Experiment # 5

Apparatus:
1. Pressure Control Training System
2. Digital multimeter

Description
Pressure control trainer contains an educational board with a pressurized vessel, a set of
sensors and actuators for pressure. A control module, consist of the interface circuits for the
sensors, actuators, ON/OFF, proportional, integral and derivative control circuits (P

Theory:
Knowledge of close loop control system:

Open loop control system and Close loop: System in which output quantity has no
effect upon input to the control process are called open loop control system, and these
systems just that open ended non feedback systems: But the goal of any electronic control
system is to measure, monitor and control a process and one way in which we can accurately
control the process is by monitoring its output and feeding some its back to compare the
actual output with the desired output so as to reduce the error and if disturbed, bring the
output back to the original or desired response. The quantity of output being measured is
called the feedback signal and the type of control system which used feedback signals to both
control and adjust itself is called close loop system. A close loop system also known as
feedback control system is a system which uses a concept of open loop system as its forward
path but has one or more feedback loops or paths between its output and its input. The
reference to feedback is simply means that some portion of its output is returned back to the
input to form part of systems excitation. Close loop control systems are designed to
automatically achieve and maintained the desired output conditions by comparing it with the
actual conditions. It does this by generating an error signal which the difference between the
output and reference point. In other word “closed loop systems” is a fully automatic control
system in which its control action being dependent on the output in some way.
Reference: https://www.electronics-tutorials.ws/systems/closed-loop-system.html

Schematic Example of Close Loop Control System in dryness of clothes:

In control systems, a controller is a mechanism that seeks to minimize the difference between
the actual value of a system (i.e., The process variable) and the desired value of the system (I.e.,
the set point). Controllers are a fundamental part of control engineering and used in all complex
control systems.

Reference:https://www.electrical4u.com/types-of-controllers-proportional-integral-derivative-
controllers/

There are two main types of controllers: continuous controllers, and discontinuous
controllers.
In discontinuous controllers, the manipulated variable changes between discrete values.
Depending on how many different states the manipulated variable can assume, a distinction is
made between two positions, three position, and multi-position controllers.
Compared to continuous controllers, discontinuous controllers operate on very simple,
switching final controlling elements.
The main feature of continuous controllers is that the controlled variable (also known as the
manipulated variable) can have any value within the controller’s output range.
Now in the continuous controller theory, there are three basic modes on which the whole
control action takes place, which are:

1. Proportional controllers.
2. Integral controllers.
3. Derivative controllers.

Proportional Response: The proportional component depends only on the difference

between the set point and the process variable. This difference is referred to as the Error
term. The proportional gain (Kc) determines the ratio of output response to the error
signal. For instance, if the error term has a magnitude of 10, a proportional gain of 5
would produce a proportional response of 50. In general, increasing the proportional
gain will increase the speed of the control system response. However, if the proportional
gain is too large, the process variable will begin to oscillate. If K c is increased further, the
oscillations will become larger and the system will become unstable and may even
oscillate out of control.

Figure 4: Block diagram of a basic PID control algorithm.

Integral Response: The integral component sums the error term over time. The result is
that even a small error term will cause the integral component to increase slowly. The
integral response will continually increase over time unless the error is zero, so the effect
is to drive the Steady-State error to zero. Steady-State error is the final difference
between the process variable and set point. A phenomenon called integral windup
results when integral action saturates a controller without the controller driving the error
signal toward zero.

Derivative Response: The derivative component causes the output to decrease if the
process variable is increasing rapidly. The derivative response is proportional to the rate
of change of the process variable. Increasing the derivative time (Td) parameter will cause
the control system to react more strongly to changes in the error term and will increase
the speed of the overall control system response. Most practical control systems use very
small derivative time (Td), because the Derivative Response is highly sensitive to noise in
the process variable signal. If the sensor feedback signal is noisy or if the control loop
rate is too slow, the derivative response can make the control system unstable
Reference: https://www.ni.com/en-lb/innovations/white-papers/06/pid-theory-
explained.html

Objective of Proportional Controller: (A)

1. To verify the effects of the gain of the loop on the dynamic response of the system
2. To represent the dynamic response curve of the system

Circuit Schematic:

Procedure for P controller:

