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This manual explains the working of equipment. Please read it thoroughly and have all
the occupants follow the instructions carefully. Doing so will help you enjoy many years
of safe and trouble free operation.
When it comes to service remember that K.C. Engineers knows your equipment
best and is interested in your complete satisfaction. We will provide the quality
maintenance and any other assistance you may require.
All the information and specifications in this manual are current at the time of printing.
However, Because of K.C. Engineers policy of continual product improvement we
reserve the right to make changes at any time without notice.
Please note that this manual explains all about the equipment including options.
Therefore you may find some explanations for options not installed on your equipment.
You must follow the instructions and maintenance instructions given in the manual
carefully to avoid possible injury or damage. Proper maintenance will help ensure
maximum performance, greater reliability and longer life for the product.
K.C. Engineers
INTRODUCTION:
Currently, the PID algorithm is the most common control algorithm used in industry.
Often, people use PID control processes that include heating and cooling systems, fluid flow
monitoring, flow control and temperature control. In PID control, you must specify a process
variable and a set point. The process variable is the system parameter you want to control
such as temperature, pressure and flow rate and the set point is the desired value for the
parameter you are controlling. A PID controller determines a controller output value, such as
the heater power or valve position. The controller applies the controller output value to the
system, which in turn drives the process variable towards the set point value.
CONTROL SYSTEM:
The control system is that means by which any quantity of interest in a machine,
mechanism or equipment is maintained or altered in accordance with a desired manner.
Control system is of two types: -
1. OPEN LOOP CONTROL SYSTEM:
It is shown in figure1. Any physical system, which doesn’t automatically correct for
variation in its output, is called open loop system. In these systems, the output remains
constant for a constant input signal provided the external; conditions remain unaltered. The
output may be changed to any desired value by appropriately changing the input signal but
variations in external or internal parameters of the system may cause the output to vary from
the desired value in an uncontrolled fashion. The open loop control is, therefore, satisfactory
only if such fluctuations can be tolerated or system components are designed and constructed
so as to limit parameter variations and environmental conditions as well controlled.
Input Controller Plant Output
It is important to note that the fundamental difference between an open and closed
loop control system is that of a feedback action. Consider, for example, traffic control system
for regulating the flow of traffic at the crossing of two roads. The system will be termed open
loop if red and green lights are put on by a timer mechanism set for predetermined fixed
DEFINITIONS:
(Referred from Modern control Engineering By Katsuhiko Ogata, 4th edition, page no.
2 and Control system engineering By I.J Nagrath and M.Gopal, 3rd edition, page no. 195)
PROCESSES:
A process may be defined as natural, progressively continuing operation or
development marked by a series of gradual changes that succeed one another in relatively
fixed way and leads toward a particular result or end; or an artificial or voluntary,
progressively continuing operation that consists of a series of controlled actions or
movements systematically directed towards a particular result.
SYSTEMS:
A system is a combination of components that act together and perform a certain
objective. A system is not limited to physical ones. The concept of system can be applied to
abstract, dynamic phenomena such as those encountered in economics. The word system
should therefore, be interpreted to imply physical, biological, economic and the like systems.
DISTURBANCES:
A disturbance is a signal that tends to adversely affect the value of the output of a
system. If a disturbance is generated within the system, it is called internal, while the external
disturbance is generated outside the system and is an input.
FEEDBACK CONTROL:
Feedback control refers to an operation that, in the presence of disturbance tends to
reduce the difference between the output of a system and some reference input and does so on
the basis of this difference. Here only the unpredictable or known disturbances can always be
compensated for within the system.
DELAY TIME:
It is the time required for the response to reach 50% of the final value in first attempt.
It is represented by td. It is shown in figure 2.
Allowable Tolerance
Mp
1.0
0.5 Ttd
Ttr Tt
Ttp
Figure : 2
RISE TIME:
It is the time required for the response to rise from 10% to 90% of the final value for
over damped systems and 0 to 100% of the final value for under damped systems. It is shown
in figure 2.
