1/22/2017 BasicPrinciplesofPIDControllers

Marine Engineering Study Materials Search

www.marineengineeringonline.com

Home MEOExam Safety General Motor Downloads Checklists Naval Electrical ContactUs

HomeGeneralEngineeringKnowledgeInstrumentationandControlBasicPrinciplesofPID Categories
Controllers
Categories

Basic Principles of PID Controllers SelectCategory

August30,20159:00am | 1Comment | Frozee

Automaticcontrollersareusedonboardshipsfortheadjustmentofoneormoreparametersina Get Free Study Materials

system.Functionofthecontrolleristomaintaintheparameterasperdesiredvalue(valuesetbythe
operator).Theparametercouldbejacketwatertemperature(forenginejacketwatercooling
Email*
system),lubricatingoiltemperature(forenginelubeoilsystem),fueloilpressure(forboilerfueloil
system),etc.PIDcontrolsarecommonlyusedfortheseapplications.Advantageofautomatic
indicatingcontrolleristhatitcontrolsaswellasindicatestheparameterreading.Refertothe
diagramandexplanationbelowtounderstandthebasicprincipleofPIDcontrollers.Thesecontrollers
arenormallylocatednearthevariablemeasuringpointsothatuseofatransmitter(totransmit Subscribe
parametersignalstothecontroller)isnotrequired.

On-Off or Two Step Action

***If you Like it, Share it
Thisisthesimplestformofcontrol.Hereonlytwocontrolpositionsareallowedonoroff.Inthecase
ofavalve,itopensorclosesbythesignalfromthecontroller.Examplesforsuchcontrolsystemare
waterlevelcontrolforboilercascadetank,aircompressorcutincutoffcontrol,temperaturecontrol
forfueloilstoragetanks,etc.Letusconsiderthecaseofafueloiltankheatingsteamtwostep
controller.Itconsistsofacontrollerthatcontinuouslysensesthesystemparameter(fueloil
temperature).Thisiscalledmeasuredvalue.Thedesiredvalueorsetpoint(temperatureoffueloilto
bemaintained)isfixedbytheoperator.Whenthetemperatureofthefueloildropsbelowsetpoint,
controllersentsignaltothesteamvalvetherebypassingsteamthroughcoilsprovidedinsidethefuel Follow Us
oiltank.Nowtemperatureoffueloilstartsincreasing.Whenthetemperaturerisestothesetpoint,
controllershutsthesteamvalve.Thesystemresponseisillustrateddownbelow.
Jab Froze

Follow

MarineEngin
LikePage

Recent Posts

LifeBoatReleaseGearMechanismon
Ships

LambdaControllerandJetAssist
SystemonShips

PneumaticControlSystemsonShips

TroubleshootingAlarmMonitoringand
ControlSystemonships

http://marineengineeringonline.com/basicprinciplesofpidcontrollers/ 1/7
1/22/2017 BasicPrinciplesofPIDControllers
Nowasweknowthereisathermalinertiainthissystem.Orinotherwordsthepositionof
FuelInjectionArrangementonLarge
temperaturesensorandthatofsteamcoilisdifferent.Thatiswhywecannotobserveanincreasein
TwoStrokeEngines
temperatureassoonasthesteamvalveopens.Thesamephenomenonexplainswhytemperatureis
increasingevenafterthesteamvalveisshut.Anywaydisadvantageofthiscontrolisthelarge InvestigationonTopEndBearing
deviationfromthedesiredvalueorsetpoint.Hencetheapplicationofsuchcontrolislimited. FailureforMainEngineonShips

Proportional Action

Thisisacontinuouscontrolactioninwhichthecontrolleroutputisproportionaltothedeviation Tags
betweenmeasuredvalueanddesiredvalue.Letustakeanexampleofasimplewaterlevercontrol
asshowninthefigurebelow. aircompressorsairconditioning
boilerboilerblowdownboilerscargocargo
pumpscentrifugalpumpschemicaltankers
circulationsystemcoolingwatersystemcross
headbearingoilsystemcylinderlubeoil

systemdieselenginesexplosimeter

firedetectorsfirefightingfiretriangle
freshwatergeneratorfreshwater
generatoronshipsheatexchangers

indicatordiagramsinertgassystem
inventionofdieselenginelubeoilsystem
magneticparticletestingmainbearingoil

