3442 Industrial Instruments 2 Chapter 10 Analog Controllers Dr. Bassam Kahhaleh Princess Sumaya Univ. Electronic Engineering Dept.
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34423442Industrial Instruments 2Industrial Instruments 2
Chapter 10Chapter 10AnalogAnalog ControllersControllers
Dr. Bassam KahhalehDr. Bassam Kahhaleh
Princess Sumaya Univ.Princess Sumaya Univ.Electronic Engineering Dept.Electronic Engineering Dept.
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Error DetectorError Detector
Voltage difference.Voltage difference.
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Error DetectorError Detector
Voltage difference.Voltage difference. Floating Power Supply.Floating Power Supply.
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Error DetectorError Detector
Voltage difference.Voltage difference. Floating Power Supply.Floating Power Supply.
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral … etc)Single Mode (Proportional, Integral … etc)
Two-Position (ON / OFF)Two-Position (ON / OFF)
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral …)Single Mode (Proportional, Integral …)
Two-Position (ON / OFF)Two-Position (ON / OFF)
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral …)Single Mode (Proportional, Integral …)
Two-Position (ON / OFF)Two-Position (ON / OFF)
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral …)Single Mode (Proportional, Integral …)
Two-Position (ON / OFF)Two-Position (ON / OFF)
0000
VVSPSP
VVinin > V > VSPSP
00
+ -+ -
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral …)Single Mode (Proportional, Integral …)
Two-Position (ON / OFF)Two-Position (ON / OFF)
+V+VOO
00
VVSPSP
– – [ V[ Vinin + (R + (R11/R/R22)V)VOO]]
VVOO
+ -+ -
VVinin + ( + (RR11/R/R22))VVOO < V < VSPSP
VVinin < V < VSP SP – (R1/R2)V– (R1/R2)VOO
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single ModeSingle ModeExample (On / Off):Level measurement in a tank:
Transducer output 0.2 V / mTurn-on pump when level > 2 mTurn-off pump when level < 1.5 mPump turn-on voltage = 5 V
VVHH = 0.4 V = 0.4 VVVLL = 0.3 V = 0.3 V
VVSPSP = 0.4 V = 0.4 V
RR11 / R / R22 = 0.02 = 0.02
VVOO = 5 V = 5 V
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral …)Single Mode (Proportional, Integral …)
Three-PositionThree-Position
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single ModeSingle ModeExample (3-Position):Level control in a tank:
Transducer output 0.45 V / mValve opening: 0 to 8 V
level < 2 m: valve = 20% open2 m < level < 3 m valve = 65% open3 m < level valve = 100% openComparator output voltage = 5 V
VVSP1SP1 = 0.9 V = 0.9 VVVSP2SP2 = 1.35 V = 1.35 V
VVBB = 1.6 V = 1.6 V RR33 / R / R11 = 0.72 = 0.72
VVOutOut = 1.6 V = 1.6 V
VVOutOut = 5.2 V = 5.2 V
RR33 / R / R22 = 0.56 = 0.56
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral …)Single Mode (Proportional, Integral …)
FloatingFloating
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single ModeSingle ModeExample (Floating):Trip Voltages: 2 & 4 V3-Position Controller O/P: 0, ± 2 VIntegrator: 1 MΩ, 1 μF = 1 sec= 1 sec
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single ModeSingle ModeExample (Floating):Assume an inverter is used at the output of the integrator:
dtVcVosec1
1
2 V2 V
-2 V-2 V
