chapter 14 pid implementation issues. overall course objectives develop the skills necessary to...
TRANSCRIPT
Chapter 14
PID Implementation Issues
Overall Course Objectives
• Develop the skills necessary to function as an industrial process control engineer.– Skills
• Tuning loops
• Control loop design
• Control loop troubleshooting
• Command of the terminology
– Fundamental understanding• Process dynamics
• Feedback control
Reset Windup for PID Controllers
• Windup results when the manipulated variable is not able to control to the setpoint resulting in sustained offset causing the integral of the error from setpoint to accumulate.
• When control returns, accumulated error causes an upset.
• Windup can occur when a control valve saturates or when a control loop is not being used (e.g., select control).
Reset Windup
Time
yysp
c
A
• Note that controller output saturates causing area “A” to accumulate by the integral action.
• After the disturbance returns to its normal level, the controller output remains saturated for a period of time causing an upset in y.
Anti-Reset Windup
Time
yysp
c
• When the manipulated variable saturates, the integral is not allowed to accumulate.
• When control returns, the controller takes immediate action and the process returns smoothly to the setpoint.
Methods for Anti-Reset Windup
• Turn off the integral when a valve saturates or a control loop is not in use.
• Clamp the controller output to be greater than 0% and less than 100%.
• Apply internal reset feedback
• Apply external reset feedback
Industrial Approach
• External reset feedback
• Controller output clamping
• Digitally turn-off integral calculation
Internal Reset Feedback
K c
1/( Is+1)
E(s) C(s)++
F(s)
ssEKsC
ss
sEK
s
sEKsC
sCs
sCsEK
Ic
I
I
c
I
c
Ic
11)()(
1
)(
11
1
)()(
)(1
)()(
Conventional PI Controller
K c 1/IsE(s) C(s)++
• Therefore, internal reset feedback is equivalent to a conventional PI controller.
• It still has windup, but controller output can be clamped.
ssEKsC
Ic
11)()(
External Reset Feedback
K cE(s) C(s)++
1/( Is+1) U meas (s)F(s)
• An extension of internal reset feedback, therefore, it is equivalent to a conventional PI controller.
• When u saturates, windup will cease preventing windup.
• Less windup than clamping, but requires umeas.
Bumpless Transfer
• When a control loop is turned on without bumpless transfer, the process can become unduly upset.
• With bumpless transfer, an internal setpoint is used for the controller and the internal setpoint is ramped at a slow rate from the initial conditions to the actual desired setpoint to order to provide a smooth startup of a control loop.
Comparison of True and Internal Setpoints
Time
Internal Setpoint
True Setpoint
Control Performance With and Without Bumpless Transfer
Time
w/o bumpless transfer
w/ bumpless transfer
Split Range Flow Control• In certain applications, a single flow control loop
cannot provide accurate flow metering over the full range of operation.
• Split range flow control uses two flow controllers (one with a small control valve and one with a large control valve) in parallel.
• At low flow rates, the large valve is closed and the small valve provides accurate flow control.
• At large flow rates, both valve are open.
Split Range Flow Controller
FT
FT
FC
FC
Coordination of Control Valves for Split Range Flow Control
Total Flow Rate
Sig
nal t
o C
ontr
ol V
alve
(%
)
Larger ControlValve
Smaller ControlValve
Example for Split Range Flow Control
AcidWastewater
NaOHSolution
Effluent
FTFT
FC
pHTpHC
RSP
Titration Curve for a Strong Acid-Strong Base System
02
468
10
1214
0 0.002 0.004 0.006 0.008 0.01Base to Acid Ratio
pH
• Therefore, for accurate pH control for a wide range of flow rates for acid wastewater, a split range flow controller for the NaOH is required.
Other Split-Range Flow Control Examples
• When the controlled flow rate has a turn down ratio greater than 9
• See value sizing examples in Chapter 2
Split Range Temperature Control
TT
CoolingWater
Steam
Split-RangeTemperature
Controller
TT TC
RSP
Split Range Temperature Control
0
20
40
60
80
100
Error from Setpoint for Jacket Temperature
Sig
nal t
o C
ontr
ol V
alve
(%
)
SteamCooling Water
Overview
• All controllers that employ integral action should have anti-reset windup applied.
• Bumpless transfer provides a means for smooth startup of a control loop.
• When accurate metering of a flow over a very wide flow rate range is called for, use split range flow control.