CONTROL SYSTEM-II

LAB FILE
Bachelor of Engineering
(Division of Instrumentation & Control
Engineering)

SUBMITTED BY:

NETAJI SUBHAS INSTITUTE OF TECHNOLOGY

Azad Hind Fauj Marg, Sector-3, Dwarka, New Delhi110 078
Telephone: 2509 9036-42, 2509 9050, Fax: 2509 9022

Website: http://www.nsit.ac.in

INDEX
S. No. Experiment

Remarks
SOFTWARE EXPERIMENTS

1
2
3
4
5

Modelling of a DC Motor and studying the

PID Design Method
Modelling a Cruise Control System and
finding the solution using PID control
Frequency Design method and a State-Space
Controller for a Cruise Control System
Simulink modelling of a DC Motor speed
Simulink modelling of a DC Motor position

HARDWARE EXPERIMENTS
6
7

9
10

To perform flow control using PID Controller

in a process rig.
To perform step response, frequency
response, position control with velocity
feedback, PID control on analogue dc motor
To perform various experiments on
pneumatic/electro-pneumatic systems using
pneumatic/electro-pneumatic valves.
To perform closed loop pressure feedback
control using PID controller
To perform temperature control using process
control module

SOFTWARE
EXPERIMENTS

EXPERIMENT 1
Aim
Modelling of a DC Motor and studying the PID Design Method

MATLAB CODE
% Problem 1 : Modeling of DC Motor and studying the PID Design method.
J = 0.01;
% Moment of inertia of rotor(kg.m2/s2)
b = 0.1;
% Damping ratio(Nms)
R = 1;
% Electric resistance(ohm)
L = 0.5;
% Electric inductance(Henry)
K = 0.01
% Electromotive force constant(Nm/Amp)
Ke = K;
Kt = K;
Kp = 100;
% Proportional constant
Ki = 1;
% Integration constant
Kd = 1;
% Derivative constant
% State space matrics
A = [-b/J K/J;-K/L -R/L];
B = [0;1/L];
C = [1 0];
D = 0;
% State space to transfer function conversion
[b,a] = ss2tf(A,B,C,D);
% Open loop transfer function
G = tf(b,a);
G
% Step response of OLTF
x = step(G);
figure(1);
plot(x);
xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response of original the plant');
%Step response of P comtroller
C = pid(Kp);
T = feedback(C*G,1);
T
x1 = step(T);
figure(2);
plot(x1);
xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response of P controller');
% Step renponse of PID controller
C1 = pid(Kp,Ki,Kd);
T1 = feedback(C1*G,1);
T1
x2 = step(T1);
figure(3);

plot(x2);
xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response of PID controller');
% Now change the value of Kp to 10 and check the step response of PID
% controller.
% Now change Ki to 200 and check step response of PID controller.
% Now change Kd to 10 and check PID controller.

OUTPUTS
K = 0.0100
G=
2
-----------------s^2 + 12 s + 20.02
Continuous-time transfer function.
T=
200
---------------s^2 + 12 s + 220
Continuous-time transfer function.
T1 =
2 s^2 + 200 s + 2
-----------------------s^3 + 14 s^2 + 220 s + 2
Continuous-time transfer function

EXPERIMENT 2
AIM
Modelling a Cruise Control System and finding the solution using PID control

MATLAB CODE
% Problem 2 : Modeling of cruise control system and finding the solution
using
% PID cotroller
m = 1000;
% Mass of car in kg
b = 50;
% Damping constant in Nsec/m
u = 500;
% Force applied by the engine in N
Kp = 100;
% Proportionality constant
Ki = 1;
% Integral constant
s = tf('s');
% State-space matrices
A = [0 1;0 -b/m];
B = [0;1/m];
C = [0 1];
D = 0;
% State-space to transfer function conversion
[b,a] = ss2tf(A,B,C,D);
% Open loop trensfer function
G = tf(b,a);
G
% Step response of OLTF
x = step(u*G);
figure(1);
plot(x);
axis([0 100 0 10]);

xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response of original the plant');
%%
% Step response of the plant with proportional gain Kp = 600 & 100 & 1000
C = pid(Kp);
T = feedback(C*G,1);
T
x1 = step(T);
%subplot(2,2,2);
figure(2);
plot(x1);
%axis([0 100 0 10]);
xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response of original the plant with proportional gain Kp=600');
%%
% Step response of the plant with PI control Kp=800 and Ki=40 and also
% Kp=600 & Ki=1
C = pid(Kp,Ki);
T1 = feedback(C*G,1);
T1
x2 = step(T1);
%subplot(2,2,2);
figure(3);
plot(x2);
%axis([0 100 0 10);
xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response of original the plant with PI control Kp=800 and
Ki=40');

OUTPUTS
G=
0.001 s
-----------s^2 + 0.05 s
Continuous-time transfer function.
T=
0.1 s
-----------s^2 + 0.15 s
Continuous-time transfer function.

T1 =
0.1 s^2 + 0.001 s
-----------------------s^3 + 0.15 s^2 + 0.001 s
Continuous-time transfer function.

% Bode plot of OLTF

subplot(2,1,2),bode(G);
grid on;
%%
% Now adding a proportional constant Kp = 100
C = pid(Kp);
T = feedback(C*G,1);
x1 = step(T);
figure(2);
subplot(2,1,1),plot(x1);
xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response with proportional constant Kp = 100');
% Bode plot
subplot(2,1,2),bode(T);
grid on;
%%
% Now adding a proportional constant Kp1 = 600
C = pid(Kp1);
T = feedback(C*G,1);
x1 = step(T);
figure(3);
subplot(2,1,1),plot(x1);
xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response with proportional constant Kp = 600');
% Bode plot
subplot(2,1,2),bode(T);
grid on;
%%
% Designing a lag controller
T = 700;
a = 0.05;
s = tf('s');
C = (1+a*T*s)/[a*(1+T*s)];
T1 = u*C*G;
x1 = step(T1);
figure(4);
subplot(2,1,1),plot(x1);
xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response with with a lag controller');
% Bode plot with lag controller
subplot(2,1,2),bode(T1);
grid on;
%%
% Designing a lag controller with gain K = 1500
T = 700;
a = 0.05;
K = 1500;
C = (1+a*T*s)/[a*(1+T*s)];
%T1 = feedback(C*G,1);
T1 = K*C*G;
x1 = step(T1);
figure(5);
subplot(2,1,1),plot(x1);
xlabel('time(sec)');
ylabel('velocity(m/sec)');
title('step response with with a lag controller');
% Bode plot with lag controller

subplot(2,1,2),bode(T1);
grid on;

OUTPUTS
G=
0.001 s
-----------s^2 + 0.05 s
Continuous-time transfer function.

EXPERIMENT 4
AIM
Simulink modelling of a DC Motor speed

SIMULINK MODEL

COMPLETE MODEL

Working equations:J

d2
d
d2 1
d
=T
b
=
= (Ktib )
2
2
dt
J
dt
dt
dt
L

di
di 1
d
=Ri +V e= = (Ri+V Ke )
dt
dt L
dt

EXPERIMENT 5
AIM
Simulink modelling of a DC Motor position

SIMULINK MODEL

COMPLETE MODEL

Working equations:J

d2
d
d2 1
d
=T
b
=
= (Ktib )
2
2
dt
J
dt
dt
dt
L

di
di 1
d
=Ri +V e= = (Ri+V Ke )
dt
dt L
dt

HARDWARE
EXPERIMENTS

EXPERIMENT NO.6
AIM: To perform flow control using PID controller in a process rig.
APPARATUS: Process Rig (PCT-100), Power Supply, Computer.
THEORY:
PID Control
It uses 3-term control to calculate output signal which is used to
drive the control element of PCU. This takes a measured value from