marine
systemmainengine

engineeringmarine
Considerawatertankwithanoutletvalve,awatersupplyvalve,controlleveronapivot,control
strings,andfloatasshowninthefigure.Oneendofthecontrolleverisconnectedtothefloatwhile engineering
otherendtothewatersupplyvalve.Thesystemisdesignedinsuchawaythat,whenfloatgoes studymaterials
marinemainswitchboardmeoclass
downsupplyvalveisopenedmoretherebyincreasingwatersupplytothetank.Similarlyanelevation
examquestionspantingpid
ofthefloatresultsinclosureofthesupplyvalve.Atthispointquantityofwatersuppliedandflownout
controllerpositivedisplacementpumps
ofthetankissameorthesystemisinequilibrium.Suddenlydemandofwaterincreasesorthe
dischargevalveisopenedmore.Thisresultinreductioninwaterlevelinsidethetankandcauses poundingproportionalcontrolpumps
reliefvalvesafetiesinmainswitchboard
floattolower.Asfloatlowersitraisesthecontrolstringconnectedtothewatersupplyvalve,thereby
increasingthesupplyofwater. sewagetreatmentplantsmokedetectors
stpsystemsofmainenginetypesofchemical
tankers

Asshowninthefigureabove,anewequilibriumisattainedbythesystem.Onceagainsupplyand
demandofwaterissame.Butwecanseeadropinwaterlevelfromthedesiredvalue.Thisdeviation
fromthemeasuredvalueanddesiredvalueisknownasoffset.Itisaninherentpropertyofthe
proportionalcontrol.Offsetcanbereducedbutcannotbeeliminatedinsuchsystems.Theamount
bywhichtheinputsignalvaluemustchangetomovethecorrectingunitbetweenitsextreme
positionsisknownasproportionalband.Thisconceptcanbemadeclearfromthefiguresshown
above.Movethepositionofthepivottowardsright(closertowardsthefloat).Nowwecanseethata
smallchangeinwaterlevelcausesanamplifiedeffectinopeningorclosingthesupplyvalve.Inother
wordsthesystembecomesmoresensitive.Alsoheretheoffsetisreducedcomparingtothe
scenariobefore.Similarly,movingthepivottowardstheleftcauseminorchangesforthesupplyvalve
eventhoughfloatlowersorrisesdrastically.Heresensitivityofthesystemisless.Itisclearthatoffset
canbereducedtominimumwhensensitivityishigher.Butthisresultsinhuntingofthesystem.

http://marineengineeringonline.com/basicprinciplesofpidcontrollers/ 2/7
1/22/2017 BasicPrinciplesofPIDControllers
Huntingmeansexcessivefluctuationofthemeasuredvaluearounddesiredvalue.Systemresponse
toproportionalactionisshownbelow.

Sofarwehavediscussedproportionalactionwithreferencetoasimplefloatandvalvesystem.
Samecanbeexplainedusingaflappernozzlemechanismtoo.Infactsuchanexampleismuch
closertotheactualcontrolsystem.

Referringtothediagramabove,asthemeasuredvaluedeviatesfromsetpoint,flappermovescloser
tothenozzle.Thisresultsinanincreaseinoutputairpressure.Thisincreaseinoutputairpressure
changesthecontrolledcondition(parametertobecontrolled),saybyclosingoropeningavalve.At
thesametimetheincreasedoutputairpressureactonthefeedbackbellowsalso.Thisnegative
feedbackpushestheflapperawayfromthenozzle,therebyreducingoutputairpressure.Nowthe
systemisinequilibrium.Rememberthatanoffsetisinevitablehere.Movingthenozzleawayfrom

http://marineengineeringonline.com/basicprinciplesofpidcontrollers/ 3/7
1/22/2017 BasicPrinciplesofPIDControllers
thefeedbackbellowsincreasesensitivityandhuntingofthesystem.Alsomovingnozzletowards
feedbackbellowsreduceshuntingandincreasesoffset.Sopositionofthenozzle(orProportional
Band)canbeadjustedcarefullytoobtainastablesystemwithminimaloffsetandhunting.

Integral or Reset Action

Integralactionorresetactionisusedinconjunctionwithproportionalaction,toremoveoffsetfrom
thesystem.Herecontrolleroutputvariesatarateproportionaltothedeviationbetweenmeasured
anddesiredvalue.Refertothefigurebelow.

