To view the recording of Deminar #7, click on the above picture. If you want to just view the slides click on Deminar #7 – PID Control of True Integrating Processes
Time is money. If you can get to optimum setpoints faster during fed-batch operations and for startup and product transitions of continuous operations, the increase in production revenue can be significant. For continuous operations there may also be an appreciable decrease in the processing, recycle, and waste treatment costs of off-spec material.
For cascade control, the speed of the secondary PID setpoint response largely determines the ability of the primary PID to get to its setpoint quickly and reject disturbances in the primary loop. A slow secondary PID setpoint response may require detuning of the primary PID to prevent interactions between the secondary and primary loops.
In Deminar #7 we explored how we could use PID structure options, setpoint feedforward, and bang-bang control to improve the setpoint response for integrating (e.g. batch) processes. The concepts are also applicable to the continuous process startup and transitions. The demos showed a big reduction in rise time (time to reach setpoint) by the use of “PID on Error” instead of “I on Error, PD on PV.” The benefit of the additional bump from derivative action on error is rather marginal for the small rate setting used. In other words most of the speedup in the setpoint response could be achieved by “PI on Error, D on PV” unless there is a large secondary lag and hence a large rate time setting. The use of setpoint feedforward helped reduce overshoot, rise time, and settling time by about 25%. For deadtime dominant self-regulating processes, the improvement would have been more impressive. The most dramatic improvement occurred for full throttle bang-bang control. With some adjustment of logic and resting value as noted on slide 6, the bang-bang logic can also be effectively used for self-regulating processes. You can try out setpoint feedforward and bang-bang control on the virtual plant website starting August 20.