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<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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PID Control for the future
Haruo TAKATSUYokogawa Electric Corporation
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Agenda
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Discussion Items
1. Will PID control continue to be used in the future ?– Market Survey in Japan
2. When and why is derivative action used ?– Flexibility of PID Control block in DCS
3. What are alternatives ?– Self-Tuning / Adaptive Control, Internal Model Control
4. What is your favorite tuning method ?– PID Tuning in our system
5. Do we know everything about PID or are there any research needs ?– Introduce Monitoring & Diagnosis
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Needs of PID Control - SICE Report -
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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0
200
400
600
800
1000
1200
1400
I-P
D a
nd
2 d
eg
ree
s o
ffr
ee
do
m P
ID
PID
au
to t
un
ing
Ap
plic
atio
ns
Applications
0
10
20
30
40
50
60
70
80
90
Ga
in s
che
du
ling
Mo
de
l pre
dic
tiv
e c
on
tro
l
Fuzz
y c
on
tro
l
De
ad
tim
e c
om
pe
nsa
tio
n
De
cou
plin
g P
ID
Ru
le b
ase
d c
on
tro
l
Op
tim
iza
tio
n
Ka
lma
n fi
lte
r
Ne
ura
l ne
two
rk
Op
tim
al r
eg
ula
tor
Ob
serv
er
infi
nit
y c
on
tro
lH
Ad
ap
tiv
e c
on
tro
l
Ex
act
lin
ea
riza
rio
n
Re
pe
titi
ve
co
ntr
ol
Slid
ing
mo
de
co
ntr
ol
Control Technologies
OthersO( )
Power pl antPW( )
Engi neeri ngE( )
Cement and cerami cCR( )
Pul p and paperPP( )
Chemi cal , fi ber, fi l mCF( )
Petrochemi calPC( )
Refi neryR( )
S(Steel and metal )
Control Technology Survey
Takatsu, H., Itou, T. : Future Needs for Control Theory in Industry – Report of the Control Technology Survey in Japanese Industry, IEEE Transaction on Control Systems Technology, 07, 03 pp.298-305 (1999)
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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PID Control Structure - Derivative Action -
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Control Block in DCS
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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sTsT
di
1
1PB
100Process
SV PVMV
DV
++
+-PID
PV
DV
PB
100Process
SV MV ++
+-
sTd
sTi
11 +
-PI-D
I-PD PB
100Process
SV PVMV ++
+- sTi
1 +-
sTd1
DV
sT
sT
d
d
α
1
1
α
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PID Control
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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PID Alternatives - Adaptive / Self-Tuning Control
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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PID Control Process
Response Monitoring
Model Estimation
Estimated Model
PID Tuning
MV PVSV
PID parameters
Self-Tuning Control
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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- Nonlinear Programming -
Xred
Reflection: Xref = (1+a)Xbar -aXmax
Expansion: Xexp= bXref+(1-b)Xbar
Xmid
Xmax
Xmin
Xref
Xexp
Xbar
Xmax
Xmid
Xred
ReductionXcon
Xmin
Xmax
Xmid
Contraction:
Xcon= cXmax+(1-c)Xbar
In case oscillating and small overshoot,
Increase/Decrease P and decrease I.
In case large overshoot and fast convergence,
Increase/decrease P & I.
In case No oscillation, slow convergence,
Decrease P &I.
In case slow oscillation and convergence, Decrease P and increase I.
Self-Tuning Control
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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PID Alternatives - IMC Control -
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Controller : C(s) , Internal Model : PM(s) , Process :P(s)
+
++
-
+
-
SV MV PVC(s) P(s)
DV
PM(s) PM(s)+
-
Q(s)
+
++
-
SV MV PVQ(s) P(s)
DV
PM(s)+
-
C(s)
Internal Model Control
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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+
-
SV MV PVP(s)
KPe-Lps
1+TPs
Kc(1+TPs)
1+λTPs
+
+
2012.1.6 - 20
Internal Model Control
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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PID Tuning Method- IMC Method -
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Stable Process
Gain Reset Derivative
PI -
PID)t2(
t2
d
d
ετ
K
)t2(
t2
d
d
ετ
K 2
tdτ
2
tdτd
d
t2
t
ττ
Integral Process
Gain Reset Derivative
P - -
PI -
PID
εK1
2)2(
22
ε
ε
d
d
tK
t
2
td
ε2
22 dtε
εK2
K=Process Gain, td=Dead time
=Time Constant
=Desired Closed Loop Response
τε
PID Tuning
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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• The Advanced Tuning window is for user to perform detail analysis of each step test data and confirm the final suitable P, I, D parameters.
Loops Pane
Loop Details Pane
Step Pane
Advanced Tuning Pane
displays loops grouped by the “Location” defined in Loop Configuration
most of the important parameters in loop configuration
the list of steps captured under the selected tag and the preview of the step data
the main window that user does the analysis for model and loop simulation
PID Tuning
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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PID Tuning is always correct ?
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Research & Development in the Future - Plant Life Cycle Monitoring & Diagnosis -
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Valve Stiction Results: Oscillating
Only
Loop Oscillation & Valve Stiction Dianosis
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Valve Stiction Results: Oscillating & Sticking
Loop Oscillation & Valve Stiction Diagnosis
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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• Industry has implemented many projects• Shift from project work towards maintenance• Staff is less appealed by maintenance work • Shortage of skilled staff in process control and optimisation• Maintenance can be tedious and time consuming• Too much focus towards Uptime (Online factor)
Applications do not deliver optimum performance
Reference : - Recent survey of 20,000 loops performance
Excellent 16%
Acceptable 12%
Fair 28%
Poor 11%
Manual mode 33%
What is problem after installation ?
<PID ‘12 Conference>Copyright © Yokogawa Electric Corporation<March 29th 2012>
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Thank you for your attention
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