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Pid Controller - Group - 3

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9 views

Pid Controller - Group - 3

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: 3
Roll Number Member Name
220095 Akash Kumar Gupta
220110 Alankrit Gupta
220137 Anas Ali
220104 Akshat Srivastava
220103 Akshat Shrivastav

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:
𝑡
P(t) = Kcϵ(t) + KcτI ∫0 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:
𝑡
P(t) = Kcϵ(t) + KcτI ∫0 𝜖(𝑡′)𝑑𝑡′ + KcτD 𝑑𝜖
𝑑𝑡
+ 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

PB (Proportional Band):
100
For all cases: PB = 𝐾𝑐
PB = 100/100 = 1%

Ti (Integral Time):
For P: Ti = 0
For PI and PID: Ti = 150

Td (Derivative Time):
For P and PI: Td = 0
For PID: Td = 70

Rise Time (Tr):


This is the time taken for the system to reach from 10% to 90% of the set point value (38°C).
• For P-controller, rise time is approximately 5 min (from 28.9°C to 34.8°C)
• For PI-controller, rise time is approximately 5.5min (from 31.5°C to 38.1°C).
• For PID-controller, rise time is approximately 1min seconds from(35.9°C to 36.9°C) .
Time of First Peak (Tp):
The time at which the system reaches its maximum overshoot.
• For P-controller, tp ≈ 8 min.
• For PI-controller, tp ≈ 9.5 min.
• For PID-controller, tp ≈ 14 min

Overshoot (a/b):
Overshoot is the difference between the peak value and the set point .
• For P-controller, a = 35.7, b = 37, so overshoot is 0% (no overshoot).
39.7−39
• For PI-controller, peak a = 39.7, so overshoot = 39 =1.79%.
41.7−41
• For PID-controller, peak a = 41.7, so overshoot = =1.71%.
41

Decay Ratio (c/a):


The ratio of successive peak amplitudes.
• For PI-controller, c = 39 (next lower peak), a = 39.7, so decay ratio = 39/39.7 =0.982.
• For PID-controller, c = 41.1, a = 41.7, so decay ratio = 41.1/41.7=0.986

Period of Oscillation (P):


The time difference between two successive peaks.
• For PI-controller: Approximate period P = 10.5 min.
• For PID-controller: Approximate period P = 6 min.

Angular Frequency of Oscillation:


ω = 2π/P
For PI-controller: ω = 2×3.1416/10.5 = 0.598 rad/min
For PID-controller: ω = 2×3.1416/6 ≈1.05 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. Lab Data Sheet:

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