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Experiment 4

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27 views3 pages

Experiment 4

exp

Uploaded by

Satish K. Ramoji
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Electrical Engineering Department

NIT Silchar
Power System Lab Manual

Experiment-4
Title: Study of various integer-order controllers and its characteristics.
Objective: To analyze the behavior of various integer-order controllers for a given plant and
to understand its characteristics using MATLAB.
Apparatus /System Specification: <Give System specification>
Theory: Numerous types of controllers are implemented in industrial appliances. Among all
the integer order controllers are widely used such as PID controller. A proportional-integral-
derivative controller (PID controller) is a control loop feedback mechanism (controller) widely
used in industrial control systems. A PID controller calculates an error value as the difference
between a measured process variable and a desired setpoint. The controller attempts to
minimize the error by adjusting the process through use of a manipulated variable.
The PID controller algorithm involves three separate constant parameters, and is
accordingly sometimes called three-term control: the proportional, the integral and derivative
values, denoted P, I, and D. Simply put, these values can be interpreted in terms of time: P
depends on the present error, I on the accumulation of past errors, and D is a prediction
of future errors, based on current rate of change. The weighted sum of these three actions is
used to adjust the process via a control element such as the position of a control valve, a damper,
or the power supplied to a heating element.
The proportional term produces an output value that is proportional to the current error
value. The proportional response can be adjusted by multiplying the error by a constant Kp,
called the proportional gain constant. A high proportional gain results in a large change in the
output for a given change in the error. If the proportional gain is too high, the system can
become unstable. In contrast, a small gain results in a small output response to a large input
error, and a less responsive or less sensitive controller. If the proportional gain is too low, the
control action may be too small when responding to system disturbances. Tuning theory and
industrial practice indicate that the proportional term should contribute the bulk of the output
change.
The contribution from the integral term is proportional to both the magnitude of the error
and the duration of the error. The integral in a PID controller is the sum of the instantaneous
error over time and gives the accumulated offset that should have been corrected previously.
The accumulated error is then multiplied by the integral gain Ki and added to the controller
output. The integral term accelerates the movement of the process towards set-point and
Electrical Engineering Department
NIT Silchar
Power System Lab Manual

eliminates the residual steady-state error that occurs with a pure proportional controller.
However, since the integral term responds to accumulated errors from the past, it can cause the
present value to overshoot the set-point value.
The derivative of the process error is calculated by determining the slope of the error
over time and multiplying this rate of change by the derivative gain Kd. The magnitude of the
contribution of the derivative term to the overall control action is termed the derivative gain
Kd. Derivative action predicts system behavior and thus improves settling time and stability of
the system. An ideal derivative is not causal, so that implementations of PID controllers include
an additional low pass filtering for the derivative term, to limit the high frequency gain and
noise. Derivative action is seldom used in practice though - by one estimate in only 20% of
deployed controllers- because of its variable impact on system stability in real-world
applications. The Table-1 shows the effect of parameter increasing independently.
Table-1
Steady-
Parameter Rise Time Overshoot Settling Time Stability
State Error
Kp Decrease Increase Small Change Decrease Degrade
Ki Decrease Increase Increase Eliminate Degrade
Kd Minor Change Decrease Decrease No Effect Improve if 𝐾𝑑 small

Figure: PID controller with the Plant


Procedure (in MATLAB Platform):
Step-1: Choose a plant having certain transfer function (any order).
Step-2: Simulate the conisdered plant by using step function (input v(t)) and having 20 seconds
of simulation time as a open loop transfer function.
Step-3: Check the output (y(t)) using scope.
Electrical Engineering Department
NIT Silchar
Power System Lab Manual

Step-4: Check the output (y(t)) using scope with feedback (unity gain) as closed loop transfer
function.
Step-5: Connect the Kp manually to observe the response and compare it with the input signal.
Step-6: Likewise connect the Ki and Kd, observe the response by comparing it with the input
signal.
Step-7: Connect the saturation block before the plant to observe the response as a nonlinear
system
Step-8: Obtain and plot the response of the plant by using PID controller block (Continuous)
provided in MATLAB and compare its response with manually made PID controller.
Step-9: Also plot the comparison of controller outputs.

Sample system considered:

Conclusion.

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