Proportional + Derivative Controller
Proportional + Derivative Controller
Proportional + Derivative Controller
In partial Fullfillment of Diploma in Instrumentation & Control. (Gujarat Technological University) Sem V Electronic and Pneumatic Intrumentation. By Jojo John 096170317032 Patel Mihir - 096170317030
Learning Objective
Explain the importance of Pneumatic Proportional + Derivative Controller Circuits in the process industries. The PD algorithm is a feedback controller used within the process industries. It has been successfully used for over 50 years. It is a robust easily understood algorithm that can provide excellent control performance desPDte the varied dynamic characteristics of process plant.
Pf = MRTf
Vf
where M = Mass of the gas inside the bellows Vf = Volume of the gas inside the bellows Tf = Temperature of the gas (constant) Let m and vf be the changes in mass of the gas and volume of the gas from the operating point corresponding change in pressure by p from the operating point. From (10), one can also obtain the linearised expression around the operating point as:
f
Function of the Pneumatic Proportional Term As with the P-Only controller, the Pneumatic Proportional term of the PD controller, Kce(t), adds or subtracts from CObias based on the size of controller error e(t) at each time t. As e(t) grows or shrinks, the amount added to CObias grows or shrinks immediately and proportionately. The past history and current trajectory of the controller error have no influence on the Pneumatic Proportional term computation. The plot below (click for a large view) illustrates this idea for a set point response. The error used in the Pneumatic Proportional calculation is shown on the plot: At time t = 25 min, e(25) = 6056 = 4 At time t = 40 min, e(40) = 6062 = 2
Where and are constants. The negative sign associated with is due to the fact that increase in volume causes decrease in pressure. Now the change in volume inside the bellows is due to the displacement of the free end, and Vf = Af Again the force balance condition at the feedback bellows gives: KfZ = Pf Af
It is clear that the introduction of the restrictor in the feedback bellows introduces a time constant in the feedback path. Further, by varying the restrictor area, C1 can be changed (refer (8)), thus changing the time constant d. Other parts in the block diagram for Pcontroller shown in Fig. 3 remains the same. For the sake of simplicity, let us assume the link lengths =. In that case we can develop the simplified block diagram for the system shown in Fig. 1 with the modified feedback bellows configuration shown in Fig. 4. The simplified block diagram can be expressed as shown in Fig.5, wherefrom we obtain, Version
Bibliography
Bibliography means that we have refer while doing project like, which web sites we gone through and which books we have referred or which magazine we have seen to implement this project. There are many books and many web sites that can help us in different ways to implement the project and give us proper guidance to implement our system in the right direction.
Bibliography
Human Resource Management ( ATUL )
D.R.Patel Y.R.Joshi
Website Referred :
www.google.com www.msdn.microsoft.com www.templatewise.com www.controlguru.com
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