Draw and explain pneumatic PID controller.

Draw and explain pneumatic PID controller. 
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PID controller is a continuous control action which is a combined action Proportional, Integral and Derivative control actions.

In pneumatic PID controller control action is achieved using diaphragm-bellowflapper nozzle system.

The pressure from the sensing device Pin is compared to a set or reference pressure P ref to generate a differential force (error signal) on the flapper to move the flapper in relation to the nozzle giving an output pressure proportional to the difference between Pin and Pref.

If the derivative restriction is removed the output pressure is fed back to the flapper via the proportional bellows to oppose the error signal and to give proportional action. System gain is adjusted by moving the position of the bellows along the flapper’s arm,

Integral action is achieved by the addition of the integral bellows and restriction. An increase in Pin moves the flapper towards the nozzle causing an increase in output pressure. The increase in output pressure is fed to the integral bellows via the restriction until the pressure in the integral bellows is sufficient to hold the flapper in the position set by the increase in Pin, creating integral action 

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