1. Connect, through leads, bush No. 9 of the WATER PUMP DRIVER to bush No. 9
and bush No. 10 to bush No. 10 (Sheet 5.1 Fig. 5.1).
 2. Connect bush No. 1 of the Pressure Sensor to bush No. 1 of the relevant interface and
bush No. 2 to bush No. 2 (Sheet 5.1 Fig. 5.1).
3. Connect the bush of SET POINT 1 to bush No. 4 of the PID controller and bush No. 3
of the pressure interface to bush No. 3 of the PID controller (Sheet 5.1 Fig. 5.1).
4. Insert one terminal of the digital voltmeter, set in dc, in the bush of SET POINT 1 and
the other one in the earth bush.
5. Regulate the voltage on SET POINT 1 at 2V.
6. Move the terminal of the digital voltmeter from the bush of SET POINT 1 to bush No.
3 of the PID controller: the voltage value must be equal to 0V.
7. Move the terminal of the digital voltmeter to bush X1 of the PID controller: the
voltage value must be equal to the difference between the voltage applied to bush No.
4 and that applied to bush No. 3, which is 2V.
8. Regulate the PROPORTIONAL knob at 25%.
9. Connect bush No. 5 of the PID controller to bush No. 5 and bush No. 8 to bush No. 8
of the WATER PUMP DRIVER.
10. Move the terminal of the digital voltmeter to bush No.3 of the PID controller: write
down in Table 5.1 the voltage value.
11. Write down in Table 5.1 the voltage value read every 15 seconds until the transitory is
completed.
12. Move the terminal of the digital voltmeter to bush X1 of the PID controller: the
voltage value, to be written down, represents the steady state error.
13. Regulate the PROPORTIONAL knob to 50% and repeat the procedure from step No.
9.
14. Repeat the procedure with the PROPORTIONAL knob at 75% and 100%.
15. Put OFF the main switch.
16. Draw the curves of the closed loop dynamic response for all the values of the
PROPORTIONAL knob.
17. Analyze the results.

Observation & Calculation:

Zero Error: 0.53mV
 Graphical Plot:

PC (Volatage Vs Time)
1.2

0.8

kp (25%)
kp (50%)
0.6
mV

kp(75%)
kp(100%

0.4

0.2

0
-60 -10 40 90 140 190 240 290 340 390

seconds
Objective of Proportional Integral (PI) Controller: (B)
1. To verify the effects of the gain of the loop on the dynamic response of the system
2. To represent the dynamic response curve of the system

Circuit Schematic:

Procedure for PI controller:

1. Connect, through leads, bush No. 9 of the WATER PUMP DRIVER to bush No. 9
and bush No. 10 to bush No. 10 (Sheet 5.1 Fig. 5.1).
2. Connect bush No. 1 of the Pressure Sensor to bush No. 1 of the relevant interface and
bush No. 2 to bush No. 2 (Sheet 5.1 Fig. 5.1).
3. Connect the bush of SET POINT 1 to bush No. 4 of the PID controller and bush No. 3
of the pressure interface to bush No. 3 of the PID controller (Sheet 5.1 Fig. 5.1).
4. Insert one terminal of the digital voltmeter, set in dc, in the bush of SET POINT 1 and
the other one in the earth bush.
5. Regulate the voltage on SET POINT 1 at 2V.
6. Move the terminal of the digital voltmeter from the bush of SET POINT 1 to bush No.
3 of the PID controller: the voltage value must be equal to 0V.
 7. Move the terminal of the digital voltmeter to bush X1 of the PID controller: the
voltage value must be equal to the difference between the voltage applied to bush No.
4 and that applied to bush No. 3, which is 2V.
8. Regulate the PROPORTIONAL knob at 25%.
9. Connect bush No. 5 of the PID controller to bush No. 5 and bush No. 8 to bush No. 8
of the WATER PUMP DRIVER.
10. Move the terminal of the digital voltmeter to bush No.3 of the PID controller: write
down in Table 5.1 the voltage value.
11. Write down in Table 5.1 the voltage value read every 15 seconds until the transitory is
completed.
12. Move the terminal of the digital voltmeter to bush X1 of the PID controller: the
voltage value, to be written down, represents the steady state error.
13. Regulate the PROPORTIONAL knob to 50% and repeat the procedure from step No.
9.
14. Repeat the procedure with the PROPORTIONAL knob at 75% and 100%.
15. Put OFF the main switch.
16. Draw the curves of the closed loop dynamic response for all the values of the
PROPORTIONAL knob.
17. Analyze the results.