sensor (here-flow transducer) and compares it against set point

(desired value). The discrepancy between set point and measured
value, called as error is used to determine control output signal.
Three elements of controller are:
PROPORTIONAL
It produces output that is directly proportional to error. This function
can be described by proportional gain or proportional band.
Q(t) = PG * e(t)
PB = 100/PG
INTEGRAL
It sets the time taken for integral action to duplicate the
proportional action of controller, if error remains constant during this
period. Most commonly used to remove proportional offset.
DERIVATIVE
It is based on time state of change of error multiplied by a constant
called Derivative Action Time (D) Controller.
d
Q(t) = PG * D dt e(t )
It is final refinement of 3-term controller and is often used to reduce
response time of system. However, it can exaggerate high
frequency noise in the system.
CONTROL PANEL
It provided an interface to 3 term controller (PID) of PLC. Here set
point, proportional, integral and derivative values along with the
types of control can be selected.
Functions of control panel are:
1. Displays current flow rate (litres per minute)
2. Displays current flow rate in a bar graph form
3. Displays current set point (litres per minute)
4. Displays current set point in bar graph form.
5. How setpoint value can be obtained from 2 different sources.
These being either the flow rate set point POT situated on PLC
mounting frame control panel or setpoint entry box.
6. Displays the current proportional, integral and derivative
values of PID loop controller within PLC. The proportional value
is a gain constant whereas integral and derivative values are
minutes per repeat.
7. Displays pump output as percentage.

 FUNCTION PANEL
It consists of 4 buttons and a status panel.
1. START: It is used to start the flow control cycle. The traffic light
symbol situated to right of these buttons will go from red to
green indicating that flow control routine within the PLC is active.
2. STOP: It is used to stop the flow control cycle. Traffic light symbol
will go from green to red indicating that flow control routine
within PLC is disabled.
3. MENU: It is used to return to the main menu screen.
4. ALARMS: Used to popup lookout alarms window and show a list of
any current or created alarms.
Status panel has 2 indciators that show status of both RUN/STOP
switch on PLC mounting from control panel of process tank, tank-full
switch.
FLOW MEASUREMENT
Flow rate of liquid is measured by means of flow meter of impeller
type. The fluid flow through the meter rotating the impellers which
has 6 blades. Mounted on either side of impeller is an IR transmitter
and receiver producing an IR beam which is broken by rotating

impeller. 6 pulses are: produced for 1 revolution of rotor, thus

producing a frequency output proportional to flow rate.
The approximate full scale frequency is 570Hz (pulse/sec) which is
converted to a voltage by signal conditioning circuit. This voltage is
used to drive flow rate LED display on the rig and also converted to
either of following signals : 0-5V, 1-5V, 0-20mA or 4-20mA.
PUMP
Pump used is centrifugal type. It is not positive displacement type
and thus its output is not necessarily proportional to speed, though
variation in speed will of course vary output flow rate.
Activating Voltage : 12V DC
Maximum Continuous Current: 6 Amperes.
PROCEDURE
1. PROPORTIONAL OFFSET
i.)
Set the flow integral action time and derivative action time to
zero.
ii.)
Tune proportional controller from a low to high gain, recording the
system response as either a point or a trend file.
2. EFFECT OF LOAD CHANGE ON A PROPORTIONAL CONTROLLER
i.)
Introduced a load change by either divesting the fluid flow
through cooler using manual diverter valve or turning manually
controlled valve to restrict fluid flow.
3. EFFECT OF INTEGRAL ACTION
i.)
Using previously tuned system with a stable proportional offset
gradually introduce integral action.
ii.)
Record the system response as either a print out or trends file.
iii.) Introduce load changes and record effect of controller.
4. EFFECT OF DERIVATIVE ACTION
i.)
Using your optimum tuned PI controller developed above,
gradually introduce derivative action.
ii.)
Record system response.

