CHAPTER 1: Plant Process

Characterization and PID

Chapter 1 deals with plant process characterization and the PID control
of the plant using
computer simulation software The software !eing use is "a!#IE$ The
report will also
present an introduction to a plant setup% wiring and proper operation
Theory
There are man& situations that re'uire some t&pe of ser(o) control
s&stem This section
re(iews the fundamentals of PID controllers
Proportional -Integral-Derivative (PID) Control
PID controllers are commonl& used to regulate the time) domain
!eha(ior of man&
different t&pes of d&namic plants These controllers are e*tremel&
popular !ecause the&
can usuall& pro(ide good closed)loop response characteristics% can !e
tuned using
relati(el& simple design rules% and are eas& to construct using either
analog or digital
components Consider the feed!ac+ s&stem architecture that is shown in
,igure 11%
where it can !e assumed that the plant is a DC motor whose shaft
position must !e
accuratel& regulated
-./0 DC motor
r.t0 &.t0
/
e.t0
/ensor D&namics
,igure 11: PID control
The PID controller -.s0 is placed in theforward path% so that its output !ecomes the
(oltage applied to the motor1s armature The feed!ac+ signal is either an
angular shaft
position or (elocit&% measured !& a potentiometer or a tachometer%
respecti(el& In the
!loc+ diagram% these transducer d&namics are in the feed!ac+ path The
output position
signal &.t0% or (elocit& signal% is summed with a reference signal r .t0% or
command signal%
to form the error signal e .t0 ,inall&% the error signal is the input to the
PID controller
The concept for this closed) loop s&stem is simple The sensor% which is
attached to the
motor shaft% pro(ides a (oltage that is compared to the reference (oltage
r .t0 at the
summer $hen this error signal is non)zero% there will !e an input to the
controller% and
hence some action ta+en !& the DC motor 2nce the sensor signal is
e'ual to the
reference signal% there is no input to the controller and no (oltage
applied to the motor%
causing the motor to stop Howe(er% this simple e*planation does not
pro(ide us a with a
method where!& the motor position can !e !rought to an e*act position
.with a!solute
accurac&0 and does not tell us how to ma+e the motor perform this
positioning tas+ as
'uic+l& as possi!le
3efore e*amining the input) output relationships and design methods
for the PID
controller% it is helpful to re(iew t&pical characteristics o!ser(ed for the
(elocit& response
of a DC motor to a step (oltage input Different characteristics of the
motor response
.stead&) state error% pea+ o(ershoot% rise time% etc0 are controlled !&
selection of the three
gains that modif& the PID controller d&namics This is discussed in
detail !elow The
PID controller is defined !& the following relationship !etween the
controller input
e(t)and the controller output v(t)that is applied to the motor armature:
de.t 0
t
V.t0 4 K E.t 0 5 K e.t 0dt 5K
dt
P i d
6
Ta+ing the "aplace transform of this e'uation gi(es the transfer function K(s):
V.s0 K
K.s0 4 4 .K 5 5 K S0
i
E.s0 S
p d
This transfer function clearl& illustrates the proportional% integral% and
deri(ati(e gains
that ma+e up the PID compensation /elect new definitions for the gain
terms according to: K K 4 K K 4 K 4KT
p
T
i d d i
7

Then% the transfer function can !e e*pressed to easil& show that the PID
controller leads
to a pole at the origin of the "aplace plane and design freedom o(er two
zeros:
KT
1 1
K.s0 4 4 .S 5 S 5 0
d 7
S T TT
d i d
The #i used for this la!orator& contains the capa!ilit& of (ar&ing the
control inputs .-p%
-i and -d0 It also can ma+e the s&stem an open loop control or close
loop control A
close loop control s&stem is a s&stem that can control an output with
feed!ac+% thus
gi(ing the s&stem a real time control o(er the response of the s&stem% as
shown in figure
17
,igure 17: PID controller using "a!#IE$ .closed loop0
An open loop control s&stem is a s&stem that has no t&pe of real time
control for the
plant1s output% due to there !eing no feed!ac+ in the s&stem ,igure 18
graphical
represents the open loop s&stem
8

