3.

0 RESULTS AND CALCULATION

Lab 1: Effect of controller gain

Figure 3.0.1: Block diagram

Figure 3.0.2: Effect of controller gain to the controller response

 Lab 2: Effect of Integral Time

Figure 3.0.3: Block Diagram

Figure 3.0.4: Effect of integral time to the controller response

 Lab 3: Effect of derivative time

Figure 3.0.5: Block Diagram

Figure 3.0.6: Effect of Derivative time to the controller response

 Lab 4: Effect of Deadtime

Figure 3.0.7: Block Diagram

Figure 3.0.8: Effect of Dead Time toward the controller response

3.1 DISCUSSIONS
Performances measurement criteria such as settling time, overshoot, decay ratio, number of
oscillations, rise time, period of oscillation and time of first maximum was used to discuss about
the effect of changing certain values in controller such as increasing the P value.
3.1.1 - LAB 1: EFFECT OF CONTROLLER GAINS
From Lab 1: P=Vary | I=0.01 | D=0 (PI Controller)
Lab 1 being conducted to study the effect of controller gain toward the response of the controller.
At first, the value of I was set to 0.01 and the value of D to zero and then the value of P is being
adjusted to 0.05, 0.1 and 0.2 for three consecutive reading. This was a PI controller because the
value of D was set to zero. When the value of P is being increased the settling time will decreased,
it means that the response will settled faster toward the set point. Furthermore, the overshoot will
decrease too when the P value is increased. Decay ratio is a ratio at which amplitude of the sine
wave is reduced during one complete cycle. According to lab 1 when we increase the P value the
decay ratio will decreased too. Thus, it means that the next crest of the sine wave will reduced if
the P value is set high and make the response more stable. The number of oscillations also decrease
due to the decay ratio decreased with increase in P. Moreover, the rise time is time it takes for the
response to rise from 10% to 90% of the steady-state response. The rise time will decrease when
the value of P in being increased and the time to reach the first maximum also decreased. In overall,
the higher the value of P the high performance the response will be.

3.1.2 - LAB 2: EFFECT OF INTEGRAL TIME

From Lab 2: P=0.05 | I=Vary | D=0 (PI Controller)
Lab 2 has an objective to study the effect of controller integral time towards the response of the
controller. To conduct that, the value of P was set to 0.05 and D to 0 while changing the I value.
When we increase the I value the settling time seems to increase it means that when the value of I
is higher the response will hardly to settled towards the set point. Besides that, the value of
overshoot and decay ratio is increasing when the value of I was being increased. Number of
oscillation increasing with the increase of the I value, so the when the value of I being increased
the response will be more unstable since its create more oscillation. Period of oscillation decrease
as the value of I increasing thus it will make the sine waves response to be suspended as shown in
the graph of lab 2. The rise time decreases as the I value increases, this will make the graph steeper
for the higher value of I. Furthermore, the time for the first maximum will be higher on the lower
value of I. In conclusion, when we increase the I value, the response is more suspended and create
a wild response with high overshoot and unstable waves that need long time to settled to the set
set point.
3.1.3 - LAB 3: EFFECT OF DERIVATIVE TIME
From Lab 3: P=0.05 | I=0.01 | D=Vary (PID Controller)
Lab 3 was conducted to see the effect of derivatives time towards the response of the controller.
Firstly, the P value was set to 0.05 and I to 0.01 while varying the D value. The value of settling
time increases as the value of D increases. So, the higher the value of D the sine waves response
will be hard to settled toward the set point. Other than that, the value of the overshoot decreases
with increases in D value. Thus, higher value of D will make the sine waves response less deviate
from the set point. Besides that, the decay ratio will increase as the value of D increases. It means
that the lowest value of D will record the high decrease in the amplitude. Moreover, as the value
of D increases the rise time will increases too, this means that the lowest value of D will have a
steep sine waves response compared to the higher value of D. Apart from that, the time for the first
maximum increases with the increase in D value. So, the sine waves response of the lowest value
of D will reach its maximum first and followed by the higher value of D. Last but not least, the
period of oscillation increases with increase in D, thus show that the lowest value of D will have
more suspended response. The number of oscillation vary from 3 to 4 and to 3.5 this is due to the
graph pattern. In conclusion, from the graph presented, when the low value of D is used the graph
overshoot rapidly and faster to settle towards the set point while, when the higher value is used,
the graph overshoot less but create an unstable wave and take a long time to settle to the set point.

3.1.4 - LAB 4: EFFECT OF DEAD TIME

From Lab 4: P=0.2 | I=0.01 | D=0 | td=Vary (PI Controller)
Lab 4 was conducted to see the effect of dead time towards the response of the controller. First of
all, the value of P was set to 0.2, I to 0.01 and D to 0 while varying the dead time. From the
simulation and the graph being recorded the settling time increase significantly with increasing in
dead time. Other than that, the overshoot decreases dramatically when the value of dead time being
increased. The decay ratio increases when dead time is increase, this show that the sine waves
easily reduced toward the set point for the low value of dead time. Furthermore, Number of
oscillation also increase with the increase in dead time. Thus, the higher the value of dead time it
will make the response unstable and hard to settled towards the set point. The rise time is about
the same for the increase in D value. It means that the dead time does not affect the rise time much.
Apart from that, the period of oscillations goes from 70 to 53.3 and to 54.38 with increasing in
dead time. Lastly, the time of first maximum increases with increase in dead time. In conclusion,
from the overall view of the graph presented, when we start increasing the dead time the response
starts to increase in overshoot and create low decay ratio which means it decrease in small value
from first peak to the second peak and this will make the response unstable and take a long time
to settled to the set point.