OBSERVATION
1.)
PROPORTIONAL OFFSET
As the gain was increased, response showed a proportional offset
and finally become unstable.
2.)
EFFECT OF LOAD CHANGE ON PROPORTIONAL
CONTROLLER
The proportional controller output to pump remains unchanged, a
bigger proportional offset was incurred.
3.)
EFFECT OF INTEGRAL ACTION
Having introduced a load change, integral action will increase the
controller output to account for load change.
4.)
EFFECT OF DERIVATIVE ACTION
Derivative action improves system response time, however, it will
easily create an unstable system and exaggerate signal noise. The
PCU flow cycle has small time constant and there is little need for
derivative action to decrease response time. Derivative action is
best implemented in slower control cycles.

Tuned Value of Various Parameters

Set Point = 0.9
Measured Value = 0.9
Proportional Gain = 0.6
Proportional Band = 100/0.6
Integral Action Time = 0.1
Derivative Action Time = 0
Set Point (Source) = 1.5
RESULT: Effects of proportional, integral and derivative controls were
observed from trends and were found in accordance with theory studied .

EXPERIMENT NO.7
AIM: For Analog DC Motor Control, perform the following:
a)
b)
c)
d)

Step Response/Time Response

Frequency Response
Position Control with V Feedback
PID Control

APPARATUS:
M315 DC Motor Module, AS3 Command Potentiometer, CL10 Interface
Module with PC Connection Lead, Power Supply, 4mm Connecting Leads,
Virtual Control Laboratory Software

THEORY:
Step Response:
There are two parts to any time response analysis:
a) A transient period which occurs immediately the input changes and
during which system seems to be dominated by disturbances other
than the input.
b) A steady state condition which is reached after transients have died
out. The system seems to have settled down to the influence of
input.

Block Diagram of DC motor

PROCEDURE:
1. Start VCL software and load the setup.
2. Disengage the output potentiometer, then switch the power ON and
enable the motor.
3. The principle trace is step response.
4. Expand the time scale by decreasing the rate to 10 msec and click
x2 time multiplier.
5. Click on freeze and turn time ON.

Transient Response: Initial Slope Method

6. A and B are now final and initial values of trace for response. Click
on slope box. Move slope line until its slope is same as that of initial
part of transient.

MEASUREMENTS AND CALCULATIONS:

Select channel/input/white
Input span = A1 B1 = 6
Change to channel 4/velocity/purple
Output span = A4 B4 = 5.05
Gain = output span /input span = 5.05/6

Transient Response: Initial Slope Method

Click on time box and click where slope line crosses A.
Time shown is time constant t1 = 0.325 sec
Move time line to the time at which velocity reaches final level.
Time constant t2 = 0.175 sec
Move time line to the time at which velocity reaches 63% level.
Time constant t2 = 0.3 sec
THEORY:
Frequency Response:
There is a definite mathematical relationship between frequency
composition of signal and its shape in time knowing the output frequency
allows the signal to be exracted from noise using tuned filters or digital
filtering techniques.

PROCEDURE:
1. Start VCL software and load the setup.
2. Disengage the output potentiometer, then switch the power ON and
enable the motor.

3. At different instants, freeze display and turn frequency ON using the

frequency button.
4. Measure Vp-p by placing lines A and B on maximum and minimum
velocity values. The peak to peak value is A-B. At high frequencies
output amplitude will drop.
5. Select phase by clicking in box D. Move vertical line until it
intersects with peak value.

THEORY:
Position Control with Velocity Feedback:
A system has natural frequency n and damping factor . A scheme is
required whereby the proportional gain can be increased to speed up the
system and another control introduced to increase damping. The
additional control is called Velocity Feedback. A separate tachogenerator
is used to generate velocity signal.

PROCEDURE:
1. Start VCL software and load the setup.
2. Disengage the output potentiometer, then switch the power ON and
enable the motor.

3. Set the gain Ke to 2.5 and velocity feedback Kv to 0 (OFF).

4. This magnifies the control of input and position trace has been set
to 5. Select time x4.
5. Now add VFB by Kv = 1. Oscillations reduce.
6. Increase and then adjust Kv until there is just a small overshoot and
note the value of VFB setting for optimum value of Kv.

