Anda di halaman 1dari 11

# IDENTIFICATION AND PID CONTROLLER TUNING

Roll no:CH11B081

## Name: Neeraj Kumar

Identification of transfer function models is essential for design of controllers. Identification is carried out in an
open loop or a closed loop in this study. Open loop identification of a higher order model is done and controller
tuning of the identified model is done by IMC method of Skogestad (2003).
Objective:

## Identification of FOPTD (first order plus time delay) model

PID controller tuning for the identified FOPTD model.

## Step response identification

Identification of a first order plus time delay model is obtained by process reaction curve method. FOPTD
model parameters are obtained from the transient step response curve using Sundaresan [1978] method which
utilizes two points in the curve. In this method from the transient step response curve, the time t1 and t2 are
obtained when the fractional responses are y1= 0.353 and y2= 0.853 respectively. Using the following formula
the time constant and the dead time are obtained for FOPTD model.
= 1.31 0.292
= 0.67 (2 1 )
=

(1)

.
Controller design for FOPTD model.
For controller design, the following formulae of SOPTD systems of Skogestad [2003] is used with 2 = 0 for
FOPTD model.
c = ; for 8
=

0.5 (1 + 2 )

= 1 + 2
d = 0

(2)

## The transfer function:

4

() = (10+1)(25+1)(+1)2
From figure 1, we get
1 = 27.75
2 = 67.5
Equation (1) can be applied to get the following relations
= 16.28
1 = 26.6325s
kp= 1
So now the 4th order system is approximated to:

16.28
() =
(26.6325 + 1)
Designed controller settings are Kc = 0.818, I = 26.6325and D = 0

## Figure 2: FOPTD system with PID control

2) For the second problem, the control loop is as shown below:

## Figure 3: Servo Control Loop For 2nd Transfer Function

The PID Parameters were recalculated to suit the new transfer function:
Kc=0.5
1 = 10s

## Figure 4: Servo response of the given problem.

For Regulatory Response,

## Figure 6: Response for regulatory problem using PID control

Robustness analysis
For Servo Control,

## Bio Reactor Coupled model.

1
= ( 1 )1

2
1
= (2 2 )1

2
+ 2

Where
max = 0.4
D1 = 0.36
X2f = 1.0

= 0.4
km = 0.05
FOPTD function corresponding to above model is obtained by following the same method as earlier.
To summarize the work done:

## Find the time corresponding to response 0.353 and 0.853.

Find PID parameters using IMC method of Skogestad (2003).

## After giving step input:

Steady state points are: 0.22 and 0.45
X2f= 1 to 1.02
t1 = 16.95, t2 = 50.61
= 7.3581, = 22.5522, kp = 0.4
The transfer function is:

() =

0.4 7.3581
(22.5522+1)

Kc = 3.8312

= 22.55
Final model

## Figure 11: Open loop response of the bio reactor system.

Figure 12: Controlled response for bio reactor model with PID control.