Hereinadditiontothefeedbackbellows,wehaveintegralactionbellowsalso.Considertheintegral
actionvalveisopen.Nowastheflappermovesclosertothenozzlebecauseofadeviation,outputair
pressureincreases,thesameairpressureactsonfeedbackbellowstomovetheflapperawayfrom
nozzletoanequilibriumposition.Nowthereisanoffset.Againthesamecontrolairpressureacting
ontheintegralbellowsmovestheflappertowardsthenozzletoincreasecontrolairpressure.Hence
anewequilibriumisattainedwithnooffset.Notethatalltheseactionstakeplacesimultaneously.
Whentheintegralactionvalveisfullyopen,integralactionwillbetoofastthatresultinhunting.When
thevalveiscrackopen,thereisnohuntingbutittakeslongtimetoremoveoffset.Inotherwords
timerequiredtoremovetheoffset(ResetTime)canbeadjustedbyopeningorclosingintegral
actionvalve.Closureoftheintegralactionvalvemeansnointegralaction.Resettimetobesetin
suchawaythatsystemoperatesfasttoremoveoffsetandminimalhunting.Allpressurecontrol
systemsonboardshipsarenormallyproportionalintegral(PI)controls.

Derivative or Rate Action

Derivativeactionisutilizedalongwithproportionalandintegralactions.Thisisappliedinsystems
wheretimedelaybetweenchangesinmeasuredvalueandtheircorrectionislong.Exampleis
temperaturecontrolforjacketwatersystem.Herecontrolleroutputisproportionaltotherateof
changeofdeviation.Refertothefigurebelow.

http://marineengineeringonline.com/basicprinciplesofpidcontrollers/ 4/7
1/22/2017 BasicPrinciplesofPIDControllers

Hereaderivativeactionvalveisintroducedasshowninthefigure.Closingthisvalveanyamount
wouldintroducederivativeactioninthesystem.Considerthederivativeactionvalveisclosed70%.
Whenflappermovestowardsnozzlebecauseofadeviation,controlleroutputpressureincreases,
thesamepressureactsonthefeedbackbellowsthroughthederivativeactionvalve.Asthevalveis
onlylittleopen,ittakestimetomovetheflapperawayfromthenozzlebynegativefeedback,thereby
allowingcontrolairoutputpressuretobehigherforlongtime,whichagainallowmoretimefor
correctiveaction.Alsoderivativeactioncanbevariedbyadjustingopeningorclosingderivative
actionvalve.Whenderivativeactionvalveisfullyopen,thereisnoderivativeaction.

ResponseofaPIDcontrolactionisalsoshownbelow.

http://marineengineeringonline.com/basicprinciplesofpidcontrollers/ 5/7
1/22/2017 BasicPrinciplesofPIDControllers

Related Posts

May2,2014 May6,2014 May2,2014 April30,2016 May2,2014

Proportional, Basic Adjustmentfor Pneumatic Troubles,
Integraland Temperature OperationPID ControlSystems Investigationof
DerivativeControl ControlSystem Controller onShips causesand
Action Counter
measuresPID
Controllers

May2,2014 May2,2014 February6,2016 October4,2015 May2,2014

Automatic Maintenanceof Troubleshooting PumpingDownof FuelOilViscosity
Indicating PIDControllers AlarmMonitoring theRefrigeration Controller
Controllerand andControl PlantonShips WorkingPrinciple
Specifications Systemonships

Postedin:InstrumentationandControl | Tagged:automaticcontroller,derivativecontrol,integralcontrol,pidcontrol,
pidcontroller,pressurecontrol,proportionalcontrol,temperaturecontrol

One Thought on Basic Principles of PID Controllers

http://marineengineeringonline.com/basicprinciplesofpidcontrollers/ 6/7
1/22/2017 BasicPrinciplesofPIDControllers

One Thought on Basic Principles of PID Controllers

mahbubulalam
onSeptember18,2016at11:32pmsaid:

Veryhelpfulandeasytounderstandthesystem.Goodtopicforengineers.
Reply

Leave a Reply
Youremailaddresswillnotbepublished.Requiredfieldsaremarked*

Name *

Email *

Website

PostComment

PreviousPost NextPost

Copyright2014MarineEngineeringOnline ThemebyWPJournalsWordPress

http://marineengineeringonline.com/basicprinciplesofpidcontrollers/ 7/7