OBSERVATIONS:
Gain controls the speed of response until the drive saturates. Velocity
feedback control the amount of damping.
Value of Kv VFB setting for optimum velocity = 1.9

THEORY:
PID Control:
With proportional control, there is always an error in output. It decreases
as gain increases, but never disappears. Though it speeds up transient
response but it introduces an unwanted overshoot and oscillations.
Integral effect eliminates the steady state error.

PROCEDURE:
1. Start VCL software and load the setup.
2. Proportional Control: Set integral time constant (ITC) OFF and
derivative time constant (DTC) to 0.
3. Set proportional band (PB) to 100%. Error is 50%.
4. Change values of PB until it reduces the error to 4%.
5. Integral Control: Decrease input level to 30% and set PB to 40%. Set
ITC = 1 sec an click ON/OFF box. Click channel 4 ON.
6. Decrease ITC till a good response is obtained.
7. Make note of PI settings.
PB = 30%, ITC = 0.245 sec
8. Change plant to process.
9. Increase DTC until only a small overshoot can be seen.
DTC = 0.125 sec
OBSERVATIONS (Proportional Control):
Increasing gain decreases error but output gets increasingly noisy.

OBSERVATIONS (Proportional Integral Control):

Input level = 30%, PB = 40%
ITC = 1 sec
PB = 30%, ITC = 0.245 sec
DTC = 0.125 sec

EXPERIMENT NO.8
AIM
To perform various experiments on pneumatic/electro pneumatic systems
using pneumatic/electro pneumatic valve.
APPARATUS REQUIRED
Double acting cylinder, single acting cylinder, solenoid spring valve,
relay,push button, toggle switch and power supply
THEORY
SOLENOID VALVE--A solenoid valve is
an electromechanically operated valve. The valve is controlled by an electric
current through a solenoid: in the case of a two-port valve the flow is
switched on or off; in the case of a three-port valve, the outflow is switched
between the two outlet ports. Multiple solenoid valves can be placed together
on a manifold.
Solenoid valves are the most frequently used control elements in fluidics.
Their tasks are to shut off, release, dose, distribute or mix fluids. They are
found in many application areas. Solenoids offer fast and safe switching, high
reliability, long service life, good medium compatibility of the materials used,
low control power and compact design.

DOUBLE & SINGLE ACTING CYLINDER-- A single-acting cylinder in

a reciprocating engine is a cylinder in which the working fluid acts on one side
of the piston only. A single-acting cylinder relies on the load, springs, other
cylinders, or the momentum of a flywheel, to push the piston back in the
other direction. Single-acting cylinders are found in most kinds of
reciprocating engine. They are almost universal in internal combustion
engines.
A double-acting cylinder is a cylinder in which the working fluid acts
alternately on both sides of the piston. In order to connect the piston in a
double-acting cylinder to an external mechanism, such as a crank shaft. Many
hydraulic and pneumatic cylinders use them where it is needed to produce a
force in both directions.
RELAY--A relay is an electrically operated switch. Many relays use
an electromagnet to mechanically operate a switch, but other operating
principles are also used, such as solid-state relays. Relays are used where it is
necessary to control a circuit by a low-power signal or where several circuits
must be controlled by one signal.
TOGGLE SWITCH-- A toggle switch is a class of electrical switches that are
manually actuated by a mechanical lever, handle, or rocking mechanism.
Toggle switches are available in many different styles and sizes, and are
used in numerous applications. Many are designed to provide the
simultaneous actuation of multiple sets of electrical contacts, or the
control of large amounts of electric current or mains voltages.

OBSERVATION
EXPERIMENT 1
NC SOLENOID VALVE

Connect the components as shown in figure.

When the PUSH button is pressed the circuit is closed &single acting
cylinder is extended on releasing.

EXPERIMENT 2
RELAY

Connect the circuit as shown.

When push button is pressed the circuit is closed. The relay is energised
by push button & single acting cylinder is extended & it retracts on
releasing button.

EXPERIMENT 3
5/2 SOLENOID SPRING VALVE AND RELAY

Connect the components as shown in figure.

