Prof.

Aditya Kumar

Basic Chemical Engineering

Autumn term 2014
Lecture:
Mon, Tue, Fri
11:00-12:00,
Room ChE-301

Content of this lecture

Chemical process instrumentation
Feedback Control System

Feedback Control

Steps of action:
Measurement of process output, such as pressure, temperature, flow, level,
composition, using a suitable measuring device.
Comparison of process output and its desired set-point and calculation of the
deviation error
Feeding the value of deviation error to the controller, which calculates the
appropriate control action to be taken.
Feeding the value of the control action to the final control element, that
translates the control action into manipulated form of process input

Controllers
A controller is basically a mathematical function block that reads the error
between desired set-point and the measured output and then computes
the corrective action for the manipulated input that would steer process
towards the desired set-point.
There are three basic types of feedback controllers which are widely
used in the industry.
Proportional (P) controller
Proportional Integral (PI) controller
Proportional Integral Derivative (PID) controller

Proportional Controller
The actuating output of a P controller is proportional to the error between the
set-point and process output. Higher the error, higher will be the control action.
The control law is given as:

where Kc is called the gain of the controller and Cs is the bias signal. When error
signal is zero (i.e., the process output reaches its desired set-point), the control
signal c(t) stabilizes at its bias value Cs. The deviation form of actuating signal is

Hence the transfer function of the proportional controller is

Proportional Controller
Proportional controller is also termed as Gain controller.
Equivalent representation of proportional gain is proportional band . It is
the amount of change in error that will cause the control action to go
from full OFF to full ON.

Proportional Integral Controller

The actuating output of a PI controller is given as:

Where I is the integral time constant (or the reset time) in minutes.
The PI controller not only actuates on the basis of current error, but it
also accounts for the history of all the past errors that has been
encountered since the control action has started.
Transfer function of the PI controller is

PI Controller is also termed as Gain-Reset controller.

Proportional Integral Differential Controller

The actuating output of a PID controller is given as:

where D is the derivative time constant (or the preact time) in minutes. The
PID controller not only actuates on the basis of current and past errors but it
also anticipates the error in immediate future and applies an additional
control action which is proportional to the current rate of change of error.
Transfer function of the PID controller is

PID Controller is also termed as Gain-Reset-React controller.

PD, PI, PID

PD - helps in achieving steady state conditions quickly
PI - helps in reducing steady state error
PID - helps in reducing steady state error and also
getting steady state conditions quickly

PID

P
A high proportional gain results
in a large change in the output
for a given change in the error.
If the proportional gain is too
high, the system can become
unstable.
A small gain results in a small
output response to a large
input error, and a less
responsive or less sensitive
controller.
If the proportional gain is too
low, the control action may be
too small when responding to
system disturbances.

I
It is proportional to both the
magnitude of the error and the
duration of the error.
It accelerates the movement of
the process towards set-point
and eliminates the residual
steady-state error that occurs
with a pure proportional
controller.

D
The derivative of the process
error is calculated by
determining the slope of the
error over time and multiplying
this rate of change by the
derivative gain Kd.
Derivative action predicts
system behavior and thus
improves settling time and
stability of the system.