CHE 185 PROCESS

CONTROL AND DYNAMICS

PID IMPLEMENTATION
RESET WINDUP FOR PID
CONTROLLERS

WINDUP RESULTS WHEN THE MANIPULATED

VARIABLE IS NOT ABLE TO CONTROL TO THE
SETPOINT RESULTING IN SUSTAINED OFFSET
CAUSING THE INTEGRAL OF THE ERROR FROM
SETPOINT TO ACCUMULATE.

WHEN CONTROL RETURNS, ACCUMULATED

ERROR CAUSES AN UPSET.

WINDUP CAN OCCUR WHEN A CONTROL VALVE

SATURATES OR WHEN A CONTROL LOOP IS
NOT BEING USED (E.G., SELECT CONTROL).
RESET WINDUP FOR PID
CONTROLLERS

NOTE THAT CONTROLLER OUTPUT SATURATES

CAUSING AREA A TO ACCUMULATE BY THE
INTEGRAL ACTION.

AFTER THE DISTURBANCE RETURNS TO ITS

NORMAL LEVEL, THE CONTROLLER OUTPUT
REMAINS SATURATED FOR A PERIOD OF TIME
CAUSING AN UPSET IN !.
ANTI"WINDUP

WINDUP OCCURS BECAUSE INTEGRAL

CONTROL REMAINS IN EFFECT AFTER A
PROCESS HAS REACHED SATURATION.

ANTI"WINDUP IS INCLUDED TO PREVENT

INTEGRAL CONTROL FROM CONTINUING TO
OPERATE AFTER SATURATION HAS BEEN
ACHIEVED.

ANTI"WINDUP ALLOWS THE SYSTEM TO

#UIC$LY RETURN TO CONTROL
CONDITIONS AT POINTS BELOW
SATURATION
ANTI"WINDUP

ANTI"WINDUP SHOULD BE INCLUDED IN ALL

CONTROLLERS WHERE INTEGRAL IS
EMPLOYED.

WINDUP CAN BE A FACTOR IN SINGLE LOOP

AND MORE COMPLICATED SYSTEMS
ANTI"RESET WINDUP

WHEN THE MANIPULATED VARIABLE SATURATES,

THE INTEGRAL IS NOT ALLOWED TO ACCUMULATE.

WHEN CONTROL RETURNS, THE CONTROLLER

TA$ES IMMEDIATE ACTION AND THE PROCESS
RETURNS SMOOTHLY TO THE SETPOINT.
ANTI"WINDUP

ALTERNATE STRATEGIES

CLAMPING " LIMITS THE CONTROLLER OUTPUT

TO A SPECIFIC LEVEL

INTERNAL RESET RESULTS IN PI CONTROL AND

CAN BE USED WITH CLAMPING TO AVOID
SATURATION

E%TERNAL RESET USES OUTPUT FROM THE

MANIPULATED VARIABLE TO AVOID SATURATION
INTERNAL RESET FEEDBAC$
CONVENTIONAL PI CONTROLLER

THEREFORE, INTERNAL RESET FEEDBAC$

IS E#UIVALENT TO A CONVENTIONAL PI
CONTROLLER.

IT STILL HAS WINDUP, BUT CONTROLLER

OUTPUT CAN BE CLAMPED.
E%TERNAL RESET FEEDBAC$

AN E%TENSION OF INTERNAL RESET FEEDBAC$,

THEREFORE, IT IS E#UIVALENT TO A
CONVENTIONAL PI CONTROLLER.

WHEN & SATURATES, WINDUP WILL CEASE

PREVENTING WINDUP.

LESS WINDUP THAN CLAMPING, BUT RE#UIRES

&
'()*
.
BUMPLESS TRANSFER

BUMPLESS TRANSFER OCCURS WHEN A

SYSTEM IS SWITCHED FROM MANUAL TO
AUTOMATIC CONTROL

THE SYSTEM IS DESIGNED TO SET THE INITIAL

OUTPUT E#UAL TO THE MANUAL VALUE

THE SYSTEM IS THEN RAMPED UP+DOWN TO THE

NEW TARGET VALUE.

WITH BUMPLESS TRANSFER, AN INTERNAL

SETPOINT IS USED FOR THE CONTROLLER AND THE
INTERNAL SETPOINT IS RAMPED AT A SLOW RATE
FROM THE INITIAL CONDITIONS TO THE ACTUAL
DESIRED SETPOINT TO ORDER TO PROVIDE A
SMOOTH STARTUP OF A CONTROL LOOP.
BUMPLESS TRANSFER

CONTROL PERFORMANCE WITH AND

WITHOUT BUMPLESS TRANSFER.
SPLIT RANGE CONTROL

SPLIT RANGE IS USED WHEN THERE IS A NEED

FOR MORE THAN ONE CONTROL RANGE

THERE ARE TYPICALLY OVERLAPS IN THE RANGES

OF OPERATION, BUT ONE ACTUATOR IS USED FOR
HIGH FLOWS AND A SECOND IS USED FOR LOW
FLOW RANGES

USE OF PARALLEL FLOWS FOR HEATING AND

COOLING IS ALSO SUGGESTED IN THE TE%T, BUT
THIS IS NOT THE SAFEST FORM OF OPERATION
BECAUSE IT CAN LEAD TO CONFLICT BETWEEN
CONTROLLERS IN THE OVERLAP RANGE
SPLIT RANGE CONTROL

SPLIT RANGE FLOW CONTROLLER

E%AMPLE FOR SPLIT RANGE FLOW
CONTROL

USES PARALLEL VALVES FOR N)OH FLOW

CONTROL
E%AMPLE FOR SPLIT RANGE FLOW
CONTROL

TITRATION CURVE FOR A STRONG ACID"STRONG

BASE SYSTEM

THEREFORE, FOR ACCURATE PH CONTROL FOR A

WIDE RANGE OF FLOW RATES FOR ACID
WASTEWATER, A SPLIT RANGE FLOW CONTROLLER
FOR THE NAOH IS RE#UIRED
PID FOR MULTIPLE INPUT+MULTIPLE
OUTPUT (MIMO) SYTEMS

COMPARISON BETWEEN CENTRALI,ED AND

DECENTRALI,ED CONTROL

DECENTRALI,ED (MULTILOOP) CONTROL HAS

SEVERAL SINGLE LOOP CONTROLS IN PARALLEL
FOR A SINGLE PROCESS. REACTION SYSTEM
E%AMPLE-
LC
AC
TC
PID FOR MULTIPLE INPUT+MULTIPLE
OUTPUT (MIMO) SYTEMS

THE ALTERNATE TO THIS APPROACH IS

CENTRALI,ED (COORDINATED) CONTROL AND FOR
THE SAME SYSTEM IT WOULD LOO$ LI$E-
CONTROLLER
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