When the PUSH button is pressed the circuit is closed. The relay is
energised by push button & double acting cylinder is extended & it
retracts on releasing button.

EXPERIMENT 4
5/2 SOLENOID SPRING VALVE AND PUSH BUTTON

Connect the components as shown in figure.

When the PUSH button is pressed the circuit is closed & relay energizes
the circuit. The valve is energised by push button & double acting cylinder
is extended & it retracts on releasing button.

RESULT
Various experiments on pneumatic/electro pneumatic systems using
pneumatic/electro pneumatic valve are performed and results are observed.

EXPERIMENT NO.9

AIM: To perform closed loop pressure feedback control using a PID

controller
APPARATUS : PCT-M3 pressure module, power supply, computer
THEORY :
Definitions of the term associated with software functions
START/STOP-this start and stop stimulates the process. Once the process
starts,the data will be captured and displayed on trend. Once stopped
data can be saved and printed.
CONTROL MODE-it may be PID or manual control.
PID control-it uses 3 term control to calculate the output signal which is
used to derive the control element of PCU unit. Essentially 3 team
controller takes a measured value from a sensorand compares against set
value. The discrepancy between measured and derived value called an
error is use to determine the control output signal. The 3 elements are :
PROPORTIONAL:
it produces an output that is directly proportional to the error. This
function can be described by either the proportional gain PG or
proportional band PB. Controllers that uses only this action are possible
however they can suffer from steady state error problems. This control
error is called proportional offset
say Q(t) is output
C is controller
E(t) is error
then,
Q(t)= PG* e(t)
PB=a0/PG

INTEGRAL:
Its set time taken for integral action to duplicate the proportional action
of controller,if error was to remain constant during period.it is not

commonly use to remove any proportional offset.

DERIVATIVE:
it is based on time rate of change of error multiplied by a constant called
derivative function time (D).
controller equation is : Q(t)=PG*D de/dt
It is the final refinement of a 3 team controller and is often use to reduce
the response time of the system. However it can also exaggerate high
frequency noise in the system.

SAMPLE TIME:
It is time interval between successive measured values. A long period
between samples reduce the need of rapid analogous to digital conversion
and reduces to computational load but degrading effects become
significant.
Time between consecutive samples is dead time.
EXPERIMENT TIME:
it is for batch volume experiment and may be varied between
seconds.this is period over which target volume of water should be
delivered at overflow of tank.
TRAFFIC LIGHT:
it is to show the real time state of function,when red process has been
halted. When green process is real time when amber,process is running
slow heavy processing of some sort is taking place. When green process is
running in real time.
TRENDS:
Shows result from experimental session.
The process control technology pressure module model.PCT M3 has the
following features:

pressure control
speed controlled compressor
pressure range 0-1 bar

electronic pressure transducer

manual valve to generate disturbances
connection to a PC via USB interface
graphical control with data logging

PROCEDURE:
by operating the process control technology pressure modules,using PLC
controlled pressure control, the vital characteristic can be easily
demonstrated by varying tuning of PID controller
PROPORTION OFFSET:
set flow integral action time and derivate action time to zero.
tune the proportional controller for L->H gain,recording the system
response as either print out or trend file.
EFFECTS OF LOAD CHANGE ON PROPORTIONAL CONTROLLER
introduce a load change by either causing a change in input pressure(via
valve) or in form of disturbance(noise).
EFFECT OF INTEGRAL ACTIO N:
using previously tuned system with a stable proportional offset ,gradually
introduce integral action.
Record system response.
introduce load change as in(2),recording effects of controller.
EFFECT OF DERIVATIVE ACTION:
using optimum tuned PI controller developed in (3),gradually introduce
derivative action.
Record system response as either print out or trend file.
OBSERVATION:
1. PROPORTIONAL OFFSET:
As PG was increased, response showed a proportional offset and finally
became unstable.
2. EFFECT OF LOAD CHANGE:
since proportional controller output remains unchanged, therefore a
bigger proportional offset incurred.
3. EFFECT OF INTEGRAL ACTION:
having introduced a load change,integral action will increase the controller

output to account for load change.

