The PI controller

Classification
The proportional-integral controller (PI controller) is a combination of the P and Iaction components; thus it combines the advantages of the P and I controllers.
Accordingly the following expression holds true for the relationship between the error
signal e(t) (input variable of the controller) and the manipulated variable y(t) (output
variable of the controller)

The following figure shows the step response and block symbol of the PI controller.

The parameter KP is termed the proportional coefficient of the PI controller, the

parameter TN is called the reset time. The step response of the controller clearly
shows the addition of the P component (step change) and the I component (linear
increase with time).

Determining the controller parameters from the step response

The reset time TN of the PI controller is that time needed by the I component to
evoke the same change (i.e. the same manipulated variable component) as the P
component in direct response to the step change. Both parameters can easily be
determined from the step response in a graph, by extending the time-linear segment
in the left-hand half-plane and the determining the intersecting point with the time
axis (see the following graphic).

Fig. on the right:

Determining the controller parameters from
the step response.

Experiment: step response of the PI controller

In the following experiment the step response of the PI controller is determined.
Based on the step response the proportional coefficent and the reset time are
determined.
Set up the experiment circuit found below. Configure the parameters on the PID
experiment card for a PI controller, then set the toggle switch for proportional
coefficient and the reset time for "x1" and adjust both potentiometers to around
the medium setting.

Activate the step response plotter and configure it as shown in the following
Table.
Input Settings
Channel A

Meas. range: 10 V

Coupling: DC

Channel B

Meas. range: 10 V

Coupling: DC

Range: 100

Offset: 0

Other

Output Settings
Step change from ...
to ...
Delay time/ms

5%
0

Measurements

300
Settings Diagram

Display

Channel A

x-axis from ... to ...

10 s

y-axis from ... to ...

100

Now determine the step response of the controller and copy the result in the
space reserved below.
100

90

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70

60

50

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20

10

10
t/s

Step response of the PI controller

Based on the step response, determine the controller parameters and enter the
values obtained into the answer box below.

Experiment: PI controller in a PT2 controlled system

In the following experiment a control loop is to be set up with a PT 2 controlled system
and a PI controller. The closed control loop's response is to be compared with a
system having pure P-action and pure I-action control.

Set up the experiment shown below. Configure the PID experiment card so that it
operates as a PI controller and set KP = 5 and TN = 0.1 s on the controller.

Activate the step response plotter and configure it as shown in the Table below.
Settings Input
Channel A

Meas. range: 10 V

Coupling: DC

Channel B

Meas. range: 10 V

Coupling: DC

Range: 100

Offset: 0

Other

Settings Output
Step change from ...
to ...

50%

Delay time/ms

Measurements

300
Settings Diagram

Display

Channels A and B

x-axis from ... to ...

0.5 s

y-axis from ... to ...

100

Now determine the step response (reference and controlled variable) of the
closed control loop and copy it into the space reserved below.

100

90

80

70

60

50

40

30

20

10

10
t/s

to
ge
lp
da
ni
on
Step response of the closed control loop

Describe the characteristic of the step response. How do you assess the control
response compared to pure P-action or I-action control? What holds true for the
steady-state error signal? Enter your answers into the answer box below.

100

90

80

70

60

50

40

30

20

10

10
t/s

10
t/s

togel p naik

100

90

80

70

60

50

40

30

20

10

togel i on