Control lab report

TECHNICALUNIVERSITYOFMOMBASA

FACULTYOFHEALTHANDAPPLIEDSCIENCES

DEPERTMENTOFMATHEMATICSANDPHYSICS

BACHELOROFTECHNOLOGYINAPPLIEDPHYSICS(ELECTRONICSANDINSTRUMENTATIONS)

THIRDYEAR/SECONDSEMESER/2023

EEE4351:CONTROLENGINEERING2

GROUPLABORATORYREPORTONPROPOTIONALPLUSINTEGRALPLUSDERIVATIVECONTROLLEER

BY;
EZRAKIPRONONGETICH:BTAP

ERICKKIPYEGON:BTAP/290J/2020

LEC:

DATESUBMITTED:

ABSTRACT

ThepurposeofPID(ProportionalIntegralDerivative)controlistoautomatecontrolapplicationinmanufacturin
g.Theirutilizedtocontrollevel,temperatureandothervariousmanufactureprocesses.PIDisimportantasitallo

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Control lab report

wsengineerstoregulatefactors,whichifnotcontrolledcouldbedevastating.e.g.apipelinemusthaveapressure
regulatedotherwiseifthereismuchpressurethepipecouldburstcausinglossinincometothecompanyandmay
causefatalities,thatwhyit’simportanttousePIDcontrollerstoregulateandcontrol.Thisreportwillcontainhow
aPIDcontrollerregulatesairflowbyregulatingtheKvalues,howtheresultsobtainedsimulationandtherealvalu
esarethesameordiffer.

AIMSANDOBJECTIVES

Theaimsandobjectivesofthislabare:

1. TofindtheeffectofProportional,IntegralandDerivative(PID)regulatorandactionsonclosedloopstepr
esponseontheprocesstrainer.
2. Togaugetheprocesstransferfunctionfromanopenloopstepoftheprocesstrainer.
3. UtilizingMATLABsimulationsandcarryoutmodel-basedturningofPIDcontroller.
4. UtilizethetunedPIDcontrollerintheprocesstrainer.

INTRODUCTION

ProportionalIntegralDerivative(PID)isacontrolloopsystem.Itiscommonlyutilizedinthemanufacturingandot
herusesneedingtheuseofcontrol.PIDsregulateprocesses,gaugingsensors,controlprocessesandfinalregulat
oryfeatures.Allthesefeaturesgetjointowhatisknownasacontrolloop.Variousregulatoryprocessesandassem
bliessuchasfeedforwardandfeedbackcouldbecombinedwithregulatorysystems.Alternatively,methodsintu
ningcouldbeengaged,Cohen-Conon,ruleofThumbandZieglerNicholsmethods.

THEORY

AnumericalPIDcontrollerthatispresentintheProcessTrainer(PT)computer,itregulatestheprocedure.ThePTr
egulatorcomprisesofawhiteoperatorinterfaceorwhitesystemunit(keyboardandmonitor).ThekeysOandCar
eutilizedtoalternateclosedlooporopenloopofPT,thekeyKisutilizedtoalternatethePIDregulatorgainsandthe
keyPisutilizedtoprintproceduretimeresponsethatareshownonthemonitor.Withinaclosedloopsystemthere
isaprocedurewithintheplanttoregulateG(s),sensorsidentifythePV(processvalue)forexampleathermocoupl

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Control lab report

e,acontrollerwhichgivesregulatorofwhichprocedure,indicatedtotheaboveasaPIDterm,anoutcometoadevi
ceoractuatortoregulatetheinputincentivetotheprocedurelikeheat.

Whenlooptuningtherearevariousmethodswhichmaybeutilized,theusual

Methodsutilizedare:

 ZieglerNicholls
 Cohen&Coon
 RuleofThumb

TheZieglerNichollsmethodcomprisesplacingaloopintooscillationandgaugingtheoscillationphaseT.Oscillati
oniscreatedbyputtingIntegralandDerivativerelationstooff,decreasingtheProportionalsectiontilltheloopjus
toscillates.ThePtermsstabilizationatthebeginningofoscillationisutilizedtogaugetherequiredProportionalse
ction(Px).

