PROCEEDINGS OF SPIE

SPIEDigitalLibrary.org/conference-proceedings-of-spie

Microprocessor-based PID controller

for low-temperature studies

Rangaiah, S., Reddy, P., Reddy, B.

S. V. Pandu Rangaiah, P. N. Reddy, B. P. Nagi Reddy, "Microprocessor-based

PID controller for low-temperature studies," Proc. SPIE 1523, Conference on
Physics and Technology of Semiconductor Devices and Integrated Circuits,
(1 February 1992); doi: 10.1117/12.145060

Event: Conference on Physics and Technology of Semiconductor Devices and

Integrated Circuits, 1992, Madras, India

Downloaded From: https://www.spiedigitallibrary.org/conference-proceedings-of-spie on 02 Dec 2021 Terms of Use: https://www.spiedigitallibrary.org/terms-of-use

 Invited Paper

Microprocessor Based PID Controller for Low

Temperature Studies
SN. Pandu Rangaiah, P.N. Reckly and B.P.N. Reckly
Department of Physics, S.V. University, Tirupati 5 17 502, India

I NrR0DUcTION

In any laboratory to carry out temperature dependent studies a

reliable temperature controller is required. Temperature controi!
lers may be of analog or digital type. The main drawbacks of the
analog controllers are (i) limited controllability or automation and
(ii) hardware limitations in implementing mathematical computations.
Digital controllers are flexible as the implementabtion of the
control schemes are carried out by software only. Hence, the
hardware restrictions of analog controllers can be completely
eliminatec
Automatic control of process parameters can be accomplished by
different contrOl schemes or control algorithms such as Proportional
(P), Proportional + Integral (P1), Proportinal + Differential (PD),
Proportional + Integral + Differential (PID) algorithms. All the
controllers produce a control output by operating on the error
signal or a time series of error signals. Most process loops where
the plant transfer function has not been completely defined are
controlled by PID control algorithms. PID control schems can be
implemented in different forms such as (i) positional or whole
value form (ii) incremental or velocity form. Of the two, velocity
form of PID algorithm provides certain advantages over the other. In
this paper, a modified velocity form PID algorithm developed in our
laboratory to control the process namely temperature is described.
VELOCITY FORM PID CONTROL

The expression used to explain the analog PID control is

m(t) = K [e(t) + 1/Ti e(t) dt + Td de(t)/dt I (1)
where
e(t) — Process Variable (P.V) Set Point (S.P)
— error signal
m(t) - output of the PlO controller or actuating signal
K - Proportional gain
Ti - integral time or reset time
Td — derivative time or rate time

Microcomputer / microprocessor may b used to implement the PID

control scheme with discrete (numerical) techniques.

/ 359

Downloaded From: https://www.spiedigitallibrary.org/conference-proceedings-of-spie on 02 Dec 2021

Terms of Use: https://www.spiedigitallibrary.org/terms-of-use
 For optimum approximation the "Simpson's 1/3 rule" and "Four
point central difference technique" has been used for implementing
discrete integration and differentiation. A 16-'bit microprocessor
(8086) based system has been used to carry out these computations.
Equation (1) can be written in discrete form as
m(kT) = K
{ e(kT) + T/3Ti [e(k-'2)T+4e(k-l)T+e(kT)]
+ Td/6T [e(kT)-e(k-3)T+3(k—l )T—3e(k-2)T]) (2)

where K Proportional constant

T sampling peried i.e, time between two samplings
of data.

Further simplification of quation (2) gives

m(kT) = Kp e(kT) + KI [e(k-'2)T+4e(k-4)T+e(kT)]

+KD [ e(kT)-'e(k—3)T+3e(k-l )T—3e(k-'2)T]

where
KP - Proportional gain
KI Integral gain
KD - Derivative gain
Despite the above PID control is automatic, it needs manual
initialization. This drawback can be avoided by implementing
velocity form PID control algorithm, which deals with the variations
in the control signal i.e 7 m(kT)
V m(kT) = m(kT) m(k-4)T
One advantage of the velocity form PID controller is that it
avoids initialization, when the operation is switched from manual to
automatic control. In otherwords, it avoids sudden change or thump'
in the process. Further, it supresses excessive correction or
°windup' in the proces control. Thatis,when the output is limited,
the integration stops avoiding integration saturation. The control
algorithm for the velocity form PID controller is given in Fig.l

When the changes in set-point (S.P) i.e input value corres-

ponding to desired temperature, are high, the proportional and
derivative control action produces a large change in the controller
output. To eliminate such large changes or overshoots the velocity
form PID control algorithm needs modification. The control
algorithm of modified velocity form PID controller is shown in
Fig.2. For this control scheme. the controller output can be

360 /

Downloaded From: https://www.spiedigitallibrary.org/conference-proceedings-of-spie on 02 Dec 2021

Terms of Use: https://www.spiedigitallibrary.org/terms-of-use
 written as
M(kT) = Kp C(kT) + KD [ C(kT)—C(k--'3)T÷3C(k—1)T-3c(k-2)T
+ KI [ e(k—2)T+4e(k--1)T+e(kT)]
The velocity form of the above equation is