PEAK TIME:
It is the time required for the response to reach the peak of time response or the peak
overshoot. It is represented by ts. It is shown in figure 2.
SETTING TIME:
It is the time required for the response to reach and stay within a specified tolerance
band (Usually 2% to 5%) of its final value. It is represented by ts in figure 2
This section 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 section, we will consider the following feedback system:
R e u Y
Controller Plant
_
+
PLANT:
System to be controlled.
CONTROLLER:
Provides the excitation for the plant; Designed to control the overall system behavior.
1. PROPORTIONAL CONTROL:
The cycling inherent with the on-off control would be objectionable for most
processes. To get steady operation when the disturbances are absent, the controlled variable
must be a continuous function of error. With proportional control, the most widely used type;
the controller output is a linear function of the error signal. The controller gain is the
fractional change in output divided by the fractional change in input.
P = Kc* e -------------------------(1)
Where:
P = fractional change in controller output,
e = fractional change in the error.
Kc = controller gain.
The control action can also be expressed by the proportional bandwidth B. The
bandwidth is the error needed to cause a 100% change in the controller output, and it is
usually expressed as a percentage of the chart width. A bandwidth of 50% means that
controller output would go from 0 to 1 for an error equal to 50% of the chart width or from,
say, 0.5 to 0.6 for an error of 5%.
B = 1/Kc * 100 ------------------(2)
Some pneumatic controllers are calibrated in sensitivity units, or pounds per square
inch per inch of the pen travel. For a standard controller with a 3 to 15 psi range and a 4-inch
chart, the gain and sensitivity are related by equation:
S = 3Kc psi/inch ------------------------(3)
SETUP ASSEMBLY:
This assembly is used for supporting the various components on the front panel of the
equipment i.e. pressure gauges which is used to measure the pressure, Current to pressure
converter having a range in between 3 to 15 psi i.e. 3 psi for a current of 4mA and 15 psi for
current of 20mA which is given to the I/P converter by DIGITAL INDICATING
CONTROLLER. The setup also contains a pneumatic actuator.
Flow
Transmitter
Final Control Moisture
Element Separator
Air
Supply
INTERFACING UNIT:
The interfacing unit is basically a medium for communicating with the equipment from the
computer. In case of flow controller, the flow of the liquid is sensed by the flow sensor in the
pipe line, which is further transmitted into 4-20 mA which means that the current is 4mA for
0% flow and 20mA for 100% flow and are displayed on the interfacing unit in terms of 0 to
100%. These signals are further transmitted to the computer through this interfacing unit by
using a RS-232C where the signals are displayed on the computer screen. The output of the
interfacing unit is then transmitted to the I/P converter, which converts it into 3 to 15 psi that
means 3 psi for 4mA and 15 psi for 20mA.
This converter is basically used to convert the current to pressure having a range of 3 to 15
psi, which shows 3 psi at 4 mA and maximum 15 psi at 20 mA. This I/P converter receives
the continuous input pressure of more than 15 psi and then converts this pressure into 3 to 15
psi according to the 4 to 20 mA current received by it from the digital indicating controller.
INSTALLATION REQUIREMENTS: -
This section gives the necessary details regarding the installation of the equipment and the
software used for interfacing with the equipment.
For the installation of the equipment, following components are required: -
1) Table for support.
2) Water supply.
3) Electricity 220V, single phase, 50Hz, 5 Amps socket.
1. The Processor must be at least celeron 286 MHZ, Pentium III is recommended.
2. It must have at least 16 MB RAM.
3. It must have 30 MB hard disk space.
4. It must have at least Windows 98 OS or higher version of operating system.
5. There must be an A4 size printer, which is used to get a hard copy of the stored data
required.
SOFTWARE INSTALLATION:
1) Close all the programs running before inserting the Cd into CD drive.
2) Insert the provided CD for the software in the CD drive of computer.