,igure 18: PID controller using "a!#IE$ .open loop0
The #i can also (ar& the damping ratio and natural fre'uenc& The
damping ratio is
defined as the ratio of the damping of the s&stem o(er the critic
damping% where critical
damping is the point were &ou ha(e the fastest response without
o(ershoot and ringing
The natural fre'uenc& is the fre'uenc& of the s&stem or !etter +nown as
its resonance
fre'uenc& $hen the damping ratio is greater than one% we can see the
output with the
slowest response% +nown as o(er damping $hen the damping ration is
one% we can see
the output with the fastest response without o(ershooting and ringing%
+nown as critical
damping $hen the damping ratio is !etween one and zero% we can see
a fast response
with o(ershooting and ringing% this is called under damping The
transfer function of the
s&stem is used as the !asic characteristic of the plant% as shown in figure
9 The transfer
function is used to understand the plant in used
,igure 19: Transfer function of the plant
Discussion
In the initial tas+s of this la! we simulated a !asic transfer function with
the PID
"a!#IE$ #i $e then o!ser(ed the response of the s&stem in an open
loop
configuration 2ur ne*t few tas+s consisted of ma+ing a closed loop
s&stem% and then !&
manipulating the PID (aria!les of the s&stem while +eeping the Transfer
function 9

constant% we ac'uired our results $e o!ser(ed that this s&stem setup
allowed the
response to !e conformed to an ideal response without ha(ing to (ar&
the transfer
function
,or the la! we were first gi(en a graph with the response cur(e of some
un+nown transfer
function $e initiall& made sure to set the P41% I46% and D46 This was
to insure that
there would !e no PID control influence upon the response cur(e
,igure 1: shows the
open loop response that we were tr&ing to conform our s&stem to
y(t) y(t) 16
u(t) u(t)
6;
e(t) e(t)
6<
r(t) r(t)
6=
6>
6:
69
68
67
61
66
66 61 67 68 69 6:
,igure 1:: 2pen loop response
3& doing this we could then determine the transfer function of the
un+nown s&stem
2nce the PID (aria !les were set we then (aried onl& the damping ratio
num!er till our :

response resem!led what is seen in figure 1: ?raphicall& we achie(ed
a fairl& accurate
representation of the un+nown cur(e 2ur response is shown in figure
1>
,igure 1>: 2ur response
2nce this response was displa&ed on the graph we then considered the
transfer function
in figure 19 to !e the transfer function of the un+nown response If &ou
carefull&
o!ser(e the responses in figures 1: and 1> &ou can see that !oth of
there rise time
resem!le one another 2ne pro!lem with the results is the fact that the
resolution
!etween the desired response and our response is considera!l& different
This (ariance
unfortunatel& will !ring some percentage of error into our s&stem@s
result% therefore the
An4 8<66 are not completel& accurate 2nce the desired response was
achie(ed we then
closed the s&stem loop and o!ser(ed that our response had changed
The response1s rise
time had decreased and introduced a fairl& large o(ershoot in to the
s&stem% &et the >

o(erall amplitude of the response cur(e had !een impeded This result
came from the
introduction of the force feed!ac+ into the s&stem% also +nown as closed
loop control
,igure 1= is a displa& of the closed loop influence on the response
cur(e
,igure 1=: Closed loop response
,inall& !& randoml& manipulating the PID (aria!les% of the closed loop
s&stem% we
achie(ed our desired cur(e ,igure 1>% which is the gi(en response%
and figure 1=%
which is our created response% and is an accepta!le representation of
one another Again
there remains a resolution discrepancies !etween the two therefore we
can not sa& are
results are 166B accurate% !ut our results are within accepta!le
tolerances =

y(t) y(t) 1 1
u(t) u(t)
1 6
e(t) e(t)
6 ;
r(t) r(t)
6 <
6 =
6 >
6 :
6 9
6 8
6 7
6 1
6 6

6 6 6 1 6 7 6 8
,igure 1<: The gi(en response
,igure 1;: The response <

RPM vs. Vout of system
8666
& 4 <77:=* 5 91:>>
7:66
7666
RPC
1:66
"inear .RPC0
1666
:66
6
6 1 7 8 9
Vout of system
,igure 116: RPC #s #out of s&stem
Vin ramp Vs. Vout response
17
& 4 6891:* ) =E)19
16
< 2DTPDT
>
IEPDT
9
"inear .2DTPDT0
7
"inear .IEPDT0
& 4 66<;;* ) 66>97
6
)7
6 16 76 86 96
time sec
,igure 111 #in ramp #s #out response
Conclusion
In conclusion we o!ser(ed that !oth the transfer function and the PID
control could ha(e
a large influence upon the response of the s&stem Core specificall& the
transfer
functions damping ratio can !e adFusted so in crease of decrease the
response cur(es rise ;

time ,rom our o!ser(ation was concluded that as the An increases the
rise time
decreases and as the An decreases to one the rise time increase to a
point 2nce in that
criticall& damped state the PID controls can !e used to fine )tune the
response The P:
proportional directl& multiplies the amplitude to the response% while the
integral and
differential wor+ against on another to fine ) tune the shape of the cur(e
2(er all we
considered the la! to !e (er& informati(e 2ur onl& suggestion is that
the la! needs to
address the resolution difference so that we can increase the accurac& of
our results
16