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CONTROL ACTIONS
Two step control action
This can be defined as 'the action of a controller whose output changes from one state to another due to a variation in its input' One example of this control is that of a float operated filling v/v say for a cistern. In normal condition the output of the float is nil and no water passes through the valve, should the water level drop the float detects this and operates the valve to change to its second state which is open and water flows. When the level reestablishes then the float controls the valve to return to its primary state which is closed. In this way the float is controlling the water level by changing the valve between two different states. A more realistic system is shown below.
The system works as follows; the level drops until the lower float is uncovered, the controller detects this and opens the filling valve, the filling v/v remains open until the top float is covered and then the controller shuts the valve The distance between the floats is termed the 'Overlap' i.e. the distance between the high and low controlling values ( on some systems this can be altered by altering the high or low set point of the controller, in the above system this would mean altering the position of the floats ) If there where any delays or lags in the sensing side, say the float switch was a little sticky or the filling v/v was slow to fully open then the level would fall below rise above the low and high set points respectively. This is termed 'Overshoot', it can be seen if the controller 'response to change' time was speeded up so the overshoot could be reduced. The system may be represented in block form as follows;
The measuring unit signal ( in this case an electrical on/off ) is the Measured value on which the controller operates. The signal is being 'fed back' to the controller hence to measured value is Feed back for the controller; i.e. the controller can see the direct results of its action. Feed forward signals are sometimes used on systems which have an inherently high
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Process Lag; an example of this may be on a Marine Diesel engine jacket fresh water cooling system where part of the control is that the inlet temperature to the engine is monitored and fed forward to the controllers, should the temperature at inlet rise then consequently the outlet temperature must also rise. As the rise has already been detected then the controller can start increasing the sea water cooling to the jacket water coolers even though no temperature rise on the outlet from the engine may have been detected. This type of control, as it takes no account of what is happening to the process ( is the engine running and hence requires the extra cooling or is it stopped ) is not very accurate and normally ( and as in this case ) required Feedback to improve it.
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Deviation = Set point - Measured value The important think to remember is that the narrower the Proportional band the higher the gain and hence the higher the output varies for a change in deviation, this has the effect of making the controller control the process quicker by operating the controlling element more for smaller variations measured value. This has the negative effect as will be seen of making the system unstable
OFFSET
For a proportional controller to work there must be an deviation, if the deviation is zero then the controller output to the controlling element is zero. For the example of the tank and filling v/v obviously this is not possible, with the water constantly flowing out of the manual outlet v/v then the filling valve ( or controlling element ) must always be some degree open. If the level is at the level of the set point then the output is nil, the filling v/v is shut and the level drops, deviation occurs and the filling v/v opens. with this it can be seen that the system is not stable; what would happen in reality is the level would change ( say the level was low and was now rising) until it reached a point close to the set point where the deviation multiplied by the gain would give an output signal to the filling v/v such that the flow of water in to the tank equalled the flow of water out of the tank. This deviation is called 'offset' Therefore a proportional only controller when in equilibrium must have offset The amount of offset will be determined by the Gain, for the tank system if the gain is high the deviation can be small for a larger output The offset will increase for increased loads on the system i.e. if the outlet v/v on the example where to be opened further obviously the filling v/v would have to be opened further, and hence the deviation ( offset ) to give the required output would have to be greater. For the system above all the control would be positive as the filling v/v would only be open if the level was low and hence the offset would always be positive, when the level rose above the set point, say caused by Lags leading to Overshoots or the filling v/v leaking slightly the deviation would be negative and the output zero.
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This can occur with reduced gain when the process lags are increased, for systems with a very large lags even small changes in gain can seriously effect the stability of a system and especially its ability to resist step ( or rapid ) load changes. For smaller values of gain the system can be set up to have minimum of hunt and be self stabilizing .
It can be seen that there can now be an offset in the positive i.e. water being used and hence the make up v/v has to be open and in the negative i.e. there is too much water entering the system and the spill v/v's have to be opened. Offset is not a desired result of the control of a system, however for proportional only controllers this is a direct consequence. That is why for all controllers performing important functions; including the make up/spill system controller above other types of controlling action are added to remove the offset
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A common way of expressing integral action is in 'Repeats per minute', integral action time is seconds per repeat, hence if the IAT is 10 ( seconds per repeat ), this would equate to 10/60 minutes per repeat, or more simply 1/6 mins. The repeats per minute is therefore 6.
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Integral action and stability The introduction of integral action into a controller introduces an extra time lag, remembering the diagram showing that the integral action will take time to increase the output to a stepped load change, whereas the proportional action will give a stepped change. Lags introduce instability, hence it would more difficult to find settings which give a stable output. Integral action is always used with proportional action
Derivative action
The definition of this is the action of a controller whose output is proportional to the rate of change of input. That is to say for the filling system if the level was falling slowly the output of the controller would be small. If the level was flying down at a great rate of knots then the derivative controller would give a high output. It is quite obvious that the derivative action takes no account of the deviation from the set point but is only interested in the rate of change of deviation and hence; Derivative action by itself cannot be used for control. The purpose of adding derivative action to a controller is to increase the responses that deviation is removes as quickly as possible. That is to say if the level in our filling system is falling the proportional action will increase the filling at a the same rate, however as with seen, if there is a lag in the system particularly between the controller and controlling element; then there is a possibility of instability and a hunt. If we where at the point where the water level was just starting to fall less rapidly but not at the point where it was actually starting to rise, all the proportional and integral action see is a large deviation and so keep the water v/v wide open, the derivative action, however, sees this slowing down of the drop in water level, its output is dependent on the rate of change and hence reduces, and so the output from the controller reduces. The introduction of derivative action introduces a stabilizing effect into a control system Derivative action time Output = Derivative action x rate of change of input Derivative action [coefficient]- This is described as the time the proportional action takes to repeat the derivative action after a ramped ( or constant rate of change) input. The units are seconds.
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