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Summary
An experiment of Flow control was conducted to test P, PI, PD, and PID
controllers at different parameters to control the flow inside a pipe, also the
optimum controller parameters will be calculated using Ziegler – Nichols closed
loop method. In this experiment FESTO software was used to simulate the flow
control. The PID controller in this experiment has the best response to the system,
because it has a good time to reach steady state. Also, in PID controller there is no
offset form the set point. It provides the most accurate and stable control of the
three controllers. The best run in this simulation for PID controller was considered
run 1. PI controller has shown also a good result compared to PD & P, because
there is no offset. In all runs for the PID, PI, PD and PD controllers it was shown
that increasing Kp has contributed to decrease time to reach steady state and the
offset from the setpoint and the best run was number 1. In PI controller increasing
the value of I from 1 to 4 has shown an inverse response to the process variable. In
PD controller the effect of increasing D has contributed to increase the oscillatory.
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Contents
Summary ...............................................................................................................................3
Results...................................................................................................................................5
Discussion ..............................................................................................................................7
Conclusion ........................................................................................................................... 10
Recommendation ................................................................................................................. 11
References ........................................................................................................................... 11
Appendix A: Results .............................................................................................................. 12
Appendix B: Calculation of critical Kp ..................................................................................... 16
List of tables
Table 1 P controller results ......................................................................................................5
Table 2: PID controller results..................................................................................................5
Table 3:PI controller results.....................................................................................................5
Table 4: PD controller results...................................................................................................6
Table 5:Closed loop Ziegler-Nicholas........................................................................................6
Table 6: Closed loop Ziegler – Nichols method for tuning PID controllers ................................. 16
List of figures
Figure 1: Critical K................................................................................................................. 12
Figure 2: P controller ............................................................................................................ 12
Figure 3: PD controller .......................................................................................................... 13
Figure 4: PI controller............................................................................................................ 14
Figure 5: PID controller ......................................................................................................... 15
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Results
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4) Proportional Derivative Control (PD)
Table 4: PD controller results
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Discussion
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• Proportional Derivative Control (PD)
In this type of controller there are to variables to be manipulated P&D. As it can
be seen from table [4] & figures [6 to 9], increasing the derivative parameter has
contributed to cause oscillatory to the process variable. Increasing D from 0.2 to
0.6 had shown that the process variable has been started to oscillatory, increasing
D beyond this point to 0.8 has shown a large amount of oscillatory. The
contribution of the proportional control has contributed to decrease the time to
reach steady state and increased the stability of the response. As it can be seen,
increasing Kp from 5 to 6 at run 3& 4 has decreased both, steady state time and
the oscillatory of the system. The best run in this simulation is considered number
4 where Kp=6, D=0.8 which shows a less offset and the system con be considered
stable.
From this experiment as the best controller which has better response to the
system is the PID controller run number 1 table [2], because it has a good time to
reach steady state. Also, in PID controller there is no offset form the set point and
this what is needed in sensitive industrial systems. From literature PID is the best
controller because the derivative channel of PID controller provide faster response
to the change of system state thus allowing fast response plus the integral term
which reduce the offset. It provides the most accurate and stable control of the
three controllers types, and is best used in systems which have a relatively small
mass and those which react quickly to changes in the energy added to the process.
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The most used controller in the industry is PI controller which contributed for 90%
of the processes in the industry. While PID has contributed 9%, and the 1% for PD
& P controller.
1) Open System
Advantages :
Disadvantages:
2) Closed System
Advantages :
• Closed loop control systems are more accurate even in the presence of non-
linearities.
• The sensitivity of the system may be made small to make the system more
stable.
• The closed loop systems are less affected by noise.
Disadvantages:
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Conclusion
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Recommendation
• To study the effect of on variable for more than one run by keeping the
other variables constant this will give a good observation.
• To study the feed forward process control type.
References
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Appendix A: Results
Figure 1: Critical K
Figure 2: P controller
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Figure 3: PD controller
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Figure 4: PI controller
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Figure 5: PID controller
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Appendix B: Calculation of critical Kp
Controller Type Kp Ki Kd
P 0.5 Kp,cr ---- ------
0.45 (1 / 1.2)
PI Kp,cr Pcr ------
1.25
PID 0.6 Kp,cr 0.5 Pcr Pcr
Kp=9.1*0.5=4.55
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