristic:
- The controller output is proportional to the
integral of the error with respect to time
- The value of the controller output is
changed at a rate proportional to the error
e
Used to removed offset
As long as error exist, integral action will
work to eliminate the error
Integral control is implemented through the
introduction of an integrator.
Implementation of this mode requires a
circuit which has a response given by
Example:
Suppose that V(0)=0 for an integral
controller.
It is required that the controller
output should saturate 15 seconds
after a constant 5% error is applied.
The input range is 0-5 volts and the
output range is 0-10 volts. Calculate
the integration gain and the suitable
values of R and C. Assume C=50F
Derivative Control
Also called Rate Control Action
Continuous control mode
Typical behavior/characteristic:
- The controller output is proportional to the
rate of the error (time derivative)
Faster/quick response compared to P
Can cause the damage to the FCE because of
too fast rate of change of the error
Can amplify the noise in the system
Cannot compensating the system error: e =
w-x=0
The derivative mode is never used
alone because it cannot provide a
controller output when the error is
zero.
Implementation of this mode requires
a circuit which has a response given
by
The value of R1 is selected so that the
circuit will be stable for high frequencies by
setting
where f is the
frequency in Hz.
Summary
Remark: Each mode has its advantages and
drawbacks
individually
P mode Advantage: Fast response action
Drawback: Produces steady state error (offset)
I mode Advantage: Steady state error is null
Drawback: Increases the response time
D Mode Advantage: increases the damping of the
system
Drawback: Amplifies the noise which can cause
problems including instability
Therefore, the pure controller mode (P or I or D) is
seldom used in process control because of the advantage
of composite modes in providing good control.
Composite Controller
Proportional- Integral Control (PI
Mode)
This controller can:
eliminate an offset due to integral action
the system response is slow due to lag
introduced = -90o
better dynamic response than integral alone
I action repeats P action in Ti seconds
the slope depends on Ti
Kp
Ki
Parallel controller -
Gp
100/P
B
Gp
1/T
i
Series controller - Practical
I
t
Ti Time for integral
action after the
proportional action
I
t
I
P+I
Example:
PI controller has a proportional band of
30% and an integration time =10 seconds.
The 4-20mA input volts converts to a 0.4-2
volt error signal and the controller output
range is 0-10 volts.Calculate values of Kp,
KI, R1, and R2. C is given by 10F
Proportional-Derivative Control (PD
Mode)
This controller can:
experience the offset but less than
proportional only
the system response is faster due to lead
introduced = -90o
better dynamic response than integral alone
I action repeats P action in Ti seconds
the slope depends on Ti
Proportional-Derivative Control (PD Mode)
Three term Controller (PID Mode)
