Pneumatic 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

Pneumatic Proportional + Derivative Controller

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.

Pneumatic Proportional & Derivative Controllers

Pneumatic Proportional + Derivative (PD) controllers were developed because of the desirable property that systems with open loop transfer functions of type 1 or above have zero steady state error with respect to a step input. The Pneumatic Proportional-Derivative (PD) algorithm computes and transmits a controller output (CO) signal every sample time, T, to the final control element (e.g., valve, variable speed pump). The computed CO from the PD algorithm is influenced by the controller tuning parameters and the controller error, e(t).

Pneumatic Proportional & Derivative Controllers

The schematic arrangement of the pneumatic proportional controller is shown in Fig.1. The proportional plus derivative (PD) action can also be generated in a pneumatic controller by introducing a restrictor in the line towards the feedback bellows in Fig. 1. This particular arrangement is shown separately in Fig. 4, all other parts remaining same as in Fig.1. The area of opening of the restrictor is small, so that the time constant associated with changing the pressure inside the feedback bellows is appreciable. In order to explain the generation of PD action, we need to study in detail the performance of the section shown in Fig. 4. Since air inside the feedback bellows is confined, the compressibility of air needs to be considered.

Pneumatic Proportional & Derivative Controllers

Pneumatic Proportional & Derivative Controllers

Let Po and Pf are the pressures before and after the restrictor respectively. The mass flow rate of the fluid sGthrough the restrictor is proportional to the square root of the pressure difference between Po and Pf . In general, we can write: Gs= f ( Po, Pf ) The above nonlinear expression can be linearised by considering the incremental changes ,sogpand fp of the values of variables sG, Po and Pf at the operating point as: Gs = C1 Po + C2 Pf Where, C1 = Gs,o and C2 = Gs,0 Po, 0 Pf, 0 are the slopes of the curves Gs vs. Po and Gs vs. Pf at the operating point. These values can be obtained either experimentally, or from theoretical considerations.

Pneumatic Proportional & Derivative Controllers

In fact, C1 = -C2; this can be ascertained from the fact that if Po and Pf both change from the operating point by the same amount (so that Po Pf = 0) there is no change in the pressure drop, and so there will also be no change in mass flow rate and gs = 0. From (8). We obtain C1 = C2 and (8) can be rewritten as: gs = C1 ( Po Pf ) Further, the pressure Pf inside the feedback bellows can also be obtained from the expression:

 Pf = MRTf
Vf

Pneumatic Proportional & Derivative Controllers

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

Pneumatic Proportional & Derivative Controllers

 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

Pneumatic Proportional & Derivative Controllers

Pneumatic Proportional & Derivative Controllers

Pneumatic Proportional & Derivative Controllers

 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

Pneumatic Proportional & Derivative Controllers

Pneumatic Proportional & Derivative Controllers

Pneumatic Proportional & Derivative Controllers

Thus by simple introduction of a restrictor in the line connecting the feedback bellows can transform the pneumatic P-controller in Fig. 1 to a P-D controller. Note that with a lagged feedback signal (as seen from the transfer function of the feedback block) the closed loop transfer function provides a net lead, with the same time constant as the lag time constant of the feedback path.

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

Project Guided by:

Mrs. Jyoti A Mishra. (Lect. In EPD Govt. Polytechnic

A' Bad.)