PI Control in PID

EXPERIMENT NO. 04
(PI Controller)

Student Name: Date:

Division: CH-
Batch:
Roll No.

Scilab – Study of Integral controller in PID

Objective:

 To carry out a dynamic simulation system controlled with an Integral controller on Scilab

 To conduct a simulation of an Integral Control and to analyze the effect of Integral

controller system behavior on the control system performance.

Software Package
Scilab 6.1

Practical Procedure

The procedure consists of monitoring the control system response for various Reset values –
from high to low. For each Reset value, the control system is given a step change in setpoint
and allowed to reach a steady state. This is followed by a reverse step change to the original
setpoint. The steps to be followed are as follows:
1. Enter the required unique label for the log file to be created on the data acquisition software.
2. Configure the UDC1000 PID controller as follows:
PB: Set a reasonable PB value that gives sufficient offset, so that offset elimination can be
demonstrated.
Rate: 0 (No derivative action)
Bias (Manual Reset): Doesn’t matter
SP: Required value Reset: Choose a large value to start with, say 1 or 2 min.
3. Put the controller in Auto mode and let the temperature reach steady state.
4. Give a step change in setpoint, around 5 – 10 0C. Observe the control system response
until a new steady state is reached.
 PI Control in PID

5. Repeat 4 by changing setpoint back to the original value.

6. Change reset and repeat the up-down setpoint change procedure. Repeat this for a total of
4-5 reset values, from high to very low.

Theory

The contribution from the integral term is proportional to both the magnitude of the error
and the duration of the error. The integral in a PID controller is the sum of the
instantaneous error over time and gives the accumulated offset that should have been
corrected previously. The accumulated error is then multiplied by the integral gain (Ki) and
added to the controller output.

The integral term is given by

The integral term accelerates the movement of the process towards setpoint and eliminates
the residual steady-state error that occurs with a pure proportional controller. However,
since the integral term responds to accumulated errors from the past, it can cause the
present value to overshoot the setpoint value

Description of Simulated Control System

1. Creation of Scilab model

The simulated control system consists of a ‘third order’ process controlled using a PID
controller.

Model Elements:

a. Transfer Function: A third-order transfer function is to be used.

b. Sum: This block is used as a comparator with two inputs & one output.
The inputs are Setpoint from the ‘constant’ block & controlled variable,
which is the output of the process.
c. PID: This is the PID controller block, with P, I & D representing
coefficients of the Proportional, Integral & Derivative parts of
the controller respectively
d. Constant: This block provides the setpoint to the control system
 PI Control in PID

e. Scope: This block plots required variables as a function of time

f. Mux: This block is used to send more than one variable to the
Scope block for plotting.

2. Simulation Parameters

a. Process Model – G(s) = 6/[s3 + 6s2 + 11s + 6]

b. Input constant – 1
c. Summation Parameters – [+1;-1]
d. PID Parameters – P = 8, I = 3, D = 0

NOTE: From the previous experiment, we determined that the system started becoming
unstable at Kc = 8. Hence the same value of Kc is taken and changes in values of Ti are made

Block diagram of the simulated control system

 PI Control in PID

Results at Kc = 8
Pi Value Graph
3

Comments At this value, the oscillations remain constant, decay ratio 1, overshoot remains constant

4.8

Comments We observe that at Ti = 4.8s, the oscillations start to increase, indicating that the system is
becoming more unstable

2.5
 PI Control in PID

Comments On decreasing the value of Ti, the oscillations decrease indicating that the system is tending
towards stability

Comments We observe further decrease

Comments System tending towards stability

0.82

Comments Hence, at this value of Ti, the system achieves stability

 PI Control in PID

Systems for different set points at Ti = 3

Set Pt. Graph
1

3
 PI Control in PID

Results
Parameters obtained at Ti = 3
Set Pt. Offset Overshoot Decay R Rise Time
1 0.796 0.796 1.023 0.677
2 1.546 0.773 1.052 0.729
3 2.339 0.786 1.463 0.703
4 3.173 0.793 1.021 0.667

Conclusion
Overshoot Rise Time Offset
Kc increases Increases Slight decrease Increases
Ti increases Increases Increases Large Increase
Set pt. increases Negligible Slight decrease Increases
(keeping Ti constant) Deviation