Proc

essDynami
cs&Contr
olPracti
cal
Exper
iment:Si
muli
nk-PIDcont
rolofThir
dOr derSys
tem

Objective: Tocar r
youtdynami csimul
at i
onofat hirdor
ders ystem
control
ledwithaPI Dcontrol
leronMat lab’sSimul
inkpackage:
1. TodoZi egler-Ni
cholstuni
ngoft hes yst
em
2.Toc r
oss-c
hec kUlti
mateGai n&Ul t
imatePeriodofoscill
ations
obtai
nedus ingRouthtest.

Sof
twar
ePac
kage: Mat
lab’
sSi
mul
ink

Des
cri
pt i
onofSi mul at edCont rolSys tem:
1. CreationofSi mul inkmodel :
Thes imulat edc ont rols ys temc ons ist sofa‘ thi rdor der’pr oc ess
contr
ol l
edus ingaPI Dc ont rol ler.
ModelEl ement s:
a.Tr ans f erFunc tion:At hirdor dert rans ferf unc tioni st obeus ed.
b.Sum:Thi sbl oc ki sus edasc ompar at orwi tht woi nput s&one
out put .Thei nput sar eSet poi ntf romt he‘ cons tant ’bl ock&
cont rolledvar iable,whi chi st heout putoft hepr oces s.
c.PI D:Thi sist hePI Dc ont rollerbloc k,wi thP, I&Dr epres enting
coef ficient soft hePr opor t i
onal ,Int egr al&Der ivat ivepar tsof
thec ont rollerr es pec tivel y
d.Cons t ant :Thi sbl ockpr ovi dest hes etpoi ntt ot hec ont rols yst em
e.Sc ope:Thi sbl oc kpl ot sr equi redvar iabl esasaf unc t i
onoft ime
f.Mux:Thi sbl oc ki sus edt os endmor ethanonevar iablest ot he
Scopebl oc kf orpl ot ting
2.Si mulationPar amet er s:
a.Pr oc es smodel :
G(s )=1 /[( 11s+1 )(22s +2)( 66s +3)]
b.Set poi nt :say5
c.PI Dpar amet er s:
i.ForZ- Nt uni ng( Findi ngUl timat eGai n&Ul timat ePer iod
ofOs ci l
lat ions ):Pi st her equi redc ontrollergai n( Kc )
val ue.I&Dpar amet er sarezer o,i mpl yingt hatI ntegr al
&Der ivat ivemodesar eabs entdur i
ngeval uat i
onof
Ul timat eGai n&Ul timat ePer iodofOs ci
llat ions
ii.Forc hec kingZ- Nt uni ng:
P=Kc , I=Kc /TI , D=Kc /TD( Her eTIi si ntegr alt i
me
&TDder ivat ivet ime)
d.Si mul at ionPar amet ers :
Maxs t eps ize:0. 1,St opt ime:Typi cally5t imest het ime
cons tant
Bl
ockDi
agr
amoft
heSi
mul
atedCont
rolSys
tem:

Si
mulati
onRes
ult
s:
1. Si
mul
ati
onParamet
ersUs
ed:

2.Zi
egl
er-
Ni cholsTuning:
a.Ulti
mat eGai n&Ul t
imatePeri
odofOsci
ll
ati
ons:
Kcu=1 4
Pu=76. 9
b.Ziegler–Ni c
holsTuningPar
ameter
sforPIDcont
rol
ler
:
Kc= 8.235
TI=38. 46
TD=9. 615

3.PerformanceofZiegler-
Nic
hol
sTuni
ng:
DecayRat i
o:0.11
24
Overshoot:
. 0.6326
Ris
eTi me:. 35.71sec
Settli
ngTime:257.1
4s ec

4.Finetuningr es
ults:
I)Basedonc hangingKc
Kc=16,TI=38,TD= 9.
5
DecayRat io:0.25
Overshoot:
. 0. 6530
RiseTime:. 26. 57sec
Settl
ingTime:280s ec

I
I )Basedonc hangingTI
Kc=8.235,TI=36,TD= 9
DecayRat i
o:0.2238
Overshoot
:. 0.6857
Ris
eTi me:. 35s ec
Settl
ingTime:321s ec
 Gr
aphofc
ont
inuousos
cil
lat
ion

Gr
aphofZN s
ett
ingr
esul
t
Fi
net
uni
ngbas
edonc
hangi
ngKc

Fi
net
uni
ngbas
edonc
hangi
ngTI
CONCLUSI
ON:
Byper f
ormi ngt hisexper imentwec anc oncl
udet hat
1)Thec ri
ticalval ueofKci s14f orPc ont r
ollerabove
whic ht heos cil
lat ionsar ebec omi nguns table.
2)Dec ayrat i
of orZN s ett i
ngi snot0. 25s owehavet o
changet heval ueofKcs oast ogetf inet unedc ont r
oller
,
whic hdonebyc hangi ngKcorc hangi ngTI
3)Lowert heval ueofKcl argeri st heof fs
etandt here
willnotanyover shoot
4)ThePI Ds ett i
ngs houldbel iket his
Kc=16
TI=38
TD=9.5
asfort hisval uet hec ont rollerisf inet unedand
givingans ettlingt i
meas280s ecandal sot hedec ay
ratioi s0.25
5)Lowdec ayr at ioisnotgoodf ors ystems oitc anbe
increasedbyi nc reasingt heval ueofKc .
6)Fr omgr aphi tc anbec onc l
udedt hathi gherist he
stabi l
ityloweri st her espons eandvi cever sa.
Wor
ksheet