- PID Math Demystified
- Process Control Systems
- 10SS
- Mechatronics Systems.pdf
- PDC Chapter 8
- EE4CL4_lecture2
- Modeling and Control of 5 DOF Robot Arm Using Supervisory Control
- Control Report
- control
- Tuning_a_PID_Controller.pdf
- ACC-Control-Philosophy.Luc-DeBacker-and-Nick-Gehring-LACC-JNK.pdf
- ismail
- lec15.pdf
- Manual for IA Controlers V6
- MYPIN TA4 PID Instruction Manual
- mod3
- L1 - Introduction to Control
- 1081ch2_23
- AK_Final
- Boiler
- Simulation Analysis of an Active-changed1
- tmpEA2E.tmp
- e5_n_e5_n-h_e5_n-ht_operation_tg_e_4_2_csm1375.pdf
- neuro-fuzzy_noPW
- PSOC LAB
- Laboratory Incubator
- Conveyor Report
- PID Control
- 20-11
- Eceg5187_Final.pdf
- Action Plan for the Performance of New Officers
- Conversion.txt
- Quiz
- Energy Conversion
- is.1448.70.1968
- 3-AAP Analysis Report
- DMS 16-12-2017
- Hostel Request Bremerhaven Eng
- TRK March 2016
- Density
- HSD Daily Batches 0
- OISD Check List -1
- DMS 06-04-2018
- CDU-I Monthly Yields 2017-18 Updated
- F6C921C6565BA68556FBF844ACEEB8F1
- Results.docx
- DRP Writeup
- ppt sailu
- Assi2 Prob 5
- COmp
- lecture2.pdf
- CL 321-Assignment No.3.doc
- Crystall 4
- prob 3
- prob4
- MS Lab.docx
- inspire-faculty-scheme.doc
- Ss Brine Sludge
- Assi2 Prob 4
- 12

AIM:

To perform a simulation study on control of temperature using heater input with

P, PI and PID controller

Procedure

**1. Compute controller parameters from Ziegler-Nichols Rule for P, PI, and PID
**

controllers

2. For a set point tracking for temperature using heater input, implement the P

controller in SCILAB

3. For a set point tracking for temperature using heater input, implement the PI

controller in SCILAB

4. For a set point tracking for temperature using heater input, implement the PID

controller in SCILAB

5. Make all the calculations in a file with the name: SBHS2,

6. When I run the file, it should be able to generate three plots

a. Plot1: Temperature Vs time and Heater input Vs. time for P-controller

b. Plot2: Temperature Vs time and Heater input Vs. time for PI-controller

c. Plot3: Temperature Vs time and Heater input Vs. time for PID-controller

d. It should print the % error for all the above three cases

7. Save the file SBHS2 and plot1, plot2, and plot3 in a folder name with your group

name. e.g. Group A will make a folder of name ‘A’

8. Save this folder on DesktopSBHSSBHS2

Figure 1: Single board heater system

Theory

A PID controller is one which tries to minimize the error between measured variable

and the set point by calculating the error and then putting a suitable corrective action. For

revision purpose, the output of interest of a process is called as the measured variable or process

variable, the difference between the set point and the measured variable is called the error and

the control action taken to adjust the process is called as manipulated variable. A PID controller

does not simply add or subtracts the control action but instead it manipulates using three distinct

control features, namely, Proportional, Integral and Derivative. Thus, a PID controller has three

separate parameters.

Proportional

This parameter generates a control action based on the current value of the error. In more

simplified sense, if the error is +2, the control action is -2. The proportion action can be

generated by multiplying the error with a Proportional constant Kp. Mathematical representation

of the same is given below,

P K p e(t )

…

(1)

**Where P is the proportional output Kp is the proportional gain e(t) is the error signal. The
**

value of Kp is very important. A large value of Kp may lead to instability of the system. In

contrast, a smaller value of Kp may decrease the controller’s sensitivity towards error. The

problem involved in using only proportion action is that, the control action will never settle down

to its target value but will always retain a steady-state error.

Integral

This parameter generates a control action depending on the history of errors. It means

that the action is based on the sum of the recent errors. It is proportional to both the magnitude as

well as duration of the error. The summation of the error over a period of time gives a value of

the offset that should have been corrected previously. The integral action can thus be generated

by multiplying this accumulated error with an integral gain Ki. Mathematical representation of

the same is given below,

t

I K d e(t )dt

…

(2)

0

**Where, I is the integral output; Kiis the integral gain (
**

where,

is the

integral time). The integral action tends to accelerate the control action. However, since it looks

only at the past values of the error, there is always a possibility it causing the present values to

overshoot the set point values.

