DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL

Exp. No. : 3 Study of PID ( Three terms ) Control Using a Process Control Simulator

INTRODUCTION: In the simplest feedback control system the control signal is directly equal to or proportional to the deviation (error) i.e. the difference between the reference input (set point) and the feedback signal; (function of the controlled variable). However in sophisticated control systems to improve the steady state [reduction of error (also termed offset)] and the transient performance (reduction of oscillation and setting time and hence enhancement of stability) respectively an integral and a derivative of the error (e) are added to the proportional term to make the control signal (u) a composite one. Then u as a sum of the three terms is expressed as follows:

e d t +

d e d t

or , u = k p (e +

ki k de edt + d ) kp k p dt

u=

100 1 de (e + edt + Td ) p Ti dt

Where P=100/kp is the proportional band in %, Ti=ki/kp is the integral action time by which the integral term becomes equal to the proportional term, Td =kd/kp is the derivative action time by which the proportional term becomes equal to the derivative term .Proportional band means how many percentage of the full range of deviation gives rise to a 100% change in the control signal magnitude, when u consists of only the proportional term . It should be noted that p is reciprocal of proportionality constant or proportional gain kp expressed in percentage.

PROCEDURES: 1.Patch the front panel of the process control simulator PCS 327 as in the figure and using only the required elements .Note that the first two elements should be switched to LAG states . 2.Set both the process and controller switches to FAST position. 3.Apply a set value of +5 volt 4.Set Ti to OFF and Td to 0 . 0 while P at 50% 5.Apply to the SET VALUE DISTURBANCE socket a square wave input of 5 volts peak to peak at 1.0 Hz from the function generator FG601.

6.Note the approximate average values of the measured variable and deviation (which will perhaps be oscillating) from the meter provided on the PCS 327. 7.Display the measured value(controlled variable) on the oscilloscope and note the number of oscillations before it settles .While the measured value socket provides the negative value, it can be made positive by patching the socket and the INVERTER +ve end. Then display on oscilloscope form the inverter -ve end. 8.Repeat step 5 to 7 by varying Ti at different values while Td still at 0 and P at 50%. 9.Repeat steps 5 to 7 by setting P at 50%, Ti at a value for which deviation is 0 and varying Td at different values. 10.Record the results obtained in steps 4 to 9 as in the table. 11. Repeat steps 5 to 7 setting P at 100%--(a)with Ti at OFF and Td at 0.0, (b) with Ti at the values in step 8 and Td at 0.0, (c) with Ti and Td at the values in step 9. Use the table to record the results

Table : Effects of PID control set value = + 5 volts

Observation No.

P %

Ti ms

Td ms

Measured value

Deviation value

No. of Oscilations

REPORT : 1. Show the results in the tabular form. 2. Comment on the effects of only proportional control on the measured value, deviation and the oscilation. 3. Comments on the effects of P+I control and the effects of increasing and decreasing the value of Ti for a given proportional band (P). Note that the higher the value of Ti the less is the integral action. 4. Comment on the effects of P+I+D control and the effects of increasing and decreasing the value of Td for a given proportional band (P) and integral time (Ti) 5. Comment on the effects of increasing and decreasing the proportional band (P) for a given Ti and Td. Reviewed By: Md. Imran Momtaz