Scribd
Upload
1K views

PID Controller Lab Exp5

This document describes an experiment to determine the effects of PI, PD, and PID controllers on a simulated process. It provides theoretical background on proportional, integral, and derivative control actions. The experiment involves applying each type of controller to a unity feedback system with a first order plant and measuring the response curve. The response will then be analyzed to determine the impact of each controller on time response specifications and steady state error.

Uploaded by

Sanjoy Pathak
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
1K views

PID Controller Lab Exp5

This document describes an experiment to determine the effects of PI, PD, and PID controllers on a simulated process. It provides theoretical background on proportional, integral, and derivative control actions. The experiment involves applying each type of controller to a unity feedback system with a first order plant and measuring the response curve. The response will then be analyzed to determine the impact of each controller on time response specifications and steady state error.

Uploaded by

Sanjoy Pathak
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 3

ACADEMY OF TECHNOLOGY

DEPARTMENT OF ELECTRICAL ENGINEERING

Experiment No – 5
TITLE: Determination of PI, PD and PID controller action of a simulated process.

OBJECTIVE: To find the response curves of a given process with unity feedback by using PI, PD
and PID controller for unit step input and also find the effects of controller on time response
specifications of the system.

THEORY:
This tutorial will show you the characteristics of the each of proportional (P), the integral (I), and the
derivative (D) controls, and how to use them to obtain a desired response. In this tutorial, we will consider
the following unity feedback system:

Plant: A system to be controlled


Controller: Provides the excitation for the plant; Designed to control the overall system behavior

PROPORTIONAL CONTROL ACTION


In a controller with proportional control action, there is a continuous linear relation between the output of
the controller ec(t)(Control Signal) and actuating error signal e(deviation).
Mathematically
ec(t)=Kpe(t) …………………….. (5.1)
where kp is known as the proportional gain.

INTEGRAL CONTROL ACTION


In a controller with integral control action, the output of the controller is changed at a rate which is
proportional to the actuating error signal e(t).
Mathematically,

……………………………………(5.2)
Where ki is called integral gain constant.

DERIVATIVE CONTROL ACTION


In a controller with derivative control action the output of the controller depends on the rate of change of
actuating error signal e(t).
Mathematically,

………………………………………………………(5.3)
PROPORTIONAL –PLUS –DERIVATIVE (PD) CONTROL ACTION:
For many industrial processes, a combination of proportional and derivative is generally used. It is
generally

called a PD controller. The control signal is not only proportional to the actuating signal but also
proportional to the rate of change of it. The action of a PD controller is defined as,
d
ec (t )  K p ea (t )  K d ea (t ) ………………………………..(5.4)
dt
In the s-domain
Ec(s) =KpEa(s) +KdsEa(s)
=(Kp+Kds)Ea(s)…………………………………………….(5.5)
Controller transfer function Gc(s)=(Kp+Kds)

PROPORTIONAL –PLUS-INTEGRAL (PI) CONTROL ACTION:


In this controller action control signal is not only proportional to the actuating signal but also proportional
to the integral of it.
PI control action can be defined by,
t
ec (t )  K p ea (t )  Ki  ea (t )dt
0……………………………………………… (5.6 )
In the s-domain,
Ec(s)=KpEa(s)+ Ki/s Ea(s)
=(Kp+Ki/s)Ea(s)……………………………………………..(5.7)
Controller transfer function Gc(s)=Kp+Ki/s

PROPORTIONAL –PLUS-INTEGRAL-PLUS DERIVATIVE (PID) CONTROL ACTION:


It is a combination of all three modes of control and is sometimes referred to as the three-mode control.
The control action is defined by,
t
d
ec (t )  K p ea (t )  K d ea (t )  Ki  ea (t )dt
dt 0 …………………………………………………(5.8)
In the s-domain
Ec(s)=KpEa(s)+ Ki/s Ea(s)+KdsEa(s)
=(Kp+Ki/s+ Kds)Ea(s) ……………………………………………(5.9)
Controller transfer function Gc(s)= =Kp+Ki/s+ Kds

PROBLEM:
A unity feed back control system with first order plant transfer function is given. Find the unit step
response and specifications of the system.
Now adding PI, PD and PID controller with the plant find the response specifications and
comment on the effects of different controllers.

Take Kp=1, Kd=0.3 and Ki=0.5.


BLOCK DIAGRAM:

Without Controller with Controller

MATLAB Programs:

A. Without Controller: C. With PD Controller:

B. With PI Controller: D. With PID Controller:

RESPONSE CURVE:

RESULTS ANALYSIS:

Specification Without Controller PI Controller PD Controller PID Controller


Rise time
Peak time
Maximum
Overshoot
Settling time
Steady state error

CONCLUSION:

You might also like