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Project Based Learning Ics

This document discusses PID controllers for industrial control systems. It provides the equations for PID controllers in both time and Laplace domains. It also discusses using MATLAB to design a PID controller for a given transfer function using bode plots. An example is provided to design a PID controller for the transfer function 6s(s+5)(s+7)(s+1). The output shows the proportional, integral and derivative constants calculated to satisfy stability criteria from the bode plot. Finally, some sample exam questions are provided regarding PID controller design and compensation.

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Avinash Yadav
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55 views14 pages

Project Based Learning Ics

This document discusses PID controllers for industrial control systems. It provides the equations for PID controllers in both time and Laplace domains. It also discusses using MATLAB to design a PID controller for a given transfer function using bode plots. An example is provided to design a PID controller for the transfer function 6s(s+5)(s+7)(s+1). The output shows the proportional, integral and derivative constants calculated to satisfy stability criteria from the bode plot. Finally, some sample exam questions are provided regarding PID controller design and compensation.

Uploaded by

Avinash Yadav
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Project based

learning
industrial control
system
NAME :
RAJDEEP :12
AVINASH :14
ISHWAR :11
SUMIT:15
 Aim:
 To design a PID controller using bode plot to control the system performance.
Apparatus: Personal Computer (PC)MATLAB softwareTheory: PID controllers are
commercially successful and widely used as controllers in industries.
 For example, in a typical paper mill there may be a about 1500 controllers and
out of these 90 percent would be PID controllers,
 The PID controller consists of a proportional mode, an Integral mode and
Derivative mode. The first letters of these modes make up the name PID
controller. Depending upon the application one or more combinations of these
modes are used.
 For example, in a liquid control system where we want zero steady state error, a
PI controller can be used and in a temperature control system where zero stead
state error is not specified, a simple P controller can be used.The equation of a
PID controller in time-domain is given byd u(t)=MV(t) = K₂e(t)+K; S¦ e(t)dt+K¿ -
e(t) dtwhere
 The equation of a PID controller in time-domain is given
 byd u(t)=MV(t) = K₂e(t)+K; S¦ e(t)dt+K¿ -e(t) dt
 Where
 K, Proportional gain, a tuning parameter=K₁ = Integral gain,
 a tuning parameterKD-Derivative gain,
 a tuning parametere = Error =SP-PVt = Time or instantaneous time (the present)
 T =Variable of integration; takes on values from time 0 to the present t.
 Equivalently, the transfer function in the Laplace Domain of the PID controller isL(s)=K, +K;/s + Kas
 where S: complex number frequency The controller used here is a PID controller represented by a
block PID and the system or plant is represented by
 G(s). R(s) and D(s) are reference signal and disturbance signal respectively.
 Y(s), E(s) and M(s) are theoutput, error and controller output of the system respectively. For the of
good control, we require the system output Y(s) to track any reference signal F(s) and at the same
time reject or suppress deviation due to purpose the disturbance signal D(s). Hence the PID
controller can realize this objective.Proportional controller:MATLAB Program:clciclear all;
 num=input('enter function’)
 den=input('enter the denominator offunction’)
 h=tf (num, den)

 [gm pm wcp wcg]=margin (h)


 Thenumerator of the transfer the transferkm=10* (gm/20)kp=0.6*kmki= (kp*wm) /pikd=(kp*ki) /
(4*wm)
 h1=tf ([1,0],
 [1])g=(kp+ (kd*h1) + (ki/h1)) *hbode (g)
 Example: Design a suitable PID controller for the given Transfer function =6 s(s+5) (s+7) (s+1)using
bode plot
 .Output:Transfer function(h) =6 s4 +13s3 +47 s² +35 sContinuous-time transfer function.
 Gain Margin (GM) = 19.8809
 Phase margin (PM) = 77.0994
 Phase Cross Over Frequency (wcp) 1.6408
 Gain Cross Over Frequency (weg) 0.1689
 Proportional Constant kp - 5.9643
 Integral Constant ki-3.1150
 Derivative Constant kd = 2.8308
 Total Transfer function with controller g-Continuous-time transfer
function.16.98 s²+35.79s+18.69s+13s+47s+35s2
 Result:Viva-Voce :1. Define proportional?
 2. Define integral controller?
 3. Why should we do not connect first order& second order in the loop
of PID controller
 4. Define second order system?
 5. Where shall we apply PID controller?
 Exercise Problems1. For a unity feedback control system with
G(s)1S(S+1) (0.5S+1)design a phase lag compensator such that the
closed loop system will satisfy the following requirements K,=5/S, phase
margin=40°, gain margin>10db.

 2. For the system shown in figure below, design a lead compensator


toyield 20% overshoot, K, 40 with a peak time of 0.1sec.R(s)
 3. For a unity feedback control system with G(s) 1 (S+2) (S+4)'
=design a phase lead compensator such that the closed loop
system will satisfy the following requirements, rise time = 0.6sec,%
overshoot 15 and settling time 1.66sec.
 4. For a unity feedback control system with G(s)1 S(S+2) = design
aphase lead compensator such that the closed loop system will
satisfy the following requirements, damping ratio 0.5 and natural
frequency 4 rad/sec.
 Thankyou sir

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