4. EFFECT OF DERIVATIVE ACTION:
the derivative action was found to improve the systems response time,
however,it will easily create an unstable system and exaggerate signal
noise.
RESULT:
effects of proportional,integral and derivative control was observed from
trends visible in software and were found to be in accordance with theory
and text available for same.

EXPERIMENT NO.10

Aim: To perform temperature control using process control module by

following tasks:
(i)

(ii)

Run a loop experiments using proportional only control with the

following sets of SP and PG values. Record the eventual steady
state rate values in a table, once the initial oscillations have
delayed.
Run several temperature loop experiments sing PI control with
the following parameters. Record the eventual steady state
temperatures of the water in the process tank and your main
observations as to the nature of the response in the table below.
Allow the traces to be drawn for about three minutes.

APPARATUS:
Process control module temperature control PCT-M4, PC
THEORY:
Thermoelectric cooling uses the Peltier effect to create a heat flux
between the junctions of two different types of materials. A Peltier cooler,
heater, or thermoelectric heat pump is a solid-state active heat
pump which transfers heat from one side of the device to the other, with
consumption of electrical energy, depending on the direction of the
current. Such an instrument is also called a Peltier device, Peltier heat
pump, solid state refrigerator, or thermoelectric cooler (TEC). It can be
used either for heating or for cooling, although in practice the main
application is cooling. It can also be used as a temperature controller that
either heats or cools.

PROCEDURE:
(i)
(ii)
(iii)
(iv)
(v)

Select the temperature unit in manual mode, this shows the

readings of each of the temperature sensors.
Control the Peltier using the sliding control.
Alter PID vales by clicking on them and entering new values.
Use the start and stop button to initialise and stop PID control
and graph.
Set the integral to off (uncheck box), set derivative off. Set the
period to 50 and select square wave.

OBSERVATIONS:
(i)

P Control :
SP = 50o C
Fan on:
PG
5
10
15
20

Steady State
50
50
50
50

Time (sec)
95
98
113
138

40
80

50
50

205
213

Fan off:
PG
5
10
15
20
80

(ii)

Steady State
50
50
50
50
50

Time (sec)
98
103
110
140
238

PG control :
SP : 50
PG
10
10
100
100

I
999
10
999
10

Steady State
51
52
56
50

OBSERVATIONS:
(i)

For a given SP the final steady state value increases as PG is

increased. However, there is no value pf PG for which the steady
state value is equal to the SP because with proportional control
there must always be some error in order for there to be
oscillations and if PG is too high many systems will oscillate
continuously and never settle to a steady state.
For a proportional only controller with a given PG value although
the set point is never reached, the resulting steady state value
increases as the set point is increased. This shows that it is
possible to use simpler and cheaper proportional only control by
setting SP a suitable amount higher than the truly desirable
value, effectively deceiving the controller. This strategy might
be acceptable in a situation where the set point is not going to
change at all or where the external disturbances are minimal but
if either of these conditions is not true then a more sophisticated
controller is generally required.

(ii)

Integral action in a PI (or PID) controller takes account of the

recent history of the error by adding up the errors for a fixed
number of recent samples and contributing a component of
controller output which is proportional to this sum.
With a proportional only controller, both proportional and
integrating actions are present within the closed loop formed by
the controller and the process. As a result of this intrinsic integral
effect there will never be a proportional offset and an explicit
integral term in the control algorithm would be entirely
redundant. Any integral term that is added either produces no
visible effect (if it is beery small) or aforementioned integral
offset effect because it keeps the control output higher for longer
than is required.
There is one other point that needs to be considered. This
temperature control scenario is nonlinear in that that
temperature maybe increased by controlling the TE units but,
irrespective of the algorithm, cannot be lowered through any use
of the TE unit. Once a particular temperature has been reached,
even with the TE unit turned off completely it cannot be lowered.
The only means of lowering the level is to switch on the fan.