3) It is an AUTORUN CD. Follow the instructions appeared on the computer
screen and install the software in desired directory.
4) After completion of installation, reboot your computer.
5) Then, Open the software directory and double click the exe file of the
software to run the program.
6) Follow the steps according the experimentation.
This section gives us the detailed information regarding the menus and the basic function of
the control software, which is used to control the equipment. It is shown in figure 3.
LOGIN:
This menu enables you to start the experiment. In this option, we are given with the User
Name i.e. name of the institute and the Password, which is “k.c.engineers”. Here we have
also the option of the entering the “Professors Name” under whose supervision test is going
to be performed, “Student’s name” and the “Roll Number” of the student who is
performing the experiment, which can be used during the report generation. It is compulsory
to select this option first and to fill the correct user name and password to continue the
experiment. Without enabling this option and trying to continue the process or to select any
VIEW DIAGRAM: -
After LOGIN, we have to select VIEW DIAGRAM. This option, which shows us the
complete block diagram of the equipment and tells us how the equipment functions and also
helps in preparing the equipment connection. After that we have to choose the BACK option
and then decide to choose either the SIMULATION to access data from the simulation logic
in order to start the experiment or INTERFACE to access with the real time data.
SIMULATION:
Selecting this option accesses data from the PID simulation logic. This option doesn’t use any
real time data. In this case, the process values and set point are to be entered by the user and
then observes the change in the controller output. In this we have the option to put some
value of disturbance. Now as the value of the load or the disturbance increases in a process,
then the corresponding error between the SP and PV increases. Hence as a result, the output
response also increases and vice-versa. Also in case of manual mode in the Simulation, when
the controller output is made equal to zero, then the value of PV decreases and finally reaches
to zero.
SIMULATION MODE:
Selecting this option, accesses real time data from using interfacing unit. In order to make the
system stable, we have to change the values of P, I, D.
START:
By enabling this option, the equipment will be ready to perform the experiment.
LOG:
On clicking the LOG button ON or selecting this option enables the data to be logged in
some particular file, which can be used later for continuing the experiment. In order to view
this saved data-logging file, click VIEW DATA FILE.
OFF:
Selecting this option disables the data logging.
FUNCTION GENERATOR:
The function generator is basically used to apply the dynamic waveform of some particular
period and amplitude to the process. The waveform is applied to the set point in case of the
close loop operation and is applied to the output in case of the open loop function.
OFF:
Selecting this option disables the function generator so that it stops functioning.
SIGNAL TYPE:
This function enables you to select one waveform out of the sine, triangular, square
and sawtooth waveform to be applied to the process.
REFERENCE POINT:
This function is used to set the reference point equal to set point which helps in
making PV equal to the set point.
PERIOD:
This function is basically used to provide some time period to a waveform so that the
waveform completes its one complete cycle in some particular interval of time.
AMPLITUDE:
This function is used to set the amplitude of the waveform, which is selected to be
applied to the process.
PROCESS: -
This function is responsible for either increasing or decreasing the value of PV in the
SIMULATION mode.
LAG (MIN): -
It is also known as delay time and is measured in minutes. It is the amount of time
required for the response to reach 50% of the final value in first attempt. As the value of the
lag time increases, the change in the value of PV also increases.
INITIAL:
This is the value of the PV when we continue the process without allowing the
process variable to reach its initial state i.e. equal to zero or its ambient temperature.
AMBIENT TEMPERATURE: -
This is the initial value of PV, or due to the room temperature of the place where the
experiment is to be performed.
OUTPUT RANGE: -
This corresponds to the maximum and the minimum range of the controller output,
which is to be set by the user.
OUTPUT HIGH
It corresponds to the maximum limit of the controller output means that the output of
the controller never exceeds this limit. This value is set by the user in order to obtain the
accurate result.
OUTPUT LOW:
It corresponds to the lowest limit of the controller output means that the output of the
controller can never be less than this value.
