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Pid Controller - Group - 24

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16 views11 pages

Pid Controller - Group - 24

Uploaded by

vardaan152004
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHE381 - Process dynamics and control :

Characteristics of PID Controller

Group: 24

Vishal Kumar 221202


Nitin Gautam 220733
Vardaan Vig 221170
Vyom Pratap Singh 221211
Varsha 211148

1. Objective:
The objective of this experiment is to study the characteristics and performance of a PID controller.

2. Introduction:
In modern process industries, advanced control systems are crucial for enhancing plant productivity.
To effectively design and operate these control systems in a rapidly evolving technological
environment, engineers and technicians must be well-versed in control system functionalities.

3. Theory:
Various combinations of control actions are used in industrial processes, including:
• Proportional Controller (P)
• Proportional-Integral Controller (PI)
• Proportional-Derivative Controller (PD)
• Proportional-Integral-Derivative Controller (PID)

Proportional Controller:
A proportional controller generates an output signal proportional to the sys tem error. It is
mathematically expressed as:

P(t) = Kcϵ(t) +Ps

where:
• P(t) is the output signal,
• Kc is the proportional gain,
• ϵ(t) is the error,
• Ps is the steady-state value.

Proportional-Integral (PI) Controller:


The PI controller combines proportional and integral actions, described by:

P(t) = Kcϵ(t) + KcτI ∫0𝑡 𝜖(𝑡′)𝑑𝑡′ + Ps


where:
• τI is the integral time.

The integral action ensures that the system always returns to its set point, eliminating steady-state offset.
However, it may introduce oscillations. PI controllers are commonly used in flow, level, and pressure control.

Proportional-Integral-Derivative (PID) Controller:

The PID controller integrates proportional, integral, and derivative actions into a single control strategy:

P(t) = Kcϵ(t) + Kc + Ps

This combination offers the stability of proportional control, the offset-eliminating capability of integral
control, and the fast response of derivative control. It provides smooth regulation with minimal oscillations.

4. Description of Experimental Setup:


The experimental setup consists of a stirred tank equipped with a heater. Water is supplied from an
overhead tank, and the flow rate can be adjusted using a needle valve and monitored via a rotameter.
The PID controller automatically senses temperature and adjusts the heater input based on the
selected control mode (P, PI, PD, or PID). The controller can be set to auto-tune mode to
automatically determine the optimal P, I, and D values. Experiments can be conducted by adjusting
flow rates and setting different temperature targets.

5. Utilities Required:
• Electrical Supply: Single-phase, 220V AC, 50Hz, 0.5kW with earth connection •
Water Supply: Maximum flow rate of 10 liters/hour with drainage.

6. Experimental Procedure:
1. Connect the water and electrical supply to the apparatus.
2. Adjust the flow rate of water using the rotameter.
3. Turn on the heater and stirrer in the tank.
4. Set the desired temperature on the PID controller.
5. Input the required values of P, I, and D based on the selected control mode (P, PI, PD, or PID).
6. Record the time taken for the process variable (PV) to reach the set point at the given P, I, and D
values.
7. Calculations and Observations:

Figure 1: Temperature vs Time Response Curve for P-Controller


Figure 2: Temperature vs Time Response Curve for PI-Controller

Figure 3: Temperature vs Time Response Curve for PID-Controller


Kc(Proportional Gain):
Given: Kc = 100/1.2

PB (Proportional Band):
For all cases: PB = 100/Kc
PB = 1.2

Ti (Integral Time):
For P: Ti = 0
For PI and PID: Ti = 180

Td (Derivative Time):
For P and PI: Td = 0
For PID: Td = 110

Rise Time (Tr):


This is the time taken for the system to reach from 10% to 90% of the set point value.
• For P-controller, rise time is approximately 5 mins. (SP=36°C) (28.3 – 35.1°C)
• For PI-controller, rise time is approximately 6 mins. (SP=38°C) (29.7 – 37°C)
• For PID-controller, rise time is approximately 5 mins. (SP=38°C) (31.5 – 37.2°C)

Time of First Peak (Tp):


The time at which the system reaches its maximum overshoot.
• For P-controller, tp ≈ 8 mins
• For PI-controller, tp ≈ 8 mins
• For PID-controller, tp ≈ 12 mins

Overshoot (a/b):
Overshoot is the difference between the peak value and the set point .
• For P-controller, a = 34.8, b = 36, so overshoot is 0% (no overshoot).

• For PI-controller, peak a = 38.9, so overshoot = (38.9-38)/38 =2.37%.


• For PID-controller, peak a = 39, so overshoot = (39-38)/38 =2.63%.

Decay Ratio (c/a):


The ratio of successive peak amplitudes.
• For PI-controller, c = 38.2 (next lower peak), a = 38.9, so decay ratio = 38.2/38.9 =0.982.
• For PID-controller, c = 38.4, a = 39, so decay ratio = 38.4/39 = 0.985

Period of Oscillation (P):


The time difference between two successive peaks.
• For PI-controller: Approximate period P = 9 mins
• For PID-controller: Approximate period P = 4.5 mins

Angular Frequency of Oscillation:


ω = 2π/P
For PI-controller: ω = 2×3.1416/9 = 0.698 rad/min
For PID-controller: ω = 2×3.1416/4.5 ≈ 1.395 rad/min

8. Precautions:
• Avoid Water Spillage: Ensure that water supply connections are properly secured to prevent
leaks and accidental water spillage, which could damage the electrical components.
• Monitor Temperature Carefully: Do not set the heater to excessively high temperatures, as this
could cause overheating and potential damage to the system.
• Ensure Proper Earthing: Verify that the electrical connections are properly grounded to prevent
electrical hazards during the experiment

9. Optimization of PI Controller Parameters for a faster response:


In our experiment, we performed an additional optimization step to enhance the response time of the
Proportional-Integral (PI) controller. The initial parameters were set with a proportional gain Kc =
100/1.2 and an integral time τi = 180. However, to achieve a faster response, we adjusted these
parameters as follows:
• Increased Kc from 100/1.2 to 100/0.8: By increasing the proportional gain, the system
becomes more responsive to changes in error. This adjustment amplifies the controller's
reaction to deviations from the setpoint, leading to a quicker correction. However, this also
increases the risk of overshoot, which we accounted for by carefully balancing the other
parameters.
• Decreased τi from 180 to 100: The integral time determines how quickly the integral action
accumulates to correct the error. By decreasing τi, we made the integral action more
aggressive, thereby reducing the time it takes for the system to eliminate steady-state errors.
A shorter τi accelerates the system's convergence to the setpoint but can also introduce
oscillations if set too low.
The combination of increasing Kc and decreasing τi resulted in faster response.
Figure 4: Temperature vs Time Response Curve for Optimized PI-Controller

Lab Data Sheet:

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