Observation & Calculation:

Zero Error: 0.53mV

Graphical Plot:

PIC (Volatge Vs Tiime)

-1.73

-1.74

-1.75
ki(25%)
-1.76 ki(50%)
mV

ki(75%)
ki(100%)
-1.77

-1.78

-1.79
0 50 100 150 200 250 300 350
Objective of Proportional Integral (PD) Controller: (C)
1. To verify the effects of the gain of the loop on the dynamic response of the system
2. To represent the dynamic response curve of the system

Circuit Schematic:

Procedure for PD controller:

1. Connect, through leads, bush No. 9 of the WATER PUMP DRIVER to bush No. 9
and bush No. 10 to bush No. 10 (Sheet 7.1 Fig. 7.1).
2. Connect bush No. 1 of the Pressure Sensor to bush No. 1 of the relevant interface and
bush No. 2 to bush No. 2 (Sheet 7.1 Fig. 7.1).
3. Connect the bush of SET POINT 1 to bush No. 4 of the PID controller and bush No. 3
of the pressure interface to bush No. 3 of the PID controller (Sheet 7.1 Fig. 7.1).
4. Insert one terminal of the digital voltmeter, set in dc, in the bush of SET POINT 1 and
the other one in the earth bush.
5. Regulate the voltage on SET POINT 1 at 2V.
 6. Move the terminal of the digital voltmeter from the bush of SET POINT 1 to bush No.
3 of the PID controller: the voltage value must be equal to 0V.
7. Move the terminal of the digital voltmeter to bush X1 of the PID controller: the
voltage value must be equal to the difference between the voltage applied to bush No.
4 and that applied to bush No. 3, which is 2V.
8. Regulate the PROPORTIONAL knob at 25%.
9. Connect bush No. 5 of the PID controller to bush No. 5 and bush No. 8 to bush No. 8
of the WATER PUMP DRIVER.
10. Regulate the DERIVATIVE knob at 25%.
11. Connect bush No. 7 of the PID controller to bush No. 7 (Sheet 7.1 Fig. 7.1).
12. Move the terminal of the digital voltmeter to bush No.3 of the PID controller: write
down in Table 7.1 the voltage value.
13. Write down in Table 7.1 the voltage value read every 15 seconds until the transitory is
completed.
14. Move the terminal of the digital voltmeter to bush X1 of the PID controller: the
voltage value, to be written down, represents the steady state error.
15. Regulate the DERIVATIVE knob at 50% leaving the PROPORTIONAL knob at 25%
and repeat the procedure from step No. 11.
16. Repeat the procedure with the DERIVATIVE knob at 75% and 100%.
17. To reduce the steady state error, regulate the PROPORTIONAL knob to 50%, 75%
and 100% if necessary.
18. Put OFF the main switch.
19. Draw the curves of the closed loop dynamic response for all the values listed in the
table.
20. Analyze the results.

Observation & Calculation:

Zero Error: 0.51mV
Graphical Plot:

PDC (Voltage Vs Time)

2.2

1.8
kd (25%)
kd (50%)
1.6
mV

kd(75%)
kd(100%)
1.4

1.2

1
-60 -10 40 90 140 190 240 290 340 390

seconds

Applications Proportional:
1. Two classic mechanical applications are the toilet bowl float proportioning valve and
the fly-ball governor.
2. Proportional control concept is more complex than an on–off control system such as a
bi-metallic domestic thermostat, but simpler than a  proportional–integral–derivative
(PID) control system used in something like an automobile cruise control. On–off
control will work where the overall system has a relatively long response time, but
can result in instability if the system being controlled has a rapid response time.
Proportional control overcomes this by modulating the output to the controlling
device, such as a control valve at a level which avoids instability, but applies
correction as fast as practicable by applying the optimum quantity of proportional
gain.
3. Proportional-Integral-Derivative (PID) controllers are used in most automatic process
control applications in industry today to regulate flow, temperature, pressure, level,
and many other industrial process variables.
Reference: https://en.wikipedia.org/wiki/Proportional_control

https://electricalvoice.com/controllers-proportional-integral-derivative-
controllers/

Result & Discussion:

As we turn the knob and increase the proportional or proportional integral or proportional
derivative gain (while in proportional integral and proportional derivative the proportional
gain kept constant at 25%) the system reaches the steady state in less time and the same trend
depicted in graphs in all 3 graphs of PC, PIC, and PDC although there should be calibration
error lies in this instrument but according to the knowledge of gain which is the ratio of
output over input shows that as we increases the output value the system should reaches the
stable state or steady state in less time.

References:
https://www.omega.com/en-us/resources/pressure-transducers-applications
https://en.wikipedia.org/wiki/Pressure_sensor
https://www.tutorialspoint.com/control_systems/control_systems_controllers.htm
https://en.wikipedia.org/wiki/Proportional_control

https://www.ni.com/en-lb/innovations/white-papers/06/pid-theory-explained.html

https://www.techbriefs.com/component/content/article/tb/pub/features/articles/20013