PID GAINS:
This corresponds to the various values of the Kc, Ti and Td, which are to be selected
by the user in order to make the system stable. In other words, these values are selected in
order to make PV equal to SP.
MODE STATUS: -
This option tells you that in which mode the system is operating i.e. whether the
system is operating in P, PI or PID.
PD:
This option indicates that the system is operating in Proportional + Derivative
controller mode.
PID:
This option indicates that the system is operating in proportional + Integral +
Derivative controller
BIAS:
Bias is the value of the normal output of the controller at zero error. This is added to the
proportional controller.
Thus, when a process is under P only control and the SP equals the measurement (when error
equals zero), some bias value of the controller output must exist or the measured PV will drift
from the set point. This bias value of the controller output is determined from the design flow
of operation of the process to be controlled. Specifically, bias is the value of the controller
output, which in open loop causes the measured PV to maintain steady state at the design
flow of the operation when the process disturbances are at their design.
ACTION:
There are mainly two actions for controlling the process variable and controller output.
These actions are:
1) INC-INC
2) INC-DEC
Using INC-INC action will cause increase in output with the corresponding increase in
process variable. Using INC-DEC action will cause decrease in controller output with
increase in process variable. This action should be observed by the user, which will further
depend on the final control element functioning.
Flow Control Trainer 17
For example: Consider a case of pneumatic actuator, which is open for air and otherwise
closed which means that the actuator valve is open for 15 psi pressure and close for 3 psi
pressure. So, the final control element sets INC-INC action or INC-DEC action.
EXIT:
This option enables you to logout of the simulation or interfacing mode.
STOP:
This option enables you to logout out of this window.
PRINT GRAPH:
Use print graph option for printing graphs according to the data that is saved in the
data log file.
Enabling this option enables you to enter into the print window, which shows the
User i.e. the name of the institute, Professor’s Name i.e. under whose supervision test is to
be performed, Student’s Name and Roll number i.e. the name and the roll number of the
student who is performing the experiment and the File path i.e. the path of the file which was
saved using the LOG button. In this window the user has two options at the top of the
window i.e. one option of Print Window, which is used to take out the printout of the
window, and the second option is of Stop, which enables the user to come out of the window.
PRINT TABLE:
Use print table option to print table from data file that are saved in the data log file.
This option opens all the data stored using the log button in the excel file where the user has
an option to set the left, right margins of the page.
BODE PLOT:
To view this, switch off the start button so as to return back to the front panel and
click bode plot.
COMPARE DATA:
This option enables you to compare the data between to two experiments having
different values of P, I, D. This option also enables you to compare data between the
SIMULATION mode and INTERFACING mode.
EXIT:
Selecting this option allows you to return back to the desktop or logout you from the
software.
COHEN-COON METHOD
M/S Uu=0
+ +
C
R=0 Gc Gv Gp
- +
Loop Opened
B
H
To Recorder
Block Diagram of a Control loop for measurement of the Process reaction Curve
Tangent Line;
Slope S = Bu/T
0 Td
Time
0 Tt
Figure : 5
Typical process Reaction Curve showing graphical construction
to determine first order with Transport lag Model
The open loop method of tuning in which the control action is removed from the
controller by placing it in manual mode and an open loop transient is induced by a step
change in the signal. This method was proposed by COHEN and COON in 1953 and is often
used as an alternative to the Z-N method. Fig shows a typical control loop in which the
control action is removed and the loop opened for the purpose of introducing a step change
(M/S). The step response is recorded at the output of the measuring element. The step change
Zigler-Nichol’s Method
1
PLANT
Uu(t) C(t)
C(t)
Tangent Line at
Inflection point
K
0
Time
L T
Figure : 6
S Shaped Response Curve
FIRST METHOD:
In this method, we obtain experimentally the response of the plant to a unit step input.