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral …)Single Mode (Proportional, Integral …)
ProportionalProportional
OPo
PP
VVeGV
peKp
O
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single ModeSingle ModeExample (Proportional):O/P Scaling: 0 – 10 V 0 – 100 %Zero error controller O/P: 50 %Proportional Band: 20 %Error Range: 10 V
VVOO = 5 V = 5 V
PB = 100 / KPB = 100 / KPP
KKPP = 100 / 20 = 5 = 100 / 20 = 5
e
OP
PP
V
VK
xbbbr
xbbbr
xVVVV
xVVVV
e
pK
%)100(%)100(
%)100(%)100(
minmax
1
minmax
2
minmax
min1
minmax
min2
GGPP = 5 = 5
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral …)Single Mode (Proportional, Integral …)
IntegralIntegral
)0(
)0()()(
0
0
O
t
eIO
I
t
PI
VdtVGV
pdtteKtp
1/RC1/RC
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single ModeSingle ModeExample (Integral):Measurement range: 0.4 – 2 VOutput range: 0 – 6.8 VKI = 4% / (%-min)
1283.0secV96.0
V272.0
sec)60(V)4.02(100
1
V)08.6(100
4
min%1
%4
sG
K
I
I
RC = 3.53 secRC = 3.53 sec
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single Mode (Proportional, Integral …)Single Mode (Proportional, Integral …)
DerivativeDerivative
dt
dVGV
dt
deKtp
eDO
PD
)(
RR22CC << 1/R<< 1/R11CC
RR11 << 1/ << 1/CC
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Single ModeSingle ModeExample (Derivative):Valve ControlFlow surge: minimum period 2.2 secInput signal range: 0.4 – 2 VOutput range: 0.0 – 5 VKD = 0.04% / (%/min)
sG
K
D
D
5.7V016.0
secV12.0
V)4.02(100
1
sec)60(V)05(100
04.0
%1
min%04.0
RR22C = 7.5 secC = 7.5 sec
ffmaxmax = 0.45 Hz = 0.45 Hz
maxmax = 2.826 r/s = 2.826 r/s
oo = 28.3 r/s = 28.3 r/s
RR11C = 1/28.3C = 1/28.3
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Composite ModesComposite Modes
Proportional-Integral (Proportional-Integral (PIPI))
OeIPePo
OPIPPP
VdtVGGVGV
pdteKKeKp
RR22/R/R11 1/R1/R22CC
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Composite ModeComposite ModeExample (PI):Input signal range: 0.4 – 2 VOutput range: 0.0 – 10 VPB = 30 %KI = 0.1% / (% - sec)
KKPP = 100 % / 30 % = 100 % / 30 %
83.20%30*)4.02(
%100*)010(
PG
1625.0secV016.0
V01.0
secV)4.02(100
1
V)010(100
1.0
sec%1
%1.0
sG
K
I
I
RR22C = 1.6 secC = 1.6 sec
RR22/R/R11 = 20.83 = 20.83
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Composite ModesComposite Modes
Proportional-Derivative (Proportional-Derivative (PDPD))
Oe
DPePo
OP
DPPP
Vdt
dVGGVGV
Pdt
deKKeKp
RR22/(R/(R11+R+R33)) RR33CC
RR11//R//R33 << X << XCC
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Composite ModeComposite ModeExample (PD):Input signal range: 0.4 – 2 VOutput range: 0.0 – 5 VKP = 5 % / %KD = 0.08% / (%/min)Minimum period: 1.5 sec
sG
K
D
D
15V016.0
secV24.0
V)4.02(100
1
sec)60(V)05(100
08.0
%1
min%08.0
RR33C = 15 secC = 15 sec
ffmaxmax = 0.67 Hz = 0.67 Hz
maxmax = 4.187 r/s = 4.187 r/s
oo = 41.9 r/s = 41.9 r/s
(R(R11//R//R33)C = 1/41.9)C = 1/41.9
625.15%1*)4.02(
%5*)05(
PG
RR22/(R/(R11+R+R33)= 15.625)= 15.625
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10: Analog Controllers10: Analog ControllersElectronic ControllersElectronic Controllers Composite ModesComposite Modes
Proportional-Integral-Derivative (Proportional-Integral-Derivative (PIDPID))
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10: Analog Controllers10: Analog Controllers
End of Chapter 10End of Chapter 10
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