TheCohen&Coonmethodappliespowerfromalowprocessrate,anoteisconstructedfortimepriortoanyrespo
nseismonitored(dead-
time)inadditionthegreatestrateofchangeoftheprocessoutcome.Byunitingthisinfowiththefinalstabilization
oftheprocessoutcomefollowingonfromthepowerapplied,thePartial,IntegralandDerivativeoutcomesarewo
rkedout.

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Control lab report

WhenKpisalternatedtherearevariouseffectswhichtakeplacewhenKpisincreased,thisresultsin:

Alternationsintransientandsteady-stateresponses
Reductioninsteadystateerror
Reductioninstability

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Control lab report

WhenKiisincreasedwithoutalternatingkpthentheeffectsare:

Noalterationinthesteadystateerror
Minorincreaseinsettlingtime
Reductioninstability(riseinmaximumovershootandoscillation)

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Control lab report

EQUIPMENTSUTILIZED
Therearevariousequipmentutilizedinthislabreport:

1. Processtrainer

Airistransferredwithinapolypropylenetubeviaanaxialfan,thenathermistorcircuitregulatestheheatingcomp
onentintheairstream.Thetemperatureisdetectedbyathermistor.Itispositionedwithinthetubeandfindsthel
agoftheprocess.Volumeofairflowisregulatedbyalternatingthevelocityofthefanthroughapotentiometer.Av
ariationmeansasupplysidedisturbancereducingstability.

Computer(laptop)wasutilizedfortheprocesstrainer.

2. Screenofthelaptopprintedoutthegraphofprocesstrainer.
3. LaptopwasalsoutilizedforMATLABsimulations.

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Control lab report

RESULTS:

Theexperimentyieldedasetofdata,includingtheresponseofthecontrolledsystemunderdifferentinputsignals
andPIDtuningparameters.Theresultswereanalyzedtodrawmeaningfulconclusionsabouttheperformanceo
fthePIDcontroller.Thekeyfindingsfromtheexperimentareasfollows:

ProportionalControl:TheproportionaltermofthePIDcontrollerinfluencedthesystem'sresponsespeedanderr
orreduction.Increasingtheproportionalgainresultedinafasterresponsebutalsoincreasedthelikelihoodofov
ershootandinstability.

IntegralControl:Theintegraltermaddressedsteady-
stateerrorsandhelpedbringthesystemclosertothesetpoint.Itplayedasignificantroleinreducingsteady-
stateerror,butexcessiveintegralgainledtolongersettlingtimesandpotentialinstability.

DerivativeControl:Thederivativetermconsideredtherateofchangeoftheerrorandprovideddampingtothesy
stemresponse.Ithelpedreduceovershootandimprovestabilitybutcouldamplifynoiseifimproperlytuned.

TuningParameters:ThepropertuningofthePIDcontrollerinvolvedfindingtherightbalancebetweenthepropo
rtional,integral,andderivativegains.Adjustingtheseparametersinfluencedthesystem'sresponsecharacteris
tics,suchassettlingtime,overshoot,andsteady-stateerror.

DISCUSSION:

TheexperimentdemonstratedtheeffectivenessofaPIDcontrollerinachievingcontrolobjectives.Bycombining
proportional,integral,andderivativecontrolactions,thePIDcontrollercouldmaintainstability,reducesteady-
stateerror,andimprovetransientresponse.ThetuningofthePIDcontrollerplayedacrucialroleinachievingopti
malperformance,requiringatrade-offbetweenspeed,accuracy,andstability.

Conclusion:

Inconclusion,thePIDcontrollerdemonstrateditseffectivenessincontrollingthebehaviorofasystem.Theprop
ortional,integral,andderivativecontrolactionsprovidedbythePIDalgorithmenabledstability,reducedsteady
-
stateerror,andimprovedtransientresponse.Throughexperimentationandanalysis,theperformanceandtuni
ngparametersofthePIDcontrollerwereassessed,contributingtoabetterunderstandingofitspracticalapplica
tionsincontrolsystems.

RECOMMEDATIONS:

Itisimportanttonotethattheexperimentmighthaveencounteredlimitations.Thebehaviorofthecontrolledsys
tem,externaldisturbances,andnoisecouldhaveaffectedtheperformanceofthePIDcontroller.Additionally,th
etuningprocessreliesontheoperator'sexpertiseandsubjectiveassessment.Toimproveaccuracyandperform
ance,advancedtuningmethods,suchasZiegler-Nicholsormodel-basedapproaches,canbeexplored.