If the plant involves neither integrator nor dominant complex conjugate poles, then such a
unit step response curve may look S-shaped. This method applies if the response to a step
P T/L ∞ 0
PI 0.9T/L L/0.3 0
PID 1.2T/L 2L 0.5L
Notice that the PID controller tuned by the first order method of Zeigler- Nichols
1 T 1
rules gives: Gc( S ) = Kc(1 + + Tds = 1.2 (1 + + 0.5 Ls )
Tis L 2 Ls
Thus the PID controller has the pole at the origin and double zeros at S=-1/L.
SECOND METHOD:
It is shown in fig. 7. In the second method, we first set Ti=infinity and Td=0. Using
the proportional control action only, increase Kc from 0 to critical value Kcr at which the
output first exhibits sustained oscillations, (If the output doesn’t exhibit sustained oscillations
for whatever value Kp may take, then this method doesn’t apply). Thus, the critical gain Kcr
and the corresponding period Pcr are experimentally determined. Zeigler and Nichols
suggested that we set the values of the parameters Kc, Ti and Td according to the formula
shown in the table
Notice that the PID controller tuned by the second method of Zeigler-Nichols rules
gives:
C(t)
Tangent Line at
Inflection point
K
0
Time
L T
Figure : 7
S Shaped Response Curve
Type of controller Kc Ti Td
P 0.5Kcr ∞ 0
PI 0.45Kcr Pcr/1.2 0
PID 0.6Kcr 0.5Pcr 1.25Pcr
Note that if the system has a known mathematical model (such as transfer function),
then we can use the root locus method to find the critical gain Kcr and the frequency of the
sustained oscillations Wcr, where 2*pi/Wcr=Pcr. These values can be found from the
crossing points of the root locus branches with the jw axis. (Obviously, if the root locus
branches do not cross the jW axis, this method doesn’t apply).
COMMENTS:
Zeigler-Nichols tuning rules (other tuning rules presented in the literature) have been
widely used to tune PID controllers in process control system where the plant dynamics are
not precisely known. Over many tears, such tuning rules proved to be very useful. Zeigler-
Flow Control Trainer 25
Nichols tuning rules can, of course, be applied to plants whose dynamics are known. (If the
plant dynamics are known, many analytical and graphical approaches to the design of the PID
controllers are available, in addition to the Zeigler-Nichols tuning rules).
The following controller tuning procedures are based on the work of Zeigler and
Nichols, the developers of the Quarter Decay ratio-tuning techniques derived derived from a
combination of theory and empirical observations.
CLOSED LOOP (ULTIMATE TUNING) TUNING PROCEDURE:
Although the closed loop tuning procedure is very accurate, you must put your
process in steady state oscillation and observe the PV on a strip chart. Complete the following
steps to perform the closed loop tuning procedure.
1) Set both the derivative time and integral time on your PID controller to zero.
2) With the controller in automatic mode, carefully increase the proportional gain (Kc)
in small increments. Make a small change in SP to disturb the loop after each
increment. As you increase Kc, the value of the PV should begin to oscillate. Keep
making changes until the oscillation is sustained, neither growing nor decaying
overtime.
3) Record the controller proportional band (PBu) as a percent, where PBu=100/Kc.
4) Record the period of oscillation (Tu) in minutes.
5) Multiply the measured values by the factors shown in the below table and enter the
new tuning parameters into your controller. This table provides the proper values for a
quarter decay ratio.
If you want less overshoot, increase the gain Kc.
Controller PB (%) Reset (min.) Rate (min.)
P 2PBu --------- --------
PI 2.22PBu 0.83Tu -------
PID 1.67PBu 0.50Ttu 0.125Tu
63.2%
(Max.Min)
PV
Min.
Output
Time
Td
T
Figure :
Output & PV Step Change
1. BODE PLOT:
(Referred from Process Control By Peter Harriot, Page no. 91)
A convenient method of presenting the response data at various frequencies is to use a
log –log plot for the amplitude ratios, accompanied by a semi log plot for the phase angles.
