EXP-1.

STUDY OF PID CONTROLLER

Date
Batch

Aim
To Study the behaviour of PID controller

Apparatus

Block Diagram

Student name

Signature

Pin Diagrram

Fig2: IC 7441

Circuit Design
D

Fig3:: PID Analog Circuit

Theory
PID controller in a closed loop control system is shown in figure1. A proportional
integralderivative controller (PID controller) is a controller which is popularly used in
industrial control systems. It is fed with the error signal, that is, the difference between
the reference, or the desired output and the actual output (which is obtained as a
feedback). The controller then attempts to bring the actual output to track the reference.
The inherent simplicity in design and understanding has made it a widely used
controller.
The input from the PID controller to a system is given by the equation
,

=Proportional gain

=Derivative gain
=Integral gain

The PID controller is a combination of three terms namely the gain, derivative and
integral terms. The importance of each term is discussed briefly.
The proportional gain, when varied changes the location of poles and zeros of the
system. Therefore, the systems behavior is dependent on the value of gain K.
Consequently, it is possible to select (design) a value for the gain that makes the system
behave in a desired manner.
Proportional controllers are the simplest controllers and are very common. We only
need to change the amplification value of a controller that already exists without having
to add anything to the system. However, it is not always possible to find appropriate
pole locations with proportional controllers so we move to other type of controllers.
Introducing high gain induces faster response but comprises on overshoot and error
values. Hence to achieve reduced steady state error an integral term is introduced in
addition to the proportional term thereby improving the system response.
In order to meet the design requirements in the real an additional term, that is, the
derivative is introduced thereby controlling the dynamic behavior of a system.
The transfer function of the PID controller is
/

This error signal (e) will be sent to the PID controller, and the controller output is
obtained.

Mathematical Formulation
The gain for the proportional part is calculated using

The derivative gain is

The integral gain is

Procedure
All pre-assignments must be done in the lab book (of each student) and will be marked
during the practical session. Each member of the group must participate in the
preparation.
Step1: Make the circuit as shown in figure2.
Step 2: Apply a step input of very low amplitude at the input terminal.
Step3: Capture the output response of the signal of the PID controller in DSO.

Calculation

Observations and Remarks

Conclusion