Rahul Pancholi (09001012)

Experiment No-7
SBHS2: Feedback Control of Temperature using heater input- A Simulation Study

AIM
To perform a simulation study on control of temperature using heater input with P, PI and PID controller.

Procedure
1- Compute controller parameters from Ziegler-Nichols Rule for P, PI, and PID controllers 2- For a set point tracking for temperature using heater input, implement the P controller in SCILAB. 3- For a set point tracking for temperature using heater input, implement the PI controller in SCILAB. 4- For a set point tracking for temperature using heater input, implement the PID controller in SCILAB. 5- Make all the calculations in a file with the name: SBHS2. 6- When I run the file, it should be able to generate three plots

Theory

Plot1: Temperature Vs. Time and Heater input Vs. Time for P-controller. Plot2: Temperature Vs. Time and Heater input vs. Time for PI-controller. Plot3: Temperature Vs. Time and Heater input vs. Time for PID-controller. It should print the % error for all the above three cases.

A PID controller is one which tries to minimize the error between measured variable and the set point by calculating the error and then putting a suitable corrective action. For revision purpose, the output of interest of a process is called as the measured variable or process variable, the difference between the set point and the measured variable is called the error and the control action taken to adjust the process is called as manipulated variable. A PID controller does not simply add or subtracts the control action but instead it manipulates using three distinct control features, namely, Proportional, Integral and Derivative. Thus, a PID controller has three separate parameters.

Proportional
This parameter generates a control action based on the current value of the error. In more simplified sense, if the error is +2, the control action is -2. The proportion action can be generated by multiplying the error with a Proportional constant Kp. Mathematical representation of the same is given below,

Rahul Pancholi (09001012) P= Kp e(t) . (1)

Where, P is the proportional output Kp is the proportional gain e(t) is the error signal. The value of Kp is very important. A large value of Kp may lead to instability of the system. In contrast a smaller value of Kp may decrease the controller's sensitivity towards error. The problem involved in using only proportion action is that, the control action will never settle down to its target value but will always retain a steadystate error.

Integral
This parameter generates a control action depending on the history of errors. It means that the action is based on the sum of the recent errors. It is proportional to both the magnitude as well as duration of the error. The summation of the error over a period of time gives a value of the offset that should have been corrected previously. The integral action can thus be generated by multiplying this accumulated error with an integral gain Ki. Mathematical representation of the same is given below, I = Ki ( ) . (2)

Where, I is the integral output; Ki is the integral gain (Ki =Kp/i where, i is the integral time). The integral action tends to accelerate the control action. However, since it looks only at the past values of the error, there is always a possibility it causing the present values to overshoot the set point values.

Derivative
As the name suggests, a derivative parameter generates a control action by calculating the rate of change of error. A derivative action is thus generated by multiplying the value of rate of change of error with a derivative gain Kd. Mathematical representation of the same is given below, D = Kd ( ) . (3)

Where, D is the derivative output Kd is the derivative gain ( Kd = Kp/d. where, d is the derivative time). The derivative action slows the rate of change of controllers output. A derivative controller is quite useful when the error is continuously changing with time. One should however avoid using it alone. This is because there is no output if error is zero and when the rate of change of error is constant. When all the above control actions are summed up and used together, the final equation becomes, PID = K e (t) + Ki Alternatively, PID = K { e(t) + 1/ i ( ) + d ( )} ( ) + Kd ( ) . (4)

. (5)

Rahul Pancholi (09001012)

CalculationsValues of Kc , Tau i , Tau d for P, PI and PID controller: For last step change td K Tau 15.6 0.64 59.2

Kc P PI PID 6.450 5.467 8.297

Ti

Td

33.660 34.674 5.413

Graphs-

Rahul Pancholi (09001012)

Rahul Pancholi (09001012)

Results and Conclusion

1- Values of Kc, Tau i and Tau d for each P, PI and PID controllers for each step change are provided in table. 2- The nature of graph is in sync with the nature of P, PI and PID controller. 3- Simulation study for P, PI and PID controller is done.