lab 13

School of Mechanical and Manufacturing Engineering
(SMME)
NUST
ME-339 Control Engineering Lab

Lab Report 13
Closed Loop Proportional Integral and Derivative (PID)
Control of Level
SUBMITTED BY:
Name: Malik Muhammad Farhan
CMS ID: 389829
Section:ME-13A
Session: Fall 2023

Semester: 5th
Objectives:
Objectives:
 To become familiarized with the tuning of PID in control systems.
 To become familiarized with the working closed loop systems.
 To become familiarized with the level control trainer.
Apparatus Used:
 Level Control Module.
 Leads.
 DMM.
Figure 1. Apparatus Used Figure 2. Required Connection
Circuit Diagram:
Figure 3. Circuit Diagram

Procedure
PI Controller:
1. We begin by establishing a connection between SETPOINT 1 and the input of the PID
section of the interface.
2. Then, establish corresponding connections on the PID interface to ensure closed loops,
i.e. TP14-TP17, TP13-TP16, TP15-TP18.
3. Then, establish a connection between the output of the PID interface and the input to the
water pump driver.
4. Once done, establish the corresponding pins on the water pump driver to ensure closed
loops, i.e. PINS 9-9, and 10-10.
5. Connect the output of the level sensor interface with the input of the PID Controller.
6. Ensure closed loop connections on the PID Controller, i.e. PINS 1-1 and 2-2.
7. Connect the read lead of the DMM to the SETPOINT 1, to measure the initial set point to
be given to the controller, and the black lead to the ground terminal.
8. Then, rotate the knob of the proportional controller, as well as the integral controller to an
appropriate setting, so as to first provide the system with a constant, stabilized, steady-
state error using the P controller, and then do eliminate the presence of error using the I
controller.
9. Turn on the apparatus.
10. Connect the DMM with the knob attached at the output of the level sensor interface to
ensure that the voltage appearing at the output of the interface matches somewhat closely
to the voltage set through SETPOINT 1.
11. Provide the required input set point and observe the PI controller in action.
PD Controller:
1. We begin by establishing a connection between SETPOINT 1 and the input of the PID
section of the interface.
2. Then, establish corresponding connections on the PID interface to ensure closed loops,
i.e. TP14-TP17, TP13-TP16, TP15-TP18.
3. Then, establish a connection between the output of the PID interface and the input to the
water pump driver.
4. Once done, establish the corresponding pins on the water pump driver to ensure closed
loops, i.e. PINS 9-9, and 10-10.
5. Connect the output of the level sensor interface with the input of the PID Controller.
6. Ensure closed loop connections on the PID Controller, i.e. PINS 1-1 and 2-2.
7. Connect the read lead of the DMM to the SETPOINT 1, to measure the initial set point to
be given to the controller, and the black lead to the ground terminal.
8. Then, rotate the knob of the proportional controller, as well as the derivative controller to
an appropriate setting, so as to first provide the system with an abrupt and quick
response, using the D controller, and then settle it down with a constant, stabilized,
steady-state error using the P controller.
9. Turn on the apparatus.
10. Connect the DMM with the knob attached at the output of the level sensor interface to
ensure that the voltage appearing at the output of the interface matches somewhat closely
to the voltage set through SETPOINT 1.
11. Provide the required input set point and observe the PD controller in action.
Table:
For PI Controller of Liquid level Control For PD Controller of Liquid level Control
Trainer Trainer
Time Level Time Level
(sec) (cm) (sec) (cm)
3.06 1 4.48 1
8.19 3 6.71 2
10.11 4 7.31 3
12.38 6 9.34 4
17.33 9 11.38 6
19.26 10 13.72 8
22.43 11 15.76 9
25.34 10.5 17.57 10
28.92 9 21.71 13
30.5 10.5 23.1 12
32.4 9 25.3 11
34.6 10 28.05 10
37.3 10.5 30.3 9
39.2 9.5 33.2 10.5
41.6 10.5 35.6 9
43.6 9.5 36.6 10.5
45.8 10.5 38.8 9.5
47.9 10 40.3 10.5
51.3 10 42.6 9.5
Table 1. For PI Controller of Liquid level 44.8 10.5
Control Trainer 47.3 9.5
48.4 10
50.4 10
Table 2. For PD Controller of Liquid level
Control Trainer
Graph:
Time vs Level for PI Controller

12
10
8
LeveL (cm)
0
0 10 20 30 40 50 60
Time (sec)
Graph 1. For PI Controller
Time vs Level for PD Controller

16
14
12
10
LeveL (cm)
0
0 10 20 30 40 50 60
Time (sec)
Graph 1. For PD Controller
Result and Discussion:

Once the P and D controllers were turned on to an appropriate setting, it was observed that the
system tended to quickly showcase an abrupt response to the error given to the system, which
appeared as overshoot from the constant value. However, once the P controller took action, the
system began to slowly stabilize itself even further, such that a small, stabilized, steady state
error appeared in the system. All in all, the D controller allowed for the system to provide a very
quick and abrupt response to the error, whereas the P controller allowed for the system to then
leave a constant, steady-state error which varied closely with the desired input set point.
However, once the P and I controllers were turned on to an appropriate setting, it was observed
that the system tended to quickly stabilize the system, to such a state where a steady-state error
began to exist after a rather small period of time, thanks to the P controller. However, once the I
controller took action, the system began to slowly stabilize itself even further, such that the error
was completely omitted from the system. All in all, the P controller allowed for the system to
quickly achieve stability, and reach a constant steady-state error, where the I controller was used
to completely eliminate this error from the system.
Conclusion:
Using a combination of P and D controllers allows us to cause the system to showcase an abrupt
response to the error, such that it often overshoots from the desired set point, thanks to the D
controller. Finally, the P controller allows for the system to showcase stability, and reduced the
large overshoot error to a constant, stabilized, steady-state error.
However, a combination of P and I controller can be used to ensure that firstly, our system
achieves stability and a constant, steady-state error, rather quickly, thanks to the P controller, and
then to remove the error completely from the system, relatively slowly, thanks to the I controller.
Safety Precautions:
1. Do not overload electrical outlets.
2. Keep water and other liquids away from electrical equipment.
3. Follow the recommended operating procedures and safety precautions provided by the
instructor.
4. Behavior of electrical hazards.
5. Do not make loose connections.
6. Make sure connections are 100% and ask instructor to check for further procedures.

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School of Mechanical and Manufacturing Engineering

ME-339 Control Engineering Lab

Session: Fall 2023

Figure 1. Apparatus Used Figure 2. Required Connection

Figure 3. Circuit Diagram

Time vs Level for PI Controller

Graph 1. For PI Controller

Time vs Level for PD Controller

Graph 1. For PD Controller

Result and Discussion:

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