Such plots are called “ Bode diagrams”, after H.W Bode, who did basic work on the theory of
feedback amplifiers. By using wT as a parameter, a general plot for first order system is
obtained. Since the amplitude ratio approaches 1.0 at low frequencies and 1/wT at high
frequencies, the straight line portion of the response if extended would intersect at wT = 1.0.
The frequency corresponding to the wT = 1 is called the “corner frequency” and the amplitude
ratio is 0.707 at this point. The phase lag is 45 degree at the corner frequency and the phase
curve is symmetrical about this point.
The system shown in fig. 6 has a gain of 1, which means that the output equals the
input as the frequency approaches zero. If the system gain K is greater than 1, the output
amplitude is greater than the input amplitude at low frequencies and a more comprehensive
definition of amplitude ratio is needed. The amplitude ratio is defined as the ratio of output
amplitude to input amplitude at a given frequency, divided by the ratio of the amplitudes at
zero frequency. This is equivalent to dividing the measured ratio by B/A by the gain K, which
makes the amplitude ratio dimensionless and makes equation and curves applicable to the first
order process.
Sometimes, the amplitude ratio is defined just as B/A, or output over input, which
leads to amplitude ratios, which may not be dimensionless. There is nothing unsound about
this procedure but the use of different units for each process element makes it somewhat
harder to plot the overall response of the system.
Whenever a sinusoidal input is applied to a linear system, the output has steady state
and transient terms. After a few cycles, the transient dies out and the output is a sine wave of
the same frequency. This eventual response can be characterized by the amplitude ratio and
the phase angle. Typical curves for a first order process are shown below. At low frequency,
the output is almost equal to the input, and there is only a slight phase lag. At high frequency,
the fluctuations in the input are severely damped because of the capacity in the system and
the output lags the input by almost 90 degree.
(1 + w 2 T 2 ) 2
The phase angle is always negative for a first order system and the negative angle is
called “ phase lag”. The phase lag is 360(dt/p) in fig. And approaches a limit of 90 degree at
high frequencies.
DESCRIPTION:
This section gives the functional details of the product, which is used to conduct the
experiment. Functional details and control loop description enables us to understand the
working principle of the product.
FLOW CONTROL TRAINER (SCADA):
The SCADA is basically an interfacing unit and is a medium for communicating with the
equipment from the computer. In case of flow controller, the flow of the liquid is sensed by
the sensor in the pipe line, which is further transmitted into 4-20 mA which means that the
current is 4mA for 0% flow and 20mA for 100% flow and are displayed on the interfacing
unit in terms of 0 to 100%. These signals are further transmitted to the computer through this
interfacing unit by using a RS-232C where the signals are displayed on the computer screen
and the error signals, which are produced by the controller, are displayed on the interfacing
unit. The output of the interfacing unit is then transmitted to the I/P converter, which converts
it into 3 to 15 psi that means 3 psi for 4mA and 15 psi for 20mA.
START UP: -
Experiment No. 6. To study the tuning of controller (Open loop method) using
Zeigler-Nichols method.
Experiment No. 7. To study the stability of the system using the BODE PLOT.
OBJECTIVE:
THEORY:
In these systems, the output remains constant for a constant input signal provided the
external; conditions remain unaltered. The output may be changed to any desired value by
appropriately changing the input signal but variations in external or internal parameters of the
system may cause the output to vary from the desired value in an uncontrolled fashion. The
open loop control is, therefore, satisfactory only if such fluctuations can be tolerated or
system components are designed and constructed so as to limit parameter variations and
environmental conditions as well as controlled, whereas in case of closed loop system, the
controlled variable is measured and compared with reference input and the difference is used
to control the elements.
EXPERIMENTAL PROCEDURE:
Set the output of the controller to some predicted value and apply some steady state
load change and then verify the result.
OBJECTIVE:
THEORY:
In order to get steady operation when the disturbances are absent, the controlled
variable must be a continuous function of error. With proportional control, the most widely
used type; the controller output is a linear function of the error signal. The controller gain is
the fractional change in output divided by the fractional change in input.