V M(kT) = M(kT) -'M(k—l)T

Tuning of the controller i.e determination of controller
parameters T ,Ti,Td and hence KP,KI,KD has been carried out by
Ziegler-Nichols continuous cycling method.
HARDWARE OF THE PID CONTROLLER

The block diagram of the PID temperature controller is shown

in Fig.3. The various sub—units of the system are:(i) 8086 based
microprocessor system, ( ii)
12—bit Pnalog—to-Digital Converter
(ADC), (iii) Sample-'and-Hold (S/H) , (iv) Instrumentation
amplifier,(v) 16-bit Digital—to—Analog Converter (DAC),(vi) D.C
power amplifier and (vii) Sample cryostat.
A Copper-Constantan thermocouple has been used as the
temperature sensor. The instrumentation amplifier amplifies the
thermo—emf which is fed to the S/H. The S/H samples the input
signal during sample pulse and retains it in the hold mode. The
signal freezed by the S/H is given to the 12—bit ADC for conversion.
It starts conversion on receiving RUN signal from the control port
of the micropprocessor system. At the end of the conversion the
STATUS signal from ADC goes low. A wait loop is executed for
senbsing the STATUS 'low' signal by the CPU. Immediately after
sensig the 'low' STATUS signal CPU sends HOLD signal to the ADC to
stop conversion. Then the CPU sends LBEN,HBEN (Low Byte Enable,
High Byte Enable) signals to the ADC to activate high-order and
low—order byte outputs. Then CPU reads the data through input port
and stores it in the memory. It then compares the data with the set—
point value (desired temparature), performs PID action on the
resulting error signal and outputs to the heater coil through DAC
and power amplifier so that the desired temparature is maintained.
SOFTWARE

Necessary software has been developed in the assembly language,

the details of which are given in the flow chart (Fig.4) .

CONCLUSIONS

The PID controller has been used in the DLTS system developed

/ 361

Downloaded From: https://www.spiedigitallibrary.org/conference-proceedings-of-spie on 02 Dec 2021

Terms of Use: https://www.spiedigitallibrary.org/terms-of-use
 CONTRO..HEME

FIG.3:BLOCI< DIAGRAM OF THE PlO TEMPERATURE CONTROLLER

ND
Mt

FIG•2MODIFIED VELOCITY FORM

e(t)

FIG.1:VELOCITY FROM PlO CONTROL SCHEMET

w
1%)

Downloaded From: https://www.spiedigitallibrary.org/conference-proceedings-of-spie on 02 Dec 2021

Terms of Use: https://www.spiedigitallibrary.org/terms-of-use
 C STARJ
'I,

INITIALIZE
8255I, II,S•P
DESTINATION MEMORY
SOURCE MEMORY
&SET DEFAULT VALUES FOR
SETPOINT,STEP CHANGE
SAMPLING PERIOD,Kp,KI,KD
I-

SAMPLE PULSE TO
[SEND SIHJ

T
p-
RUN ADC 1
*
READ 'STATUS' OF ADCJ
L
J
IS

STATUS_LO,,>
YES

HOLD ADC j
'I,

f IN DATA(P.V) FROM ADC]

STORE IN MEMORY
C (n)
"I?

ERROR
e(KT)- S p(P•v)

I STORE IN MEMORY
L e(n)

FG.4: FLOWCHART OF THE P1D TEMPERATURE CONTROLLER

/ 363

Downloaded From: https://www.spiedigitallibrary.org/conference-proceedings-of-spie on 02 Dec 2021

Terms of Use: https://www.spiedigitallibrary.org/terms-of-use
 in our laboratory and it has been found that temperatures could be
maintained with an accuracy of +0.05K in the range, 77 K 300 K.

REFERENCES

1. A.B.Corripio, C.L.Smith and P.W.Murril, "Evaluating Digita1 P1

and PID controller performance,"Instruments and control systems,
pp.55—57,July 1973.
2. James H.Aylor, Robert L Ramey and Gerald Cook, "Design and
application of Microprocessor PID predictor controller,"IEEE Trans.
on Industrial Electronics and control instrurnentation,Vol.IECI—27
No.3,pp.133-137,August 1980.
3. P.N.Paraskevopoulous, "On the Design of PID Output Feedback
Controllers for Multivariable Systems," IEEE Trans.on Industrial
Electronics and control Instrumentation, Vol.IECI—27, t1o.1 ,pp.16—l8,
Feb.1980.
4. Robe rt .J . Bibbero , Microprocessors in Instrumentation and Control,
John Willey & Sons,NewYorbk,1977.
5. Roy Ball and Roger Pratt,Engineerig applications of Microcompu-
ters Ins trumentation and Control ,Prentice/Hall Internatbional ,1 986.
6. Katsuhiko Ogata, Discrete time control systems, PrenticeHa1l,
INC,New Jersey,1987.
7. Benjamin C.Kuo,Automatic Control Systems,Prentice—Hall India
Ltd,1989.

364 /

Downloaded From: https://www.spiedigitallibrary.org/conference-proceedings-of-spie on 02 Dec 2021

Terms of Use: https://www.spiedigitallibrary.org/terms-of-use