Derivative

As the name suggests, a derivative parameter generates a control action by calculating the

rate of change of error. A derivative action is thus generated by multiplying the value of rate of

**change of error with a derivative gain Kd. Mathematical representation of the same is given
**

below,

d

(3)

D K d e(t ) …

dt

Where D is the derivative output Kdis the derivative gain (

where,

is

the derivative time) The derivative action slows the rate of change of controllers output. A

derivative controller is quite useful when the error is continuously changing with time. One

should however avoid using it alone. This is because there is no output if error is zero and when

the rate of change of error is constant. When all the above control actions are summed up and

used together, the final equation becomes,

t

d

PID Ke(t ) K i e(t )dt K d e(t ) …

(4)

dt

0

Alternatively,

t

1

d

PID K e(t ) e(t )dt d e(t )

i 0

dt

(5)

P Controller:

( )

( )…

(6)

PI Controller:

(

)

( )

{ (

{ ( )

)

∑

∑

()

()

} …

(7)

} …

(8)

**Subtracting the above two equations,
**

(

)

( )

{ (

)

(

)

( )

(

) (

)

∑

( )

(

)

)} …

(9)

( )…

(10)

PID Controller:

(

)

( )

{ (

{ ( )

∑

( (

()

( ( )

()

(

)

( ))

}…

(11)

))

}…

(12)

**Subtracting the above two equations,
**

(

)

( )

{ (

(

)

( )

(

)

( )

) (

(

)

)

(

( (

)

) ( )

( )

(

( ) (

))

}…(13)

) … (14)

(

)

( )

) (

(

)

) ( )

(

( ) (

Calculations:

Compute the controller tuning parameters by Cohen and Coon Rule as follows

Kc

(

P

PI

PID

)

(

NA

NA

)

(

NA

)

td

**Figure 3: Reaction Curve
**

Controller Tuning Parameters:

Controller

P

PI

PID

K

i

d

)(15)

Conclusions:

- PID Math DemystifiedUploaded byvesridhar
- Process Control SystemsUploaded bydhakad_pradeep
- 10SSUploaded byRaju Sk
- Mechatronics Systems.pdfUploaded bytranhuutuong
- PDC Chapter 8Uploaded bysatya sagar
- EE4CL4_lecture2Uploaded byahmedmagd63
- Modeling and Control of 5 DOF Robot Arm Using Supervisory ControlUploaded bysandeep2506
- Control ReportUploaded byKenshow Large
- controlUploaded bymomanzoor
- Tuning_a_PID_Controller.pdfUploaded byDeepak Raina
- ACC-Control-Philosophy.Luc-DeBacker-and-Nick-Gehring-LACC-JNK.pdfUploaded bynomanfahmi
- ismailUploaded byUnta Arab
- lec15.pdfUploaded byRavi
- Manual for IA Controlers V6Uploaded byBharadwaj Subramanian
- MYPIN TA4 PID Instruction ManualUploaded bypearlheartgtr
- mod3Uploaded byDhanish Kumar
- L1 - Introduction to ControlUploaded byOmer Ahmed
- 1081ch2_23Uploaded byjigjigaw
- AK_FinalUploaded byDeeksha Nayak
- BoilerUploaded bykaruna346
- Simulation Analysis of an Active-changed1Uploaded bySateesh Kumar
- tmpEA2E.tmpUploaded byFrontiers
- e5_n_e5_n-h_e5_n-ht_operation_tg_e_4_2_csm1375.pdfUploaded byIta Si Dan
- neuro-fuzzy_noPWUploaded byHemac Hander
- PSOC LABUploaded byD Avi Na Sh
- Laboratory IncubatorUploaded bysaurabh_acmas
- Conveyor ReportUploaded byAbdon Francisco Aureliano Netto
- PID ControlUploaded byDinesh Kumar Sharma
- 20-11Uploaded byejbiscardi
- Eceg5187_Final.pdfUploaded bygurusaravana

- Action Plan for the Performance of New OfficersUploaded byPinjala Anoop
- Conversion.txtUploaded byPinjala Anoop
- QuizUploaded byPinjala Anoop
- Energy ConversionUploaded byPinjala Anoop
- is.1448.70.1968Uploaded byPinjala Anoop
- 3-AAP Analysis ReportUploaded byPinjala Anoop
- DMS 16-12-2017Uploaded byPinjala Anoop
- Hostel Request Bremerhaven EngUploaded byPinjala Anoop
- TRK March 2016Uploaded byPinjala Anoop
- DensityUploaded byPinjala Anoop
- HSD Daily Batches 0Uploaded byPinjala Anoop
- OISD Check List -1Uploaded byPinjala Anoop
- DMS 06-04-2018Uploaded byPinjala Anoop
- CDU-I Monthly Yields 2017-18 UpdatedUploaded byPinjala Anoop
- F6C921C6565BA68556FBF844ACEEB8F1Uploaded byPinjala Anoop
- Results.docxUploaded byPinjala Anoop
- DRP WriteupUploaded byPinjala Anoop
- ppt sailuUploaded byPinjala Anoop
- Assi2 Prob 5Uploaded byPinjala Anoop
- COmpUploaded byPinjala Anoop
- lecture2.pdfUploaded byPinjala Anoop
- CL 321-Assignment No.3.docUploaded byPinjala Anoop
- Crystall 4Uploaded byPinjala Anoop
- prob 3Uploaded byPinjala Anoop
- prob4Uploaded byPinjala Anoop
- MS Lab.docxUploaded byPinjala Anoop
- inspire-faculty-scheme.docUploaded byPinjala Anoop
- Ss Brine SludgeUploaded byPinjala Anoop
- Assi2 Prob 4Uploaded byPinjala Anoop
- 12Uploaded byPinjala Anoop