HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION

FACULTY FOR HIGH-QUALITY TRAINING



AUTOMATIC CONTROL SYSTEM IN PRACTICE

STUDENT REPORT

LESSON 4: APPLICATION OF SIMULINK IN

SIMULATING AND STABILITY ASSESSMENT

Lecturer : Nguyen Tran Minh Nguyet

Student’s name : Tran Thanh Dung - 20151001
Bui Minh Nguyen Bao - 20151013
 a. Determine the approximate transfer function of the furnace
Given the furnace characteristics:

Figure 4.1 Furnace characteristics

To approximate the transfer function characteristics of the furnace, we need to
find the time: T1, T2 and K of the characteristic in which:
 T1 is the delay time.
 T2 is the time constant obtained by intersecting the tangent line at inflection
point and the line temperature = 250.
 K is the gain.
 Figure 4.2: Parameters of the charateristics
The approximate transfer function is calculated as followed:
𝐾𝑒 −𝑇1𝑠
𝐺 (𝑠 ) =
1 + 𝑇2 𝑠
250𝑒 −20𝑠
𝑇ℎ𝑒𝑟𝑒𝑓𝑜𝑟𝑒, 𝐺 (𝑠) =
1 + 100𝑠

Comment: G(s) is the combination of a first order transfer function

 250
𝐺1 (𝑠) = and a delay transfer function 𝐺2 (𝑠) = 𝑒 −20𝑠 .
1+100𝑠

b. Use Simulink to build an open loop control model for the furnace as
the figure below.

Figure 4.3: Open loop control model

In which:
 Step value is set to 1 representing furnace working at 100%.
250
 Transfer Fcn is first order transfer function in question a: 𝐺1 (𝑠) = .
1+100𝑠
 Transport Delay is used to set the delay time obtained in question a: 20
seconds.
 Simulation time: 600 seconds.

Simulink:

Figure 4.4: Open loop control model in Simulink

 Result:

Figure 4.5: Transfer function charateristics in Simulink

Assessment: the curve in the model is similar to the characteristics in figure

4.1. Therefore, the modelling is appropriate.

c. Design a PID controller for the furnace using Zeigler-Nichols

According to Zeigler-Nichols method the PID components is calculated as followed:
Kp Ti Td
PID 𝑇2 2T1 0.5T1
1.2
𝑇1 𝐾

Table 4.1: Zeigler-Nichols PID method calculation

We have: T1 = 20, T2 = 100, K = 250
 Kp = 0.024
 Ti = 40
 Td = 10
 Gains of P,I and D are:
 Kp = 0.024
 Ki = Kp/Ti = 0.024/40 = 0.006
 Kd = Kp*Td = 0.024*10 = 0.24

d. Build a control model as figure below

Figure 4.6: PID control model

Simulink:

Figure 4.7: PID control model in Simulink

 Step is set r(t) = 100 representing desired temperature at 100oC.

 Saturation has lower limit = 0, upper limit = 1 mean the output of the controller
have power from 0% to 100%.
 PID controller has parameters from question c.

Figure 4.8: PID block’s parameters

 Plant has transfer function from question a.

Figure 4.9 Plant’s subsystem

 Result:

Figure 4.10: System response

d.1 Survey the system with P controller ( kI = 0, kD = 0 ).

kp 0.01 0.02 0.03 0.04 0.05
Tr (s) 61.9 61.85 64.5 NaN NaN
σmax% 6.54 18.25 21.69 NaN NaN
exl (oC) 28.57 16.66 11.76 NaN NaN
txl (s) 76.1 181.7807 448.3 ∞ ∞
Figure 4.11: P controller with kp = 0.01

Figure 4.12: P controller with kp = 0.02

Figure 4.13: P controller with kp = 0.03

Figure 4.14: P controller with kp = 0.04

 Figure 4.15: P controller with kp = 0.05

Comment: As kp increase:
 Max Overshoot increases.
 Steady-state Error decreases.
 Settling Time increases.
 Oscillation increases and cause instability if kp is too high.

Explain: Increasing kp increases the speed of the response because the

control output (voltage) is proportional to kp – u(t) = e(t)*kp. However, it
also lead to oscillation, when the speed of response is too fast and the
regulation of the control can not keep up and cause instability.
d.2 Survey the system with PI controller (kP = 0.024, kD = 0)
kI 0.0001 0.0003 0.0005 0.0007 0.001
Tr (s) 72 71.9 71.9 72.5 NaN
σmax% 21.86 42.5735 60.51 70.93 NaN
exl (oC) 0 0 0 0 NaN
txl (s) 270.6317 321.97 506.3081 3.2919e+03 ∞

Figure 4.16: PI controller with kp = 0.024, kI = 0.001

Figure 4.17: PI controller with kp = 0.024, kI = 0.003

Figure 4.18: PI controller with kp = 0.024, kI = 0.005

Figure 4.19: PI controller with kp = 0.024, kI = 0.007

Figure 4.20: PI controller with kp = 0.024, kI = 0.01

 Comment: As ki increases
 Overshoot increases.
 Steady-state error eliminated.
 Settling time increases.
 Oscillation increases.
Explain: ki enhances the action of the response through accumulation of error
over time, therefore help the system reaches desired value faster but it also
cause oscillation alongside.

d.3 Survey the system with PD controller (kP = 0.024, kI = 0).

KD 0.05 0.1 0.3 0.5 0.9
Tr (s) 63.2 63.88 102 NaN NaN
σmax% 16.73 13.49 3.076 NaN NaN
exl (oC) 14.28 14.28 14.29 NaN NaN
txl (s) 198.2880 154.07 162.96 ∞ ∞

Figure 4.21: PD controller with kp = 0.024, kD = 0.05

Figure 4.22: PD controller with kp = 0.024, kD = 0.1

Figure 4.23: PD controller with kp = 0.024, kD = 0.3

Figure 4.24: PD controller with kp = 0.024, kD = 0.5

Figure 4.24: PD controller with kp = 0.024, kD = 0.9

 Comment: As kd increase:
 Overshoot decreases.
 Steady-state error has no change.
 Settling time decreases.
 Stability improve if kd is small. If kd is too high, it will increase
oscillation.
Explain: kd affects the system in terms of rate of change.

d.4 Assess the impact of P, I, D on the quality of the system.

P term determine the sensitivity to error of the system. Higher kp result in faster
response and consequently increase oscillation, reduce the quality of stability.
I term controls the system through the accumulation of error over time. Steady-
state error is eliminated when combine with P terms. Similar to P term, when ki is too
high, the system will have more oscillation and become harder to stabilize.
D term represents the rate of change of the error. It helps to reduce the overshoot
and oscillation improving quality of stability. But if kd is too high, the system become
too sensitive to the change in error and reverse the impact of D term.