P = Kc* e -------------------------(1)
where,
P = fractional change in controller output,
E = SP-PV = fractional change in the error.
Kc = controller gain.
Whereas the equation of the proportional controller output is given by
P = Kc (SP – PV) + P0 -----------------------(13)
Where P0 = bias i.e. the value of the controller output at zero error.
In this experiment, the measured process value (PV) and set point (SP) is compared
And the output of the controller is proportional to the resulting error signals.
EXPERIMENTAL PROCEDURE:
1. Observe that as the value of Kc increases, then the error or the difference between the
SP and PV increases. In other words, as the error decreases, the proportional band
decreases.
2. In case of proportional controller, the control system is able to arrest the rise of the
controlled variable and ultimately bring it to rest at a new steady state value. The
difference between this new steady state value and the original value is called
OFFSET. There is always some offset present in case of proportional controller.
PV
Tt
Kc=1
PV
Tt
Kc=10
PV
Tt
Kc=15
PV
Tt
Kc=20
OBJECTIVE:
To study the steady state and transient response to a proportional + Integral control.
THEORY:
EXPERIMENTAL PROCEDURE:
1. The addition of integral action nearly eliminates the offset and the controlled variable
Ultimately returns to the original value.
2. It is shown the fig., that the addition of integral action introduces an oscillatory
motion in the system and with the increase in the value of the integral time, the
difference between the SP and PV decreases.
PV
Tt
Kc=10
Ti=1
PV
Tt
Kc=10
Ti=5
PV
Tt
Kc=10
Ti=10
OBJECTIVE:
THEORY:
EXPERIMENTAL PROCEDURE:
1. The derivative action is added to improve the response of the slow system.
2. The addition of derivative action to the PI action gives a definite improvement in the
response. The rise of controlled variable is arrested more quickly and it is returned
rapidly to the original value with little or no oscillations.
OBJECTIVE:
To study the steady state and transient response to a Proportional + Integral + Derivative.
THEORY:
EXPERIMENTAL PROCEDURE:
The addition of derivative action to the PI action gives a definite improvement in the
response. The rise of controlled variable is arrested more quickly and it is returned rapidly to
the original value with little or no oscillations.
PV
Tt
Kc=10
Ti=1
Td=1
PV
Tt
Kc=10
Ti=1
PV Td=5
Tt
Kc=10
Ti=1
Td=10
OBJECTIVE:
To study the tuning of PID controller by open loop method, using Zeigler- Nichols
tuning rules.
THEORY:
This method is basically used to calculate the value of P, I, D using the open loop or
manual control method. The values of P, I, D are selected in such a way that the error or the
difference between the SP and PV should become equal to zero.
C(t)
Tangent Line at
Inflection point
K
0
Time
L T
Figure : 7
S Shaped Response Curve
Since we are not given with the plant equation. So the process is assumed to be of first
order with steady state gain Kc, integral time Ti and derivative time td. The step response i.e.
process reaction curve, allows to obtain the approximate values of each parameter. With the
feedback loop open, a step response is applied to manipulated variable and the values of P, I
and D are estimated.
The delay time L and time constant T are determined by drawing a tangent line at the
inflection point of a S-shaped curve and determining the intersections of the tangent line with
the time axis and line c (t) = K as shown in the figure obtained by performing the experiment.
Flow Control Trainer 44
For P, PI and PID controller the parameters are calculated as follows:
EXPERIMENTAL PROCEDURE:
Calculate the value of the P, I and D from the table given in the theory part of this
experiment.
OBJECTIVE:
THEORY:
(1 + w T )
2 2 2
The phase angle is always negative for a first order system and this negative angle is
called “phase lag”.
STABILITY CRITERIA:
1. A system is stable if the phase lag is less than 180 degree at the frequency for which
the gain is unity.
EXPERIMENTAL PROCEDURE: