Internship Report

INTERNSHIP REPORT
PROGRAMMABLE OF MULTISTEP TEMPERATURE CONTROL

USING PID CONTROLLER
at
Microelectronics and Control System Division
Beamline 6A : Deep X-Ray Lithography
Synchrotron Light Research Institute
July, 25th – August, 21st 2018
By :
ENRICO WILLMANDA F
021500430
Electronics and Instrumentation Study Program
Department of Nuclear Technophysics
POLYTECHNIC INSTITUTE OF NUCLEAR TECHNOLOGY

NATIONAL NUCLEAR ENERGY AGENCY
YOGYAKARTA
2018
INTERNSHIP REPORT

at
Microelectronics and Control System Division
By :
ENRICO WILLMANDA F
021500430

YOGYAKARTA
2018
DEPARTMENT APPROVAL PAGE
OF
INTERNSHIP REPORT
EXPERIENCE WITH BEAMLINE 6A : DEEP X-RAY LITHOGRAPHY
at
By :
ENRICO WILLMANDA F
021500430
Have been acknowledged and approved :
Yogyakarta,
Supervisor of Internship Program
Dr.Eng. Sutanto, M.Eng

NIP. 19820218 200604 1 016
Head of Nuclear Technophsyics Department
Dr. Muhtadan, M.Eng

NIP. 19830301 200604 1 004
iii
iii
PREFACE
Alhamdulillahirabbil’alamin,
Praise and thank the presence of Allah Almighty for the abundance of
grace and the joy, so that this internship report can be solved well. This
internship report is the outcome of Internship Program at Synchrotron Light
Research Institute of Thailand. The title of this internship report is
"Programmable of Multistep Temperature Control using PID Controller". This
report is one of my responsibilities after finished the insternship program, as well
as the requirement to complete the IV-diploma in the Nuclear Technophysics
Department.
And also, I would like to thank to all those who have helped and guided
me until this internship report can be solved well.
1. Mr.Edy Giri Rachman Putra, Ph.D as Head of Polytechnic Institute
of Nuclear Technology, National Nuclear Energy Agency and also as
my mentor.
2. Dr. Somchai Tancharakorn as Assistant Director in Synchrotron Light
Research Institute of Thailand
3. Dr. Muhtadan, M.Eng as Head of Nuclear T e c h n o p h y s i c s in
Polytechnic Institute of Nuclear Technology, National Nuclear Energy
Agency.
4. Mr. Watcharapon Pummara as my mentor in Beamline 6a : Deep X-
Ray Lithography
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5. My parents , family and all of the peoples who has helped me during
my internship program.
I realize that this internship program is not free of limitations and there is
always deficiencies. There might have problems regarding lack of limitation in
some aspects and also some minor mistakes such as typing mistakes. I have tried
my best to keep the internship report free from errors, I apologize if any error is
found which was not deliberately made. Therefore, criticism and constructive
suggestions are very expected for me as the writer.
Hopefully, this internship report is helpful.
v
LIST OF CONTENTS
INTERNSHIP REPORT ....................................................................................... i

INTERNSHIP REPORT ...................................................................................... ii
PREFACE .......................................................................................................... iv
LIST OF CONTENTS ........................................................................................ vi
ABSTRACT ........................................................................................................ x
CHAPTER I ........................................................................................................ 1
INTRODUCTION ............................................................................................... 1
1.1. Internship Program Background ............................................................ 1
1.2. Purpose of Internship ............................................................................. 1
1.3. Time and Date of Internship .................................................................. 2
1.4. Scope of Problem .................................................................................. 2
1.5. Data Collection Methods ....................................................................... 3
1.6. Writing Systematic ................................................................................ 3
CHAPTER II ....................................................................................................... 5
INSTITUTE OF INTERNSHIP ........................................................................... 5
2.1. Name and Location of Internship Institute ............................................. 5
2.2. History of SLRI..................................................................................... 5
2.3. Vision and Mission of SLRI .................................................................. 6
2.4. Organization Structure .......................................................................... 7
CHAPTER III ...................................................................................................... 8
LITERATURE REVIEW .................................................................................... 8
3.1. Control System ...................................................................................... 8
3.2. PID Controller ....................................................................................... 9
3.4. AC Voltage Controller ......................................................................... 13
CHAPTER IV.................................................................................................... 16
PROGRAMMABLE OF MULTISTEP TEMPERATURE CONTROL USING
PID CONTROLLER ......................................................................................... 16
4.1. Hardware Specification ........................................................................ 16
4.2. System Design ..................................................................................... 26
4.3. Arduino Programming ......................................................................... 32
4.4. MATLAB Programming ...................................................................... 40
vi
4.6. Result and Discussion .......................................................................... 41
CHAPTER V ..................................................................................................... 51
CONCLUSIONS AND SUGGESTIONS........................................................... 51
5. 1. Conclusions ......................................................................................... 51
5. 1. Suggestions ......................................................................................... 51
REFERENCES .................................................................................................. 52
ATTACHMENT I ............................................................................................. 53
ATTACHMENT II ............................................................................................ 93
vii
LIST OF FIGURES
Figure 2.1 Organization Structure ........................................................................ 7

Figure 3.1 Block Diagram of Control System....................................................... 8
Figure 3.2 Block Diagram of Open Loop Control System .................................... 8
Figure 3.3 Block Diagram of Closed Loop Control System .................................. 9
Figure 3.4 Block Diagram of PID Control System ............................................. 10
Figure 3.5 System State of PID Control System Output ..................................... 11
Figure 3.6 Block diagram of PID Algorithm ...................................................... 11
Figure 3.7 AC Voltage Control System .............................................................. 13
Figure 3.8 Characteristics of an ON-OFF Control Action ................................... 14
Figure 3.9 Characteristics of a Phase Control Action.......................................... 15
Figure 4.1 Arduino NANO ................................................................................ 16
Figure 4.2 MOC3020 Optocoupler ..................................................................... 18
Figure 4.3 BTA12 TRIAC ................................................................................. 19
Figure 4.4 Center Tapped 12 VAC Transformator.............................................. 20
Figure 4.5 DS18B20 Sensor ............................................................................... 21
Figure 4.620 x 4 Liquid Crystal Display ............................................................ 22
Figure 4.7 Heat Plate ......................................................................................... 23
Figure 4.8 DS1307 Real Time Clock IC ............................................................. 24
Figure 4.9 LM2596 Regulator IC ....................................................................... 25
Figure 4.10 Block Diagram of Temperature Control using PID Controller ......... 26
Figure 4.11 Schematic of Arduino NANO and Components Connected ............. 27
Figure 4.12 Schmatic of Zero Crossing Detector (ZCD) Circuit ......................... 28
Figure 4.13 Schematic of TRIAC and Optocoupler Circuit ................................ 28
Figure 4.14 Schematic of Recifier and Regulator Circuit.................................... 29
Figure 4.15 Schematic of Sensor Circuit ............................................................ 30
Figure 4.16 Schematic of Real Time Clock Circuit ............................................ 30
Figure 4.17 Schematic of LCD Interfacing Circuit ............................................. 31
Figure 4.19 Top Layer of Printed Circuit Board ................................................. 32
Figure 4.20 Initial Display on LCD Screen ........................................................ 33
Figure 4.21 Single Step Adjusted Parameter Display ......................................... 33
viii
Figure 4.22 Real Time Control Parameter Display ............................................. 34
Figure 4.23 Single Step Control Finished Display .............................................. 35
Figure 4.24 Select Step Adjusted Display .......................................................... 35
Figure 4.25 Multi Step Adjusted Parameter Display ........................................... 36
Figure 4.26 Real Time Control Parameter Display ............................................. 36
Figure 4.27 Multi Step Control Finished Display ............................................... 37
Figure 4.28 Flow Chart of Open Loop Control Program .................................... 37
Figure 4.29 Flow Chart of Closed Loop Control Program .................................. 38
Figure 4.30 Single Step Temperature vs Time Response .................................... 39
Figure 4.31 Multi Step Temperature vs Time Response ..................................... 40
Figure 4.32 Assembled Hardware ...................................................................... 42
Figure 4.33 Voltage Chopped on 2000 us........................................................... 43
Figure 4.39 Response Graph for Single Step Control (SP = 55 °C)..................... 47
ix
ABSTRACT

USING PID CONTROLLER. Temperature is one of the physical quantities
that is very influential on an industrial process that involves heating in it. In
the heating process, a control action is needed so that the heating process takes
place at the allowed temperature in the form of a temperature control.
Temperature control is a device that functions to monitor temperature and
control the output temperature (actual) of a plant based on the set input
temperature.
In order to control response more optimally, temperature control is equipped
with PID control and is used phase angle control method. In a heating process
involving more than one stage, control is required in each step (step) so that it
is designed a Gradual Temperature Controller Using a capable PID Controller
control up to 20 sets of points by utilizing the EEPROM feature in the
microcontroller used.
Keywords : Temperature Controller, PID Controller, Microcontroller, Multistep

Control
x
CHAPTER I
INTRODUCTION
1.1. Internship Program Background
Nowadays, the development of science and technology is so rapidly
influenced into various areas of life. This can be seen from the emergence of new
industries based science and technology in Indonesia. This development have to
be aligned with the development of human resources. Therefore, job competition
is a challenge that must be faced so that reliable and professional human
resources.
In this case, Polytechnic Institute of Nuclear Technology has prepared
Internship Program that must be followed by every student. Thus the students
are expected can be a candidate for workers who have extensive knowledge,
experience, skills and expertise, as well as a high work ethic. Internship Program
at SLRI-Thailand is expected to be able to improve student’s skill and ability at
electronics and instrumentation field. The special task entitled "Programmable of
Multistep Temperature Control using PID Controller" has been taken as my focus
in this internship program.
1.2. Purpose of Internship
1. General Purpose
This internship program aims to providing opportunities for
student in order to learn and observe directly the Synchrotron Light
1
Researh Institute (SLRI) facility that related to electronics and
instrumentation field.
2. Spesific Purpose
a. To obtain the knowledge and technical skills, as well as new
technologies in the Synchrotron Radiation
b. Learning about management, organizational structure and
activities in the SLRI.
c. Learning about daily activities in Beamline 6a : Deep X-Ray
Lithography.
d. To learn the basic principle of electronic device control.
e. To create an electronic circuit and integrate with electronic
device.
f. To learn the method of control system
1.3. Time and Date of Internship
This Internship Program held from July, 2018 to August, 2018.
1.4. Scope of Problem
This internship report is limited with temperature control using electronic
circuit and microcontroller by implementing PID algorithm and phase control
technique.
2
1.5. Data Collection Methods
a. Literature Study Method
To get data and information from this method, student has to
find out from the manual book, handbook, or other literature which is
related with the subject.
b. Experimental Method
Student has to practice by themselves to get actual
information. So, it can compare with the information from the
literature.
1.6. Writing Systematic
CHAPTER I. Introduction
This chapter consists of Internship Background, Purpose of
Internship, Time and Date of Internship, , Scope of Problems, Data
Collection Methods, and Systematic Writing.
CHAPTER II. Institute of Internship
This chapter consists of Name and Date of Internship, History of
SLRI, Vision and Mision of SLRI, Organization Structure, and History of
Beamline 6a: Deep X-Ray Lithography (DXL)
CHAPTER III. Literature Review
This chapter consists of the Principle of control system, PID
Controller, and AC Voltage Control.
3
CHAPTER IV. Programmable of Multistep Temperature Control
Using PID Controller
This chapter consists of the hardware assembly, PID controller
design, hardware testing and data collecting
CHAPTER V. Conclusions and Suggestions
This chapter consists of the Conclusion and Suggestion.
4
CHAPTER II
INSTITUTE OF INTERNSHIP
2.1. Name and Location of Internship Institute
Internship Program is held in Synchrotron Light Research Institute
(SLRI). It is located in Sirindhornwitchothai Building, 111 University Avenue,
Muang, Nakhon Ratchasima 30000 Thailand.
2.2. History of SLRI
The Synchrotron Light Research Institute (SLRI) is a Public Organization
under the supervision of the Ministry of Science and Technology of the Royal
Thai Government. The Siam Photon Project was approved by the government of
Thailand to develop the Siam Photon Source (SPS), the first synchrotron light
source in Thailand. Major parts of the source were transferred from the shut down
SORTEC laboratory, Japan. The Siam Photon Project was managed by then the
National Synchrotron Research Center (NSRC) which was established under the
resolution of the Cabinet of the Thai Government met on 5 March 1996. At that
time, the Cabinet agreed on the establishment of the NSRC Project under
supervision of the Ministry of Science, Technology and Environment. The project
aimed at promoting basic and applied scientific research in Thailand. The NSRC
was located at the Technopolis of Suranaree University of Technology in Nakhon-
Ratchasima. Later, the Synchrotron Light Research Institute (SLRI) was
established to replace the NSRC.
5
Siam Photon Laboratory (SPL) is part of SLRI that services synchrotron
light from the Siam Photon Source (SPS), a 1.2 GeV synchrotron light source. It is
operated at the maximum beam current of 150 mA. The main objective is to serve
as a central laboratory, providing synchrotron radiation for researchers from both
government and industrial sectors. Many experimental techniques are available at
the SPL for Thai and international users. The wide spectral range of synchrotron
light, with photon energies spanning from infrared to X-rays, together with several
other benefical characteristics of synchrotron radiation, make it an indispensable
investigation tool for both pure and applied research fields. These fields of
researches include physical and biological sciences, materials sciences,
agricultural, biomedical and industrial researches, among others.
2.3. Vision and Mission of SLRI
2.3.1 Vision of SLRI
An ASEAN top-first-leader in synchrotron science, supporting food,
agricultural and industrial development.
2.3.2 Mission of SLRI
1. Development of infrastructure using SR
2. Research community service
3. Knowledge Transfer
6
2.4. Organization Structure
Organization Structure of SLRI is showed on Figure 2.1:
Figure 2.1 Organization Structure
7
CHAPTER III
LITERATURE REVIEW
3.1. Control System
A control system is an interconnection of components forming a system
configuration that will provide a desired system response. The basis for analysis
of a system is the foundation provided by linear system, which assumes a
causeeffect relationship for the components of a system. A component or process
to be controlled can be represented by a block as shown in Figure 3.1.
Figure 3.1 Block Diagram of Control System
An open-loop control system utilizes a controller or control actuator to
obtain the desired response as shown in Figure 3.2. The open-loop control system
utilizes an actuating device to control the process directly without using device.
Figure 3.2 Block Diagram of Open Loop Control System
8
A closed-loop control system (Figure 3.3) utilizes an additional measure of
the actual output to compare the actual output with the desired output response.
The measure of the output is called the feedback signal. A feedback control
system is a control system that tends to maintain a relationship of one system
variable to another by comparing functions of these variables and using the
difference as a means of control. As the system is becoming more complex, the
interrelationship of many controlled variables may be considered in the control
scheme.
Figure 3.3 Block Diagram of Closed Loop Control System
3.2. PID Controller
PID control (proportional-integral derivative) is an algorithm used in a
closed loop system that involves feedback from the system output to achieve the
desired response. The PID system can control input variables by manipulating
output variables so that new input variables can be obtained to produce the
9
appropriate output system. The PID control diagram block can be shown in the
following figure.
Figure 3.4 Block Diagram of PID Control System
The block diagram above is a closed loop control system where the
controller works as a plant drive (physical object that is moved in the system) and
controls the nature of the plant. The PID system (proportional-integral-derivative)
as a controller will work to move the plant as it should produce the desired
response. Controlled by the PID system is the system output variable that is Y. In
order to obtain the appropriate Y variable, the PID system will manipulate the
input variable R. The manipulated variable (new R) is the computational result of
the variable R, Y (feedback) and error signal (e ) This error signal is generated by
output Y which is carried in the feedback component to be sent to the controller
PID so that it can be used as a measurement of error output. From this
manipulation variable, obtained output that corresponds to the minimum error.
System state as shown in the following figure.
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Figure 3.5 System State of PID Control System Output
PID algorithm which is a form of error manipulation from the system
previously described in a block diagram as shown in Figure 3.6
Figure 3.6 Block diagram of PID Algorithm
So the mathematical equation is as follows
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3.3. Heating Element
A heating element converts electrical energy into heat through the process
of resistive or Joule heating. Electric current passing through the element
encounters resistance, resulting in heating of the element.A typical heating
element is usually a coil, ribbon (straight or corrugated), or strip of wire that gives
off heat much like a lamp filament. When an electric current flows through it, it
glows red hot and converts the electrical energy passing through it into heat,
which it radiates out in all directions.
Heating elements are typically either nickel-based or iron-based. The
nickel-based ones are usually nichrome, an alloy (a mixture of metals and
sometimes other chemical elements) that consists of about 80 percent nickel and
20 percent chromium (other compositions of nichrome are available, but the 80–
20 mix is the most common). There are various good reasons why nichrome is the
most popular material for heating elements: it has a high melting point (about
1400°C or 2550°F), doesn't oxidize (even at high temperatures), doesn't expand
too much when it heats up, and has a reasonable (not too low, not too high, and
reasonably constant) resistance (it increases only by about 10 percent between
room temperature and its maximum operating temperature).
There are lots of different kinds of heating elements. Sometimes the
nichrome is used bare, as it is; other times it's embedded in a ceramic material to
make it more robust and durable (ceramics are great at coping with high
temperatures and don't mind lots of heating and cooling). The size and shape of a
12
heating element is largely governed by the dimensions of the appliance it has to fit
inside and the area over which it needs to produce heat.
3.4. AC Voltage Controller
AC voltage controllers (ac line voltage controllers) are employed to vary
the RMS value of the alternating voltage applied to a load circuit by introducing
Thyristors between the load and a constant voltage ac source. The RMS value
ofalternating voltage applied to a load circuit is controlled by controlling the
triggeringangle of the Thyristors in the ac voltage controller circuits. In brief, an
ac voltage controller is a type of thyristor power converter which is used to
convert a fixed voltage, fixed frequency ac input supply to obtain a variable
voltage ac output. The RMS value of the ac output voltage and the ac power flow
to the load is controlled by varying (adjusting) the trigger angle ‘α’
Figure 3.7 AC Voltage Control System
There are two different types of thyristor control used in practice to control
the AC power flow : On-Off control and Phase control
13
In On-Off control technique Thyristors are used as switches to connect the
load circuit to the ac supply (source) for a few cycles of the input ac supply and
then to disconnect after few input cycles. The Thyristors thus act as a high speed
contactor (or high speed ac switch).
Figure 3.8 Characteristics of an ON-OFF Control Action
In phase control the Thyristors are used as switches to connect the load
circuit to the input ac supply, for a part of every input cycle. That is the ac supply
voltage is chopped using Thyristors during a part of each input cycle.
14
Figure 3.9 Characteristics of a Phase Control Action
The thyristor switch is turned on for a part of every half cycle, so that input
supply voltage appears across the load and then turned off during the remaining
part of input half cycle to disconnect the ac supply from the load. By controlling
the phase angle or the trigger angle ‘α’ (delay angle), the output RMS voltage
across the load can be controlled. The trigger delay angle ‘α’ is defined as the
phase angle (the value of α) at which the thyristor turns on and the load current
begins to flow.
15
CHAPTER IV
4.1. Hardware Specification
This section will discuss the overall specifications of the components used
in the design of the Programmable of Multi-step Temperature Control using PID
Controller.
4.1.1 Arduino NANO
Figure 4.1 Arduino NANO
Arduino Nano is a surface mount breadboard embedded version with
integrated USB. It is a smallest, complete, and breadboard friendly. The Nano is
automatically sense and switch to the higher potential source of power, there is no
need for the power select jumper. Nano’s got the breadboard-ability of the
Boarduino and the Mini+USB with smaller footprint than either, so users have
more breadboard space. It’s got a pin layout that works well with the Mini or the
16
Basic Stamp (TX, RX, ATN, GND on one top, power and ground on the other).
As for the specifications of Arduino NANO used in this project are as follows.
 Microcontroller : ATmega328
 Architecture : AVR
 Operating Voltage :5V
 Flash Memory : 32 KB of which 2 KB used by
bootloader
 SRAM : 2 KB
 Clock Speed : 16 MHz
 Analog IN Pins :8
 EEPROM : 1 KB
 DC Current per I/O Pins : 40 mA (I/O Pins)
 Input Voltage : 7-12 V
 Digital I/O Pins : 22 (6 of which are PWM)
 PWM Output :6
 Power Consumption : 19 mA
 PCB Size : 18 x 45 mm
 Weight :7g
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4.1.2 MOC3020 Optocoupler
Figure 4.2 MOC3020 Optocoupler
The MOC3020 is an optically Isolated Triac Driver Device, contains a
GaAs infrared emitting diode and a light activated silicon bilateral switch, which
functions like a triac. This device is designed for interfacing between electronic
controls and power triacs to control resistive and inductive loads. As for the
specifications of MOC3020 optocoupler used in this project are as follows.
 Operating Temperature : -45 ~ 85ºC
 Number of Channel :1
 Number of Pin :6
 LED Trigger Current : 15 mA
 Holding Current : 100 µA
 Emitter Continous Forward Current : 60 mA
 Emitter Reverse Voltage :3V
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 Emitter Input Forward Voltage : 1.15 ~ 1.5 V
 Emitter Reverse Leakage Current : 0.01 ~ 100 µA
 Dimension : 8.9 x 6.6 x 5.1 mm
4.1.3 BTA12 TRIAC
Figure 4.3 BTA12 TRIAC
BTA12-TRIAC, from triode for alternating current, is a generic trademark
for a three terminal electronic component that conducts current in either direction
when triggered. Its formal name is bidirectional triode thyristor or bilateral triode
thyristor. A thyristor is analogous to a relay in that a small voltage and current can
control a much larger voltage and current. As for the specifications of BTA12-
TRIAC optocoupler used in this project are as follows.
 Blocking Voltage to 800 V
 On-State Current Rating of 12 Amperes RMS at 85°C
 Uniform Gate Trigger Currents in Three Quadrants
 High Immunity to dV/dt − 100 V/s minimum at 125°C
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 Minimizes Snubber Networks for Protection
 Industry Standard TO-220AB Package
 High Commutating dI/dt − 6.0 A/ms minimum at 125°C
 Internally Isolated (2500 VRMS)
4.1.4 CENTER TAPPED 12 VAC TRANSFORMATOR
Figure 4.4 Center Tapped 12 VAC Transformator
A centre-tapped transformer also known as two phase three wire
transformer is normally used for rectifier circuits. When a digital project has to
work with AC mains a Transformer is used to step-down the voltage (in our case,
to 24V or 12V) and then convert it to DC by using a rectifier circuit. In a center-
tapped transformer the peak inverse voltage is twice as in bridge rectifier hence
this transformer is commonly used in full wave rectifier circuits. As for the
specifications of CT Transformer used in this project are as follows.
 Step-down Centre tapped Transformer
 Input Voltage : 220V AC at 50Hz
20
 Output Voltage : 12V or 0V
 Output Current : 1A
 Mount type : Vertical
4.1.5 DS18B20 Sensor
Figure 4.5 DS18B20 Sensor
The DS18B20 is a small temperature sensor with a built in 12bit ADC. It
can be easily connected to an Arduino digital input. The sensor communicates
over a one-wire bus and requires little in the way of additional components. As for
the specifications of DS18B20 sensor used in this project are as follows.
 Usable temperature range: -55 to 125°C (-67°F to +257°F)
 9 to 12 bit selectable resolution
 Uses 1-Wire interface- requires only one digital pin for communication
 Unique 64 bit ID burned into chip
 Multiple sensors can share one pin
 ±0.5°C Accuracy from -10°C to +85°C
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 Temperature-limit alarm system
 Query time is less than 750ms
 Usable with 3.0V to 5.5V power/data
4.1.6 20 x 4 Liquid Crystal Display
Figure 4.620 x 4 Liquid Crystal Display
20x4 Character LCD Display is built-in with RW1063 controller IC which
are 6800, 4 line SPI or I2C interface options. As for the specifications of20x4
Character LCD Display used in this project are as follows.
 Type: Character
 Display format: 20 x 4 characters
 Built-in controller: ST 7066 (or equivalent)
 Duty cycle: 1/16
 5 x 8 dots includes cursor
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 + 5 V power supply (also available for + 3 V)
 LED can be driven by pin 1, pin 2, pin 15, pin 16 or A and K
 N.V. optional for + 3 V power supply
4.1.7 Heat Plate
Figure 4.7 Heat Plate
A heat plate is a portable self-contained tabletop small appliance cooktop
that features one, two or more electric heating elements or gas burners. As for the
specifications of heat plate used in this project are as follows.
 Input voltage : 220V
 Max. Temperature : 220 Deg. Celcius
 Max power : 50 W
 Size : 9,5 cm x 9,5 cm
 Heat methods : Heat Conduction
 Heat element : Heat Rod (metallic alloy)
23
4.1.8 DS1307 Real Time Clock IC
Figure 4.8 DS1307 Real Time Clock IC
The DS1307 real time clock (RTC) IC is an 8 pin device using an I2C
interface. The DS1307 is a low-power clock/calendar with 56 bytes of battery
backup SRAM. The clock/calendar provides seconds, minutes, hours, day, date,
month and year qualified data. As for the specifications of The DS1307 real time
clock (RTC) IC used in this project are as follows.
 Real-Time Clock (RTC) Counts Seconds, Minutes, Hours, Date of the
Month, Month, Day of the week, and Year with Leap-Year
 Compensation Valid Up to 2100
 56-Byte, Battery-Backed, Nonvolatile (NV)
 RAM for Data Storage
 I2C Serial Interface
 Programmable Square-Wave Output Signal
 Automatic Power-Fail Detect and Switch Circuitry
 Consumes Less than 500nA in Battery-
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 Backup Mode with Oscillator Running
 Optional Industrial Temperature Range: -40°C to +85°C
 Available in 8-Pin DIP or SO
4.1.9 LM2596 Regulator IC
Figure 4.9 LM2596 Regulator IC
The LM2596 series of regulators are monolithic integrated circuits that
provide all the active functions for a step-down (buck) switching regulator. As for
the specifications of LM2596 IC used in this project are as follows.
 3.3-V, 5-V, 12-V, and Adjustable Output Versions
 Adjustable Version Output Voltage Range: 1.2-V to 37-V ± 4% Maximum
Over Line and Load Conditions
 Available in TO-220 and TO-263 Packages
 3-A Output Load Current
 Input Voltage Range Up to 40 V
 Requires Only 4 External Components
 Excellent Line and Load Regulation Specifications
25
 150-kHz Fixed-Frequency Internal Oscillator
 TTL Shutdown Capability
 Low Power Standby Mode, IQ, Typically 80 μA
 High Efficiency
 Uses Readily Available Standard Inductors
 Thermal Shutdown and Current-Limit Protection
4.2. System Design
Figure 4.10 Block Diagram of Temperature Control using PID Controller
It can be seen from the block diagram in Figure above where the set point
is the value that will be the reference of the control system is commonly called Set
Value (SV). Then the controller that will be the control system is the PID control
system. Next is the optocoupler and TRIAC circuit as the interface between the
control system and the load AC working voltage and can control AC power
voltage. On the plant system there is an actuator in the form of an heat plate and
the temperature is measured using a sensor LM35 which will then be entered into
the controller and called by Present Value (PV).
26
4.2.1 Schematic and PCB Design
To realize the system design, it is necessary to design the schematic circuit
and build the schematic into Printed Circuit Board (PCB). By using Cadsoft Eagle
software, schematic circuits that represent the connection between each
component can be designed so that it can be made as a PCB as figure shown
below
Figure 4.11 Schematic of Arduino NANO and Components Connected
In this project Arduino NANO is used as microcontroller that will process
input and output in temperature controlling such as sensor reading, PWM
controlling, button and LCD interfacing, and etc. Figure 4.11 above show the
connections between Arduino NANO I/O pin with other components.
27
Figure 4.12 Schmatic of Zero Crossing Detector (ZCD) Circuit
ZCD circuit is a voltage comparator (LM358N), used to detect a sine
waveform transition from positive and negative that coincides when the
voltage crosses the zero voltage condition. The zero voltage condition will be sent
to Arduino NANO as an interrupt signal to maintain the delay angle for
optocoupler.
Figure 4.13 Schematic of TRIAC and Optocoupler Circuit
28
In this project TRIAC is used for AC switching applications through
control the current flow over both halves of an alternating cycle. MOC3020
provide electrical isolation between an input source and an output load.
Figure 4.14 Schematic of Recifier and Regulator Circuit
Rectifier circuit that consist of 2 diodes will converts alternating
current (AC) voltage from center tapped transformator, which periodically
reverses direction, to direct current (DC), which flows in only one direction, then
the regulator circuit maintains the output voltage at a constant value. LM IC used
to maintain such fluctuations and provides 5 volts regulated power supply for
another component
29
Figure 4.15 Schematic of Sensor Circuit
Figure above is sensor circuit which will sense the heat around the sensor
and transmitt to microcontroller ADC.
Figure 4.16 Schematic of Real Time Clock Circuit
Figure 4.16 show the Real Time Clock DS1307 that will used for time
counter (provides minute, hour, and minute) during the controlling period.
30
Figure 4.17 Schematic of LCD Interfacing Circuit
Figure 4.17 above show the connection between LCD 20 x 4 with
74HC595N IC as the shift register to interfacing LCD and Arduino NANO
Figure 4.18 Bottom Layer of Printed Circuit Board
31
Figure 4.19 Top Layer of Printed Circuit Board
Figure 4.18 and 4.19 above shows that the PCB will receive an input
voltage of 220 V for heating element supply and the voltage will be lowered by
CT Transformer and converted to DC voltage by the rectifier circuit and the
regulator so that it can supply another circuit. The voltage that enters the heating
element will be set in advance by the TRIAC and optocoupler circuit which is
controlled by the Arduino NANO PWM output based on interrupt signal from
Zero Crossing Detector and the error input from the DS18B20 sensor.
4.3. Arduino Programming
4.3.1 User Interface
The user interface is a form of display that is directly related to the user.
The user interface functions to connect between the user and the operating system
so that the device can be operated. In the design of the temperature controller, a
32
20x4 LCD is used as a display and 4 push buttons as an Arduino NANO input to
select the control mode and change the values of the variables needed when
controlling the temperature . The list of programs used is as on attachment I.
In the initial display there are 2 control modes that can be selected by the
user via push buttons 1 and 2.
Figure 4.20 Initial Display on LCD Screen
If the user presses push button 1 or single step mode the display on the
LCD will be as follows.
Figure 4.21 Single Step Adjusted Parameter Display
In single step mode there are 3 variables whose values can be adjusted
according to the user's desires ie hours, minutes, and set points where hours and
33
minutes are the time desired by the user to reach the set point. To change the
variable value can be done by pressing button 2 to decrease the value and button 3
to increase the value. To switch lines can be done by pressing the 4 key. To
proceed to the control program the user can press push button 4 after all the
variables have been filled so that a view like this is obtained.
Figure 4.22 Real Time Control Parameter Display
The first line shows the set point temperature, second line shows the actual
temperature, third line shows the time that user wanted to reach set point, and
forth line shows the duty cycle from PID calculating result that will give a delay
for TRIAC trigerring,
After the countdown time reaches 0 or runs out, the display on the LCD
will change to the following display.
34
Figure 4.23 Single Step Control Finished Display
If the user presses push button 2 or multi step mode on the initial display,
then LCD will be as follows.
Figure 4.24 Select Step Adjusted Display
In multi-step mode, user could set the number of step that user want by
pressing push button 2 or 3 to increase or decrease the number of step and push
button 4 to proceed into the variable setting as shown at figure below
35
Figure 4.25 Multi Step Adjusted Parameter Display
There are 4 variables that can be set according to the user's desires, namely
hours, minutes, set points, Changing the variable value can be done by pressing
the 2 key to decrease the value and the 3 button to increase the value. To switch
lines can be done by pressing the 4 key. To proceed to the control program the
user can press push button 4 after all the variables have been filled so that a view
like this is obtained.
Figure 4.26 Real Time Control Parameter Display
After step 1 is finished, the control will continue to the next step and will
end according to the number of steps that have been entered. If all steps have been
executed then the display on the LCD will be as follows.
36
Figure 4.27 Multi Step Control Finished Display
4.3.2 Open Loop Control
This program contains variable declarations in open loop control,
temperature reading by the temperature sensor, and setting the angle delay when
receiving input from the zero crossing detector. The list of programs used is as on
attachment which also can be represented by this following flow chart.
Figure 4.28 Flow Chart of Open Loop Control Program
37
4.3.2 Closed Loop Control
This program contains variable declarations in closed loop control,
temperature reading by the temperature sensor, and setting the angle delay when
receiving input from the zero crossing detecto based on PID calculating. In this
project there are 2 mode of control that could run in closed loop control namely
single-step control and multi-step control. The list of programs used is as
attachment I which also can be represented by this following flow chart.
Figure 4.29 Flow Chart of Closed Loop Control Program
38
4.3.3 Single-step Control
Single step control is performed to see the characteristics of the plant. In
this case the function of temperature with respect to time (as in the figure 4.30)
can be known, so this is a reference for programming temperature controllers with
multi-step control methods. To run this method, the program operating mode must
be changed to a single step position where there is only one temperature target (set
point) in one control. In this project,time recording is done on set point 55, 65, and
75 with 10 minutes data collecting in each set point.
Figure 4.30 Single Step Temperature vs Time Response
4.3.4 Multi-step Control
Multi-step control is the development of temprature control applications
by programming the control parameters in several segments so that the
temperature function can be known with time as in the figure 4.31 .To run this
method, the program operating mode must be changed to a multi-step position
where there are 20 temperature target that user could use in one control. By
modifying the parameters into array function and using EEPROM or flash
39
mempry on Arduino NANO this method can control parameters in each segments
gradually.
Figure 4.31 Multi Step Temperature vs Time Response
4.4. MATLAB Programming
4.4.1 System Modelling
By using MATLAB, it can be determined the transfer function of the plant
and tuning the PID parameter based on the data in the form of the relationship
between temperature rise and time from the open loop control. The list of
programs used to determine the transfer function of the plant is as on attachment I.
4.4.2 PID Tuning
The tuning of PID controller parameters is always based on a review of the
characteristics that are regulated (Plant). Thus, no matter how complicated a plant
is, the plant's behavior or transfer function must be known first before tuning the
PID parameters. Because the compilation of a mathematical plant model is not
easy, an experimental method is developed. This method is based on plant
reactions that are subject to a change. By using this method the mathematical
40
model of plant behavior is no longer needed, because by using data in the form of
an output curve, tuning the PID controller can be done. Reasoning aims to get
system performance according to design specifications
After the transfer function is obtained, PID tuning can be done by entering
the transfer function on numerator and denumerator section into the MATLAB
program (as on attachment I).
4.6. Result and Discussion
After designed the hardware and software, the next steps are hardware
assembling and device testing. In hardware assembling, it is required to solder all
components in PCB and then ensure that all components are supplied with voltage
or current in accordance with the specifications.
After soldering, all hardware parts are planted on the plexy glass and
placed in accordance with the connection of each part as shown in the following
figure.
41
Figure 4.32 Assembled Hardware
In the device testing, an open loop experiment is conducted first where the
experiment is carried out by varying the delay angle value as the TRIAC input
then heating the heat element in a certain time span before the temperature reach
100 degree Celcius (for heating element safety). By varying the delay angle, it can
be seen the characteristics of the plant shown by observing the heater input
voltage (V rms) on the oscilloscope.
42
Figure 4.33 Voltage Chopped on 2000 us
43
44
Based on these observations it can be seen that the longer the delay angle
given to TRIAC, the longer the temperature increase that occurs in the heat
element.
The open loop experiment generated datas in the form of the relationship
between temperature and time in the particular delay angle shown in the table as
on attachment II. The data is then stored in Excel format and will be processed by
MATLAB software to generate the open loop transfer function. By entering
columns and rows from the open loop data at delay time = 7000 us and delay time
= 8000 us , the transfer function is obtained as follows.
Figure 4.37 Open Loop Transfer Function
45
After getting the transfer function from the plant, PID tuning is done using
the MATLAB program as shown. By entering the open loop transfer function on
the numerator and denumator, PID parameter value is obtained as follows.
Figure 4.38 PID Parameter
From the Figure 4.38 above we obtained Kp = 0.0495 ; Ki = 9.9240 ; and
Kd = 17.5449. The PID parameter value is then used to design the control on the
close loop system. Close loop experiments are carried out in single step mode first
by varying the set point value so that the response time of each set of Pioint is
obtained. By using the PID parameters obtained from MATLAB, the results are
not optimal so that optimization is required using the trial and error method, in
which this method also regulates the kp factor and ki factor values which are the
multipliers of PID parameters obtained. So that the value of optimized Kp = 5 ; Ki
= 15 ; and Kd = 15. Single step control is performed at 55°C; 65°C; and 75°C set
point temperature with 10 minutes adjusted time.
46
After optimization, data from single step control is obtained in the form of
response time shown in the following graph.
Response Graph Temperature vs Time

60
Temperature (°C)
55
50
45
40
0 200 400 600 800
Time (s)
Figure 4.39 Response Graph for Single Step Control (SP = 55 °C)

80
Temperature (°C)
70
60
50
40
30
0 200 400 600 800
Time (s)
47
.
100
Temperature (°C)
80
60
40
20
0 200 400 600 800
Time (s)
After obtaining the optimal single step control results then carried out
multi step control at temperatures target of 55°C, 65°C, 75°C, 85°C, 95°C in
sequence for 5 minutes on each step so that the results are as follows.
 Step-1 : Temp SP = 55°C
Temp AC = 56.56 °C
Peak Temperature = 59,35 °C
Time = 5 minutes
Overshoot = 7,9 %
Steady state error = 2,8 %
Temp AC = 61.31°C
48
Peak Temperature = 69,75°C
Time = 5 minutes
Overshoot = 7.3%
Steady state error = 5.7%
Temp AC = 73.56°C
Peak Temperature = 77.19°C
Time = 5 minutes
Overshoot = 2.9 %
Temp AC = 81.37°C
Time = 5 minutes
Overshoot = 0%
Temp AC = 90.62°C
49
Time = 5 minutes.
Overshoot = 0%
50
CHAPTER V
CONCLUSIONS AND SUGGESTIONS
5. 1. Conclusions
1. In this project the PID parameter value is obtained in the form of
Kp = 5; Ki = 15; and Kd = 15.
2. In step 1 (set point 55) the overshoot is obtained for 7.9% and the
steady state error obtained for 2.8%. In step 2 (set point 65),
overshoot is obtained for 7.3% and steady state error is obtained
for 5.7%. In step 3 (set point 75), overshoot is obtained for 2.9%
and steady state error is obtained for 1.9%. In step 4 (set point 85),
overshoot is obtained for 0% and steady state error is obtained for
4.3%. In step 5 (set point 95), overshoot is obtained for 0% and
steady state error is obtained for 2.8%.
3. Phase control technique is a suitable method for controlling
temperature in heat elements.
5. 1. Suggestions
It is very necessary to optimizing the PID tuning to get proper parameters
(Kp, Ki, and Kd) using another methods like Ziegler–Nichols method and stability
testing using Root Locus Method.
51
REFERENCES
SLRI, https://www.slri.or.th/en/ [Accessed on August ,18th 2018]
http://www.ent.mrt.ac.lk/~rohan/teaching/EN5001/Reading/DORFCH1.pdf
[Accesed on August, 25th 2018]
https://www.cds.caltech.edu/~murray/courses/cds101/fa02/caltech/astrom-ch6.pdf
Wikipedia: Heating Element, https://en.wikipedia.org/wiki/Heating_element

https://www.explainthatstuff.com/heating-elements.html [Accesed on August, 27th

2018]
https://elektroftunp.files.wordpress.com/2009/04/7-ac-voltage-controller.pdf
https://store.arduino.cc/usa/arduino-nano [Accesed on August, 28th 2018]
https://pdf1.alldatasheet.com/datasheet/pdf/view/5038/MOTOROLA/MOC3020.ht
ml [Accesed on September, 3th 2018]
https://www.st.com/en/thyristors-scr-and-ac-switches/bta12.html [Accesed on
September, 4th 2018]
https://github.com/openenergymonitor/learn/blob/master/view/electricity-
monitoring/temperature/DS18B20-temperature-sensing.md [Accesed on
August, 18th 2018]
https://www.winstar.com.tw/products/character-lcd-display-module/20x4-lcd-
display.html [Accesed on September, 7th 2018]
https://www.elprocus.com/rtc-ds1307/ [Accesed on September, 8th 2018]
http://www.ti.com/product/LM2596#descriptions [Accesed on September, 8th

2018]
52
ATTACHMENT I
Program list for user interfacing

int first_page() {
lcd.ClearScreen();
lcd.SetCursor(0x00);
lcd.Print(" Select mode ");
lcd.Print("1>Single Step ");
lcd.Print("2>Multistep ");
while (1) {
if (digitalRead(sw1) == 0) {
setTime_singleStep();
} else if (digitalRead(sw2) == 0) {
Step_user = Choose_step();
setTime_MultiStep();
}
}
}
int Step = 0;
int Choose_step() {
int Step = 0;
lcd.ClearScreen();
lcd.Print(" Select Step ");
53
lcd.Print(" > ");
lcd.Print(Step);
lcd.Print(" Step ");
/*
lcd.SetCursor (0x10);
lcd.Print("2> 6 Step ");
lcd.SetCursor (0x50);
lcd.Print("3> 9 Step ");
*/
delay(500);
while (1) {
if (digitalRead(sw1) == 0) {
//
}
else if (digitalRead(sw3) == 0 && Step < 20) {

Step++;
lcd.Print(" > ");
lcd.Print(Step);
delay(250);
}
else if (digitalRead(sw2) == 0 && Step > 0) {
Step--;
lcd.Print(" > ");
lcd.Print(Step);
54
delay(250);
}
else if (digitalRead(sw4) == 0) { //----- Enter botton
lcd.Print(" Finished ");
lcd.Print(" ");
delay(250);
Serial.println("Step=");
Serial.print(Step);
return Step;
}
}
int setTime_MultiStep() {
lcd.ClearScreen();
for (i = 1; i <= Step_user ; i++) {
//-----------------------------------
temp_sp2[i] = sp2[i];
lcd.ClearScreen();
lcd.Print(">Hour = ");
lcd.Print(hour2[i]);
lcd.Print(" minute = ");
55
lcd.Print(minute2[i]);
lcd.Print(" Temp = ");
lcd.Print(temp_sp2[i]);
lcd.Print(i);
delay(1000);
while (1)
{
if (digitalRead(sw3) == 0 && hour2[i] < 250) // for set hr ++
{
hour2[i]++;
lcd.Print(" ");
delay(300);
}
if (digitalRead(sw2) == 0 && hour2[i] > 0) // hr --
{
hour2[i]--;
lcd.Print(" ");
delay(300);
}
if (digitalRead(sw4) == 0) // if SW#1-1 for set min
56
{
lcd.ClearScreen();
lcd.Print(" Hour = ");
lcd.Print(">minute = ");
lcd.Print(i);
delay(1000);
while (1) // while(1)#2
{
if (digitalRead(sw3) == 0 && minute2[i] < 59) // min ++
{
minute2[i]++;
lcd.SetCursor(0x4A);
lcd.Print(" ");
delay(200);
} // end sw#3
if (digitalRead(sw2) == 0 && minute2[i] > 0) // min --
{
minute2[i]--;
57
lcd.Print(" ");
delay(200);
}// end sw#2
if (digitalRead(sw4) == 0) // if SW#1-2 // show hr,min,sp

{
lcd.ClearScreen();
lcd.Print(">Temp = ");
lcd.Print(i);
delay(1000);
while (1) // while(1)#3 for set sp and save

{
if (digitalRead(sw3) == 0 && temp_sp2[i] < 115) // sp ++
{
temp_sp2[i]++;
58
lcd.SetCursor(0x1C);
lcd.Print(" ");
delay(100);
}
if (digitalRead(sw2) == 0 && temp_sp2[i] > 0) // sp --
{
temp_sp2[i]--;
lcd.Print(" ");
delay(100);
}
if (digitalRead(sw4) == 0) // save to eeprom

{
time_input2[i] = (hour2[i] * 3600) + (minute2[i] * 60);
time_count2[i] = time_input2[i];
sp2[i] = temp_sp2[i];
// EEPROM.write(4, sp2[i]);
// EEPROM.write(5, hour2[i]);
// EEPROM.write(6, minute2[i]);
//return 0;
//Multistep_run()
//break;
goto a;
59
} //break; // End while(1)#3
}// End if SW#1-2

} //break;// while(1)#2
} // End if SW#1-1
} // break;// End while(1)#1
//--------------------------------
a:
for(l=1;l<=20;l++){
// sp2[i]=EEPROM.read(i+10);
// hour[i]=EEPROM.read(i+30);
// minute[i]=EEPROM.read(i+50);
EEPROM.write(l+10,sp2[l]);
EEPROM.write(l+30,hour2[l]);
EEPROM.write(l+50,minute2[l]);
}
} // end for
Multistep_run();
}
60
int setTime_singleStep()
{
temp_sp = sp;
lcd.ClearScreen();
lcd.Print(">Hour = ");
lcd.Print(hour);
lcd.Print(minute);
lcd.Print(temp_sp);
delay(1000);
while (1)
{
if (digitalRead(sw3) == 0 && hour < 250) // for set hr ++
{
hour++;
lcd.Print(hour);
lcd.Print(" ");
delay(300);
}
if (digitalRead(sw2) == 0 && hour > 0) // hr --
{
61
hour--;
lcd.Print(hour);
lcd.Print(" ");
delay(300);
}
if (digitalRead(sw4) == 0) // if SW#1-1 for set min

{
lcd.ClearScreen();
lcd.Print(hour);
lcd.Print(">minute = ");
lcd.Print(minute);
lcd.Print(temp_sp);
delay(1000);
while (1) // while(1)#2
{
if (digitalRead(sw3) == 0 && minute < 59) // min ++
{
minute++;
lcd.Print(minute);
lcd.Print(" ");
62
delay(200);
} // end sw#3
if (digitalRead(sw2) == 0 && minute > 0) // min --
{
minute--;
lcd.Print(minute);
lcd.Print(" ");
delay(200);
}// end sw#2
if (digitalRead(sw4) == 0) // if SW#1-2 // show hr,min,sp

{
lcd.ClearScreen();
lcd.Print(hour);
lcd.Print(minute);
lcd.Print(">Temp = ");
lcd.Print(temp_sp);
delay(1000);
while (1) // while(1)#3 for set sp and save

{
if (digitalRead(sw3) == 0 && temp_sp < 115) // sp ++
63
{
temp_sp++;
lcd.Print(temp_sp);
lcd.Print(" ");
delay(100);
}
if (digitalRead(sw2) == 0 && temp_sp > 0) // sp --
{
temp_sp--;
lcd.Print(temp_sp);
lcd.Print(" ");
delay(100);
}
if (digitalRead(sw4) == 0) // save to eeprom

{
time_input = (hour * 3600) + (minute * 60);
time_count = time_input;
sp = temp_sp;
EEPROM.write(1, sp);
EEPROM.write(2, hour);
EEPROM.write(3, minute);
//return 0;
singlestep_run();
}
64
} // End while(1)#3
}// End if SW#1-2

} // while(1)#2
} // End if SW#1-1
} // End while(1)#1
} // End loop setime
Program list for open loop control

#include <Wire.h>
#include <OneWire.h>
#include <DallasTemperature.h>
#define ONE_WIRE_BUS 9
OneWire oneWire(ONE_WIRE_BUS);
DallasTemperature sensors(&oneWire);
int LM35 = 0;
int zero = 10;
int trig = 11;
int t = 0;
float temp;
unsigned long previousMillis = 0; // will store last time LED was updated
const long interval = 1000;
65
void setup()
{
Serial.begin(9600);
// Start up the library

sensors.begin();
pinMode(zero, INPUT);
pinMode(trig, OUTPUT);
/*
TIMSK2 = 0b00000010;
TCCR2A = 0b00000000;
TCCR2B = 0b00000100;
TCCR1B |= ((0 << CS12) | (1 << CS11) | (1 << CS10)); //Timer2 Settings:
Timer Prescaler /1024
TIMSK1 |= (1 << TOIE1); //Timer2 Overflow Interrupt
Enable
TCNT1 = 15536;
sei();
*/
}
void loop() {
unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= interval) {

// save the last time you blinked the LED
66
previousMillis = currentMillis;
//sensors.requestTemperatures();
temp = float(analogRead(0))*500/1023;
//-------------------------
Serial.print(millis()/1000);
Serial.print(" ");
Serial.println(temp);
}
//t=map(pot,0,1023,0,10000);
t = 8000;
while (digitalRead(zero) == 1); //wait fall signal
//------------
delayMicroseconds(t); //delay a angle
digitalWrite(trig, HIGH);
delayMicroseconds(100);
digitalWrite(trig, LOW);
delayMicroseconds(10000 - t);
//---------------
delayMicroseconds(t); //delay a angle
digitalWrite(trig, HIGH);
digitalWrite(trig, LOW);
67
Program list for closed loop control
#include <avr/io.h>
#include <avr/interrupt.h>
#include <LCDHC595.h> // Used 74HC595 Control lCD Library
#include <Wire.h>
#include <OneWire.h>
#include <DallasTemperature.h>
#include <EEPROM.h>
//DallasTemperature tempSensor; // You may instantiate as many copies as you
require.
// -----LCD-----
#define SIN_PIN 4 // 74HC595 Serial In Pin
#define STR_PIN 3 // 74HC595 Strobe pin
#define CLK_PIN 2 // 74HC595 Clock pin
//Create object to Control LCD.
LCDHC595 lcd = LCDHC595(SIN_PIN, STR_PIN, CLK_PIN);
//-------Switch------
#define ONE_WIRE_BUS 9
OneWire oneWire(ONE_WIRE_BUS);
DallasTemperature sensors(&oneWire);
int l = 0;
int Step_user = 0;
int i = 0;
int LM35 = 0;
int sw1 = 5;
int sw2 = 6;
int sw3 = 7;
68
int sw4 = 8;
int out = 11;
int zero=10;
int s = 0, s1 = 0;
float sp = 3.5;
float sp2[20];
int duty = 0;
int count = 0;
int count2 = 0;
float temp = 0;
float analoglm35 = 0;
char cha1[10];
int t=9000;
int swst = 0, swref = 500;
int on_stat=0;
unsigned long minute = 0;
unsigned long minute2[20];
unsigned long hour = 0;
unsigned long hour2[20];
unsigned long temp_sp = 0;
unsigned long temp_sp2[20];
unsigned long minute_p = 0;
unsigned long minute2_p[20];
unsigned long hour_p = 0;
unsigned long hour2_p[20];
unsigned long count1 = 0;
unsigned long int_counter = 0;
volatile int second1 = 0;
69
volatile int second12[20];
int oldSecond = 0;
unsigned long time_input = 0;
unsigned long time_input2[20];
unsigned long time_count = 0;
unsigned long time_count2[20];
unsigned long time_step1 = 0;
//---------------- INT Timeer---------------

ISR(TIMER1_OVF_vect)
{
int_counter += 1;
if (int_counter == 490)
{ time_step1 += 1;
second1 += 1;
second12[i] += 1;
if (time_count > 0)time_count--;
if (time_count2[i] > 0)time_count2[i]--;
int_counter = 0;
}
}
void setup()
{
Serial.begin(19200);
70
Wire.begin();
lcd.Initial(); // Initial LCD
lcd.Backlight(1); // ON Backlight LED
lcd.ClearScreen(); // Clear Screen Display
pinMode(out, OUTPUT);
pinMode(sw1, INPUT);
pinMode(zero, INPUT);
//------- Read DSb1820 ---------------//
// tempSensor.begin(9); // Data wire is plugged into port 12 on the Arduino
// Serial.println("Dallas Temperature IC Control Library 1.0. Miles Burton");
//TCCR1B |= ((0 << CS12) | (1 << CS11) | (1 << CS10)); //Timer2 Settings:
//TIMSK1 |= (1 << TOIE1); //Timer2 Overflow Interrupt
Enable
//TCNT1=15536;
//interupt(1);
// EEPROM.write(1, 30);
sensors.begin();
sp = EEPROM.read(1);
hour = EEPROM.read(2);
minute = EEPROM.read(3);
// sp2[i]=EEPROM.read(4);
// hour2[i]=EEPROM.read(5);
// minute2[i]=EEPROM.read(6);
for (l = 1; l <= 20; l++) {
sp2[l] = EEPROM.read(l + 10);
71
hour2[l] = EEPROM.read(l + 30);
minute2[l] = EEPROM.read(l + 50);
}
TCCR1B |= ((0 << CS12) | (1 << CS11) | (1 << CS10)); //Timer2 Settings:
TIMSK1 |= (1 << TOIE1); //Timer2 Overflow Interrupt
Enable
TCNT1 = 15536;
//setTime();
sei();
TIMSK2 = 0b00000010;
TCCR2A = 0b00000000;
TCCR2B = 0b00000010;
first_page();
time_input = (hour * 3600) + (minute * 60);
time_input2[i] = (hour2[i] * 3600) + (minute2[i] * 60);
time_count = time_input;
time_count2[i] = time_input2[i];
// TIMSK0=0b00000010;
// TCCR0A = 0b00000000;
// TCCR0B = 0b00000101;
72
int singlestep_run() {
while (1) {
a:
char cha[10];
//duty=50;
//--------refresh Display---------
if (count >= 10)
{
//lcd.ClearScreen(); // Clear Screen Display
count = 0;
}
count++;
//---read sensor--
// analoglm35=analogRead(LM35);
// temp=(analoglm35*500)/1023;
sensors.requestTemperatures();
temp = sensors.getTempCByIndex(0);
//-------------------------
Serial.println(temp);
//Serial.println();
lcd.Print("TempSP = ");
dtostrf(sp, 4, 2, cha);
lcd.Print(cha);
// lcd.Print(" C");
73
lcd.Print("TempAC = ");
dtostrf(temp, 4, 2, cha);
lcd.Print(cha);
lcd.Print(" ");
// lcd.Print(" C");
lcd.Print("Duty = ");
dtostrf(duty, 4, 2, cha);
lcd.Print(cha);
//-----Read and Display clock--------------

hour_p = time_count / 3600;
minute_p = (time_count % 3600) / 60;
second1 = ((time_count % 3600) % 60);
lcd.Print("Time =");
lcd.SetCursor(0x1D);
if (hour_p == 0)
{
lcd.Print(minute_p);
lcd.Print(":");
lcd.Print(second1);
lcd.Print(" ");
} else
{
74
lcd.Print(hour_p);
lcd.Print(":");
lcd.Print(minute_p);
lcd.Print(":");
lcd.Print(second1);
lcd.Print(" ");
}
if (time_count == 0)
{
duty = 0;
lcd.Print(" -^Finish^- ");
lcd.Print(" Reset Press 4 ");
while (1)
{
// temp=tempSensor.getTemperature();
if (count2 >= 3) // refresh show temp.

{
lcd.Print(cha);
lcd.Print(" C");
75
count2 = 0;
}
count2++;
if (digitalRead(sw4) == 0)
{
//setTime();
goto a;
}
}
}
//*************** Control***************************
control();
//delay(980); //Wait 1-Second

}
}
int Multistep_run() {
on_stat=1;
for (i = 1; i <= Step_user ; i++) {
while (1) {
char cha[10];
//duty=50;
//--------refresh Display---------
if (count >= 10)
76
{
//lcd.ClearScreen(); // Clear Screen Display
count = 0;
}
count++;
//---read sensor--
// analoglm35=analogRead(LM35);
// temp=(analoglm35*500)/1023;
sensors.requestTemperatures();
temp = sensors.getTempCByIndex(0);
//-------------------------
Serial.print("T=");
Serial.print(temp);
Serial.print(" ");
Serial.print("Tsp=");
Serial.print(sp2[i]);
//Serial.println();
lcd.Print("TempSP = ");
dtostrf(sp2[i], 4, 2, cha);
lcd.Print(cha);
// lcd.Print(" C");
77
lcd.Print(cha);
lcd.Print(" ");
// lcd.Print(" C");
lcd.Print("Duty = ");
dtostrf(duty, 4, 2, cha);
lcd.Print(cha);
//-----Read and Display clock--------------

hour2_p[i] = time_count2[i] / 3600;
minute2_p[i] = (time_count2[i] % 3600) / 60;
second12[i] = ((time_count2[i] % 3600) % 60);
lcd.Print("Time = ");
lcd.SetCursor(0x1D);
if (hour2_p[i] == 0){
lcd.Print(minute2_p[i]);
lcd.Print(":");
lcd.Print(second12[i]);
lcd.Print(" ");
}else{
lcd.Print(hour2_p[i]);
lcd.Print(":");
lcd.Print(minute2_p[i]);
lcd.Print(":");
lcd.Print(second12[i]);
78
lcd.Print(" ");
}
if (time_count2[i] == 0){
break;
delay(100);
}
sp=sp2[i];
control();
} //end for loop

on_stat=0;
lcd.Print(" -^Finish^- ");
lcd.Print(" Reset Press 4 ");
dtostrf(temp, 4, 2, cha1);
lcd.Print(cha1);
lcd.Print(" C");
} // end function
79
//*************** Control***************************
//delay(980); //Wait 1-Second
void loop()
{
///** H1 ov=6C, H2 ov=3
void control()
{ // sp=60;
int PId_MAX = 800; // default
int PId_MIN = 100;
float Kp, Ki, Kd, set_point, setpoint_value;
float err, P, I, D, sensor_value, PId, I_1, err_1, PId1;
float Kp_factor, Ki_factor;
float Ko_factor = 1; //1-1.5; // 1=good, 1.5= bad, 1.25=
// Statdy 90C use =70 , 100C use 80, 110C use 90 ,70C use 50 ,50C use 20 ,40
use
80
// Tm Low/High at 116/108 C
if ((sp >= 0) & (sp < 40)) // 35C-> use 30

{ Kp_factor = 1.1;
Ki_factor = 1.4;
PId_MIN = 5;
}
else if ((sp >= 40) & (sp < 50)) // 45C-> use 30
{ Kp_factor = 0.8;
Ki_factor = 1.4;
PId_MIN = 5;
}
else if ((sp >= 50) & (sp < 60)) // 55C-> use 40
{ Kp_factor = 1.3;
Ki_factor = 1.5;
PId_MIN = 10;
}
else if ((sp >= 60) & (sp < 70)) //65c Max use=50
{ Kp_factor = 1.5;
Ki_factor = 1.7;
PId_MIN = 10;
}
else if ((sp >= 70) & (sp < 80)) // 75c use 70
{ Kp_factor = 1.7;
Ki_factor = 1.9;
PId_MIN = 10;
}
81
else if ((sp >= 80) & (sp < 90)) // 85c Max 99,use= 80
{ Kp_factor = 1.5;
Ki_factor = 3;
PId_MIN = 15;
PId_MAX = 600;
}
else if ((sp >= 90) & (sp < 100)) //95c use power=100
{ Kp_factor = 2;
Ki_factor = 2;
PId_MIN = 15;
PId_MAX = 600;
}
else if ((sp >= 100) & (sp < 110)) //100c use power=120; 105 C use= 130
{ Kp_factor = 2;
Ki_factor = 1.5;
PId_MIN = 20;
}
else {
Kp_factor = 1.3;
Ko_factor = 1.6;
PId_MIN = 20;
}
Ki_factor = 1.3; // ki=1.1 for h2, 1.3 for h1

Kp = 5 * Kp_factor; // 15-20
Ki = 15 * Ki_factor; // 5-20 // I up
82
Kd = 15; //5-20
set_point = sp;
sensor_value = temp;
err = set_point - sensor_value; // calculate error
// Serial.print(" ");
// Serial.print(err);
P = Kp * err; // call P term

I = Ki * err + I_1; // call I term
D = Kd * (err - err_1); // Call D term
Serial.print(" ");
Serial.print(P);
Serial.print(" ");
Serial.print(I);
Serial.print(" ");
Serial.print(D);
//----- adaptive of maximum Output
/*
if ((err >= 0) & (err < 2))
{
83
PId_MAX = 1 * set_point * Ko_factor;
}
else if ((err >= 2) & (err < 10))
{
PId_MAX = 1.5 * set_point * Ko_factor;
}
else if ((err >= 10) & (err < 20))
{
}
else if ((err >= 20) & (err < 30))
{
}
else if ((err >= 30) & (err < 50)) //***************** use
{
PId_MAX = 2.5 * set_point * Ko_factor;
}
else {
}
*/
//------------- call PId output -------------------
float PId_foctor = 1; //
PId_MAX = PId_MAX * PId_foctor;
if (I >= PId_MAX)
84
{
I = PId_MAX;
}
else if (I <= PId_MIN)
{
I = PId_MIN;
}
if (D >= PId_MAX)
{
D = PId_MAX;
}
else if (D <= PId_MIN)
{
D = PId_MIN;
}
PId = P + I + D; // PId value

PId1 = PId;
if (PId >= PId_MAX)

{
PId = PId_MAX;
}
else if (PId <= PId_MIN)
{
85
PId = PId_MIN;
}
I_1 = I;
err_1 = err;
Serial.print(" PId ");
Serial.print(PId);
float duty_foctor = 1.0; //1.0-1.3 OV1->0.95,OV2->1
duty = PId;
if (duty >= 1000) // Use Max duty=80% for safety of heater

{
duty = 800;
}
// Serial.print(" D ");
// Serial.print(duty);
Serial.println();
t=10000-(duty*10);
// if(time_step1>=2400)
// {duty=0;
// while(1);
// }
}
//--------interupt rutine-------
unsigned long t_start=0;
86
int out_stat1=0;
int out_stat2=0;
int stat0=1;
ISR(TIMER2_COMPA_vect)
{
// digitalWrite(out,HIGH);
// delayMicroseconds(100);
// digitalWrite(out,LOW);
if(t>9000){
t=9000;
}
if(stat0 == 1 && digitalRead(zero)==0 && on_stat==1){
t_start=micros();
stat0 =0;
}
if((micros()-t_start)>t && (micros()-t_start)<t+500 && out_stat1==0){
digitalWrite(out,HIGH);
digitalWrite(out,LOW);
out_stat1=1;
}
if((micros()-t_start)>(t+10000) &&(micros()-t_start)<(t+10500)&&
out_stat2==0){
digitalWrite(out,HIGH);
digitalWrite(out,LOW);
out_stat2=1;
87
}
if((micros()-t_start)>19500){
out_stat1=0;
out_stat2=0;
//stat0=digitalRead(zero);
stat0=1;
}
}
/*
ISR(TIMER0_COMPA_vect){
if(digitalRead(sw2)==0){
//s1++;
//if(s1>=30)
sp=sp+0.1;
}else{
s1=0;
}
if(digitalRead(sw3)==0){
s1++;
//if(s1>=30)
sp=sp-0.1;
}else{
s1=0;
}
}*/
88
Program list for system modeling
clear all
close all
clc
%% Read data from xcel file

t1 = xlsread('OpenLoop.xlsx','sheet1','n1:n1200')'; %% time
T1 = xlsread('OpenLoop.xlsx','sheet1','o1:o1200')';
T2 = xlsread('OpenLoop.xlsx','sheet1','s1:s1200')';
T1=(T1-min(T1))/(max(T1)-min(T1));
L=1200;
ts=0.1;
%%----- Created Temp ouput for Iden -----%

Temp_out1=T1';
Temp_out2=T2';
Temp_out3=T3';
Temp_out4=T4';
%%----- Created Temp ouput for validation -----%

Temp_out5=T5';
Temp_out6=T6';
%%----- Created Temp input -----%

Temp_in1=ones(1,L)';
%%----- Created Temp validate -----%

%% size of Temp_40 =15001x1,Temp_in1=15001x1,ts=1x1

%% IDDATA(Y,U,Ts) create a data object(out,int,sampligtime)
data1=iddata(Temp_out1,Temp_in1,ts);
Exp_data1=merge(data1,data2,data3,data4);
89
%%%for data %
na=2;
nb=2;
nc=1;
nk=0; %%% delay
%%[na nb nc nk] are the orders and delays of the ARMAX model
%%A(q) y(t) = B(q) u(t-nk) + C(q) e(t)
armaxmodel=armax(Exp_data1,[na nb nc nk]);
present(armaxmodel);
%%%%%%Show experimented data VS identified data%%%%%%%%%%%

figure(3)
ylabel('Amplitude')
xlabel('Time(S)')
compare(Exp_data1,armaxmodel)
ylabel('Amplitude')
xlabel('Time(S)')
%%%%%%%Delvelop the model in transfer function form%%%%%%%

[A,B,C,D,K,X0]=th2ss( armaxmodel); % convert THETA-format to state-space
[Ac,Bc,Cc,Dc]=d2cm(A,B,C,D,ts,'tustin'); % Convert discrete LTI systems to continuous-time
[num,den]=ss2tf( Ac,Bc,Cc,Dc); %Convert State-space to transfer function
G=tf(num,den)
t2=1:ts:1001-ts;
y_exp=step(G,t2);
t3=1:1:1000;
y_exp2=step(G,t3);
%%% error of Sunisa =22%

err1=(Temp_out5-y_exp2); %%% find SSE
err2=(Temp_out6-y_exp2); %%% find SSE
sse1=sse(err1);
sse2=sse(err2);
sum_sse=[sse1 sse2]
Validation1RMS=(sse1/L)^.5
Validation2RMS=(sse2/L)^.5
figure(4)
%hold on
SUBPLOT(1,2,1)
plot(t1,Temp_out5,t2,y_exp)
grid on
xlabel('time(sec)')
ylabel('Amplitude')
%legend('Exp8','ARMAX')
title('Validation1-ARMAX')
AXIS([0 1000 0 1.2])
90
SUBPLOT(1,2,2)
plot(t1,Temp_out6,t2,y_exp)
grid on
xlabel('time(sec)')
ylabel('Amplitude')
%legend('Exp9','ARMAX')
title('Validation2-ARMAX')
AXIS([0 1000 0 1.2])
figure(5);
step(G)
figure(6);
bode(num,den);
Program list for PID Tuning

% Adaptive Tabu Search toolbox
clear all;
xlimit = [10 10 10;0 0 0];

list_size = 5;
nn = 5;
max_count = 40;
radius = 0.5;
lms = 1e-18;
nsbbt = 15;
er = [0.35 0.65 0.8];
df = [5 2 2];
[best_K,best_w,time,current_K]=ats(xlimit,list_size,nn,max_count,radius,lms,nsbbt,er,df);
clc;
Kp = best_K(1);
Ki = best_K(2);
Kd = best_K(3);
% 3.5317 1.9953 1.5176
% 20101018_BIRD Kp,Ki,Kd =3.6420,1.5315,1.2091
% Test & plot resulting Kp Ki Kd here
% ...
t=0:0.002:10;
nump=[-1.478e-09 0.0039875 0.07973];
denp=[1 7.046 0.03712];
disp('TF of Open-loop')
tf_open=tf(nump,denp)
% parameter [Kd Kp Ki];

numc=[Kd Kp Ki]
denc=[1 0];
disp('TF of PID')
tf_PID=tf(numc,denc);
%#closed-loop response for step input

num=conv(nump,numc);
91
den=conv(denp,denc);
[n,m]=cloop(num,den);
disp('TF of Close-loop')
tf_cloop=tf(n,m)
%%% ------------- plot -----------------

figure(1)
clf(1)
hold on
y_oloop=step(nump,denp,t); % open loop
step(nump,denp,t);
y_cloop=step(n,m,t); % close loop ATS

step(n,m,t);
legend('Open loop','Close loop');
92
ATTACHMENT II
Open Loop Datas for 2000 us delay angle
Delay Time (us) Time (s) Temperature (C)

2000 1 27.86
2000 2 27.86
2000 3 27.86
2000 4 28.35
2000 5 28.35
2000 6 28.84
2000 7 28.84
2000 8 29.33
2000 9 29.81
2000 10 29.81
2000 11 30.3
2000 12 30.79
2000 13 31.28
2000 14 32.26
2000 15 32.75
2000 16 33.24
2000 17 33.72
2000 18 34.21
2000 19 35.19
2000 20 35.68
2000 21 36.17
2000 22 37.15
2000 23 37.63
2000 24 38.12
2000 25 39.1
2000 26 39.59
2000 27 40.57
2000 28 41.06
2000 29 42.03
2000 30 42.52
2000 31 43.5
2000 32 44.48
2000 33 44.97
2000 34 45.94
93
2000 35 46.92
2000 36 47.41
2000 37 48.39
2000 38 49.36
2000 39 49.85
2000 40 50.83
2000 41 51.81
2000 42 52.3
2000 43 53.27
2000 44 54.25
2000 45 55.23
2000 46 56.21
2000 47 57.18
2000 48 58.16
2000 49 59.14
2000 50 60.12
2000 51 61.09
2000 52 62.07
2000 53 63.05
2000 54 64.03
2000 55 65
2000 56 65.98
2000 57 66.96
2000 58 67.45
2000 59 68.43
2000 60 69.4
2000 61 69.89
2000 62 70.87
2000 63 71.85
2000 64 72.34
2000 65 72.83
2000 66 73.8
2000 67 74.29
2000 68 75.27
2000 69 75.76
2000 70 76.74
2000 71 77.71
2000 73 78.2
2000 74 79.18
2000 75 79.67
2000 76 80.65
94
2000 77 81.62
2000 78 82.6
2000 79 83.58
2000 80 84.07
2000 81 85.53
2000 82 86.51
2000 83 87.98
2000 84 89.93
2000 85 91.89
2000 86 92.86
2000 87 93.35
2000 88 93.84
2000 89 94.33
2000 90 94.82
2000 91 94.82
2000 92 95.31
2000 93 95.31
2000 94 95.8
2000 95 95.31
2000 96 95.31
2000 97 95.31
2000 98 95.31
2000 99 95.31
2000 100 95.31
2000 101 95.31
2000 102 95.31
2000 103 95.31
2000 104 95.8
2000 105 95.8
2000 106 95.8
2000 107 96.29
2000 108 96.29
2000 109 96.29
2000 110 96.29
2000 111 96.29
2000 112 96.77
2000 113 96.77
2000 114 96.77
2000 115 96.77
2000 116 96.77
2000 117 96.77
95
2000 118 96.77
2000 119 96.77
2000 120 96.77
Delay Time(us) Time (s) Temperature(C)

4000 1 27.86
4000 2 27.37
4000 3 27.86
4000 4 27.86
4000 5 27.86
4000 6 27.86
4000 7 27.86
4000 8 28.35
4000 9 28.35
4000 10 28.84
4000 11 28.84
4000 12 29.33
4000 13 29.81
4000 14 30.3
4000 15 30.79
4000 16 30.79
4000 17 31.28
4000 18 31.77
4000 19 32.26
4000 20 32.75
4000 21 33.72
4000 22 34.21
4000 23 34.7
4000 24 35.19
4000 25 35.68
4000 26 36.17
4000 27 36.66
4000 28 37.63
4000 29 38.12
4000 30 38.61
4000 31 39.1
4000 32 40.08
96
4000 33 40.57
4000 34 41.06
4000 35 41.54
4000 36 42.52
4000 37 43.01
4000 38 43.5
4000 39 44.48
4000 40 44.97
4000 41 45.45
4000 42 46.43
4000 43 46.92
4000 44 47.41
4000 45 48.39
4000 46 48.88
4000 47 49.36
4000 48 50.34
4000 49 50.83
4000 50 51.32
4000 51 52.3
4000 52 52.79
4000 53 53.27
4000 54 54.25
4000 55 54.74
4000 56 55.23
4000 57 56.21
4000 58 56.7
4000 59 57.18
4000 60 58.16
4000 61 58.65
4000 62 59.63
4000 63 60.12
4000 64 60.61
4000 65 61.58
4000 66 62.07
4000 67 62.56
4000 68 63.54
4000 69 64.03
4000 70 65
4000 71 65.49
4000 72 66.47
4000 73 66.96
97
4000 74 67.94
4000 75 68.43
4000 77 69.4
4000 78 69.89
4000 79 70.87
4000 80 71.36
4000 81 72.34
4000 82 72.83
4000 83 73.31
4000 84 74.29
4000 85 74.78
4000 86 75.27
4000 87 75.76
4000 88 76.25
4000 89 76.74
4000 90 77.71
4000 91 77.71
4000 92 78.69
4000 93 78.69
4000 94 79.18
4000 95 79.67
4000 96 80.16
4000 97 80.65
4000 98 81.13
4000 99 81.62
4000 100 82.11
4000 101 82.6
4000 102 83.09
4000 103 83.58
4000 104 84.07
4000 105 84.56
4000 106 85.04
4000 107 85.53
4000 108 86.02
4000 109 86.51
4000 110 87
4000 111 87.98
4000 112 88.47
4000 113 88.95
4000 114 89.44
4000 115 89.93
98
4000 116 90.42
4000 117 91.4
4000 118 92.38
4000 119 92.86
4000 120 93.84
4000 121 94.33
4000 122 94.82
4000 123 95.31
4000 124 95.31
4000 125 95.8
4000 126 95.8
4000 127 96.29
4000 128 96.29
4000 129 96.29
4000 130 96.29
4000 131 96.29
4000 132 96.77
4000 133 96.77
4000 134 96.77
4000 135 96.77
4000 136 96.77
4000 137 96.77
4000 138 96.77
4000 139 96.77
4000 140 96.77
Delay Time (us) Time (s) Temperature(C)

6000 1 27.86
6000 2 27.86
6000 3 27.86
6000 4 27.37
6000 5 27.86
6000 6 27.86
6000 7 27.86
6000 8 27.86
6000 9 27.86
99
6000 10 27.86
6000 11 27.86
6000 12 27.86
6000 13 27.86
6000 14 28.35
6000 15 28.35
6000 16 28.35
6000 17 28.35
6000 18 28.84
6000 19 28.84
6000 20 28.84
6000 21 28.84
6000 22 28.84
6000 23 29.33
6000 24 29.33
6000 25 29.33
6000 26 29.33
6000 27 29.33
6000 28 29.81
6000 29 29.81
6000 30 29.81
6000 31 29.81
6000 32 30.3
6000 33 30.3
6000 34 30.3
6000 35 30.3
6000 36 30.79
6000 37 30.79
6000 38 30.79
6000 39 30.79
6000 40 31.28
6000 41 31.28
6000 42 31.28
6000 43 31.77
6000 44 31.77
6000 45 31.77
6000 46 32.26
6000 47 32.26
6000 48 32.26
6000 49 32.75
6000 50 32.75
100
6000 51 32.75
6000 52 33.24
6000 53 33.24
6000 54 33.72
6000 55 33.72
6000 56 33.72
6000 57 34.21
6000 58 34.21
6000 59 34.21
6000 60 34.7
6000 61 34.7
6000 62 35.19
6000 63 35.19
6000 64 35.19
6000 65 35.68
6000 66 35.68
6000 67 36.17
6000 68 36.17
6000 69 36.17
6000 70 36.66
6000 71 36.66
6000 72 37.15
6000 73 37.15
6000 74 37.15
6000 75 37.63
6000 76 37.63
6000 77 38.12
6000 78 38.12
6000 79 38.12
6000 80 38.61
6000 81 38.61
6000 82 39.1
6000 83 39.1
6000 84 39.59
6000 85 39.59
6000 86 39.59
6000 87 40.08
6000 88 40.08
6000 89 40.57
6000 90 40.57
6000 91 41.06
101
6000 92 41.06
6000 93 41.54
6000 94 41.54
6000 96 42.03
6000 97 42.03
6000 98 42.52
6000 99 42.52
6000 100 42.52
6000 101 43.01
6000 102 43.01
6000 103 43.5
6000 104 43.5
6000 105 43.99
6000 106 43.99
6000 107 44.48
6000 108 44.48
6000 109 44.97
6000 110 44.97
6000 111 45.45
6000 112 45.45
6000 113 45.94
6000 114 45.94
6000 115 46.43
6000 116 46.43
6000 117 46.43
6000 118 46.92
6000 119 46.92
6000 120 47.41
6000 121 47.9
6000 122 47.9
6000 123 48.39
6000 124 48.39
6000 125 48.39
6000 126 48.88
6000 127 48.88
6000 128 49.36
6000 129 49.36
6000 130 49.85
6000 131 49.85
6000 132 50.34
6000 133 50.34
102
6000 134 50.83
6000 135 50.83
6000 136 51.32
6000 137 51.32
6000 138 51.81
6000 139 51.81
6000 140 52.3
6000 141 52.3
6000 142 52.79
6000 143 52.79
6000 144 52.79
6000 145 53.27
6000 146 53.27
6000 147 53.76
6000 148 53.76
6000 149 54.25
6000 150 54.25
6000 151 54.74
6000 152 54.74
6000 153 55.23
6000 154 55.23
6000 155 55.72
6000 156 55.72
6000 157 56.21
6000 158 56.21
6000 159 56.21
6000 160 56.7
6000 161 57.18
6000 162 57.18
6000 163 57.18
6000 164 57.67
6000 165 57.67
6000 166 58.16
6000 167 58.16
6000 168 58.65
6000 169 58.65
6000 170 59.14
6000 171 59.14
6000 172 59.63
6000 173 59.63
6000 174 59.63
103
6000 175 60.12
6000 176 60.61
6000 177 60.61
6000 178 60.61
6000 179 61.09
6000 180 61.09
6000 181 61.58
6000 182 61.58
6000 183 62.07
6000 184 62.07
6000 185 62.56
6000 186 62.56
6000 187 63.05
6000 188 63.05
6000 189 63.54
6000 190 63.54
6000 191 63.54
6000 192 64.03
6000 193 64.03
6000 194 64.52
6000 195 64.52
6000 196 65
6000 197 65
6000 198 65.49
6000 199 65.49
6000 200 65.98
6000 201 65.98
6000 202 65.98
6000 203 66.47
6000 204 66.47
6000 205 66.96
6000 206 66.96
6000 207 67.45
6000 208 67.45
6000 209 67.94
6000 210 67.94
6000 211 67.94
6000 212 68.43
6000 213 68.43
6000 214 68.91
6000 215 68.91
104
6000 216 69.4
6000 217 69.4
6000 218 69.4
6000 219 69.89
6000 220 69.89
6000 221 70.38
6000 222 70.38
6000 223 70.87
6000 224 70.87
6000 225 70.87
6000 226 71.36
6000 227 71.36
6000 228 71.85
6000 229 71.85
6000 230 71.85
6000 231 72.34
6000 232 72.34
6000 233 72.83
6000 234 72.83
6000 235 72.83
6000 236 73.31
6000 237 73.31
6000 238 73.8
6000 239 73.8
6000 240 74.29
6000 241 74.29
6000 242 74.29
6000 244 74.78
6000 245 74.78
6000 246 75.27
6000 247 75.27
6000 248 75.76
6000 249 75.76
6000 250 75.76
6000 251 76.25
6000 252 76.25
6000 253 76.74
6000 254 76.74
6000 255 76.74
6000 256 77.22
6000 257 77.22
105
6000 258 77.71
6000 259 77.71
6000 260 77.71
6000 261 78.2
6000 262 78.2
6000 263 78.2
6000 264 78.69
6000 265 78.69
6000 266 78.69
6000 267 79.18
6000 268 79.18
6000 269 79.67
6000 270 79.67
6000 271 79.67
6000 272 80.16
6000 273 80.16
6000 274 80.16
6000 275 80.65
6000 276 80.65
6000 277 80.65
6000 278 81.13
6000 279 81.13
6000 280 81.62
6000 281 81.62
6000 282 81.62
6000 283 81.62
6000 284 82.11
6000 285 82.11
6000 286 82.11
6000 287 82.6
6000 288 82.6
6000 289 82.6
6000 290 82.6
6000 291 83.09
6000 292 83.09
6000 293 83.09
6000 294 83.09
6000 295 83.58
6000 296 83.58
6000 297 83.58
6000 298 83.58
106
6000 299 84.07
6000 300 84.07
6000 301 84.07
6000 302 84.07
6000 303 84.56
6000 304 84.56
6000 305 84.56
6000 306 85.04
6000 307 85.04
6000 308 85.04
6000 309 85.04
6000 310 85.53
6000 311 85.53
6000 312 85.53
6000 313 85.53
6000 314 86.02
6000 315 86.02
6000 316 86.02
6000 317 86.02
6000 318 86.51
6000 319 86.51
6000 320 86.51
6000 321 87
6000 322 87
6000 323 87.49
6000 324 87.49
6000 325 87.49
6000 326 87.49
6000 327 87.49
6000 328 87.98
6000 329 87.98
6000 330 88.47
6000 331 88.47
6000 332 88.47
6000 333 88.47
6000 334 88.95
6000 335 88.95
6000 336 88.95
6000 337 88.95
6000 338 89.44
6000 339 89.44
107
6000 340 89.44
6000 341 89.93
6000 342 89.93
6000 343 89.93
6000 344 89.93
6000 345 90.42
6000 346 90.42
6000 347 90.42
6000 348 90.42
6000 349 90.42
6000 350 90.91
6000 351 90.91
6000 352 90.91
6000 353 91.4
6000 354 91.4
6000 355 91.4
6000 356 91.89
6000 357 91.89
6000 358 91.89
6000 359 91.89
6000 360 92.38
6000 361 92.38
6000 362 92.38
6000 363 92.38
6000 364 92.86
6000 365 92.86
6000 366 92.86
6000 368 92.86
6000 369 93.35
6000 370 93.35
6000 371 93.35
6000 372 93.35
6000 373 93.84
6000 374 93.84
6000 375 93.84
6000 376 93.84
6000 377 94.33
6000 378 94.33
6000 379 94.33
6000 380 94.33
6000 381 94.33
108
6000 382 94.82
6000 383 94.82
6000 384 94.82
6000 385 95.31
6000 386 95.31
6000 387 95.31
6000 388 95.31
6000 389 95.8
6000 390 95.8
6000 391 95.8
6000 392 95.8
6000 393 95.8
6000 394 96.29
6000 395 96.29
6000 396 96.29
6000 397 96.29
6000 398 96.77
6000 399 96.77
6000 400 96.77
6000 401 96.77
6000 402 96.77
6000 403 96.77
6000 404 96.77
6000 405 96.77

7000 1 27.86
7000 2 27.86
7000 3 27.86
7000 4 27.86
7000 5 27.37
7000 6 27.86
7000 7 27.37
7000 8 27.37
7000 9 27.37
7000 10 27.37
7000 11 27.86
7000 12 27.86
109
7000 13 27.86
7000 14 27.86
7000 15 27.86
7000 16 27.86
7000 17 27.86
7000 18 27.86
7000 19 27.86
7000 20 27.86
7000 21 27.86
7000 22 27.86
7000 23 27.86
7000 24 27.86
7000 25 27.86
7000 26 27.86
7000 27 27.86
7000 28 27.86
7000 29 28.35
7000 30 28.35
7000 31 28.35
7000 32 28.35
7000 33 28.35
7000 34 28.35
7000 35 28.35
7000 36 28.35
7000 37 28.35
7000 38 28.84
7000 39 28.84
7000 40 28.84
7000 41 28.84
7000 42 28.84
7000 43 28.84
7000 44 28.84
7000 45 28.84
7000 46 29.33
7000 47 29.33
7000 48 29.33
7000 49 29.33
7000 50 29.33
7000 51 29.33
7000 52 29.33
7000 53 29.81
110
7000 54 29.81
7000 55 29.81
7000 56 29.81
7000 57 29.81
7000 58 29.81
7000 59 30.3
7000 60 30.3
7000 61 30.3
7000 62 30.3
7000 63 30.3
7000 64 30.3
7000 65 30.79
7000 66 30.79
7000 67 30.79
7000 68 30.79
7000 69 30.79
7000 70 30.79
7000 71 31.28
7000 73 31.28
7000 74 31.28
7000 75 31.28
7000 76 31.28
7000 77 31.28
7000 78 31.77
7000 79 31.77
7000 80 31.77
7000 81 31.77
7000 82 31.77
7000 83 32.26
7000 84 32.26
7000 85 32.26
7000 86 32.26
7000 87 32.26
7000 88 32.75
7000 89 32.75
7000 90 32.75
7000 91 32.75
7000 92 32.75
7000 93 33.24
7000 94 33.24
7000 95 33.24
111
7000 96 33.24
7000 97 33.24
7000 98 33.72
7000 99 33.72
7000 100 33.72
7000 101 33.72
7000 102 34.21
7000 103 34.21
7000 104 34.21
7000 105 34.21
7000 106 34.21
7000 107 34.7
7000 108 34.7
7000 109 34.7
7000 110 34.7
7000 111 34.7
7000 112 35.19
7000 113 35.19
7000 114 35.19
7000 115 35.19
7000 116 35.19
7000 117 35.68
7000 118 35.68
7000 119 35.68
7000 120 35.68
7000 121 36.17
7000 122 36.17
7000 123 36.17
7000 124 36.17
7000 125 36.17
7000 126 36.17
7000 127 36.66
7000 128 36.66
7000 129 36.66
7000 130 36.66
7000 132 36.66
7000 133 37.15
7000 134 37.15
7000 135 37.15
7000 136 37.15
7000 137 37.15
112
7000 138 37.63
7000 139 37.63
7000 140 37.63
7000 141 37.63
7000 142 38.12
7000 143 38.12
7000 144 38.12
7000 145 38.12
7000 146 38.61
7000 147 38.61
7000 148 38.61
7000 149 38.61
7000 150 38.61
7000 151 39.1
7000 152 39.1
7000 153 39.1
7000 154 39.1
7000 155 39.1
7000 156 39.59
7000 157 39.59
7000 158 39.59
7000 159 39.59
7000 160 39.59
7000 161 40.08
7000 162 40.08
7000 163 40.08
7000 164 40.08
7000 165 40.08
7000 166 40.57
7000 167 40.57
7000 168 40.57
7000 169 40.57
7000 170 41.06
7000 171 41.06
7000 172 41.06
7000 173 41.06
7000 174 41.54
7000 175 41.54
7000 176 41.54
7000 177 41.54
7000 178 41.54
113
7000 179 41.54
7000 180 42.03
7000 181 42.03
7000 182 42.03
7000 183 42.52
7000 184 42.52
7000 185 42.52
7000 186 42.52
7000 187 42.52
7000 188 43.01
7000 189 43.01
7000 190 43.01
7000 191 43.01
7000 192 43.5
7000 193 43.5
7000 194 43.5
7000 196 43.5
7000 197 43.5
7000 198 43.99
7000 199 43.99
7000 200 43.99
7000 201 43.99
7000 202 44.48
7000 203 44.48
7000 204 44.48
7000 205 44.48
7000 206 44.48
7000 207 44.97
7000 208 44.97
7000 209 44.97
7000 210 44.97
7000 211 45.45
7000 212 45.45
7000 213 45.45
7000 214 45.45
7000 215 45.45
7000 216 45.94
7000 217 45.94
7000 218 45.94
7000 219 45.94
7000 220 45.94
114
7000 221 46.43
7000 222 46.43
7000 223 46.43
7000 224 46.43
7000 225 46.92
7000 226 46.92
7000 227 46.92
7000 228 46.92
7000 229 46.92
7000 230 46.92
7000 231 47.41
7000 232 47.41
7000 233 47.41
7000 234 47.41
7000 235 47.9
7000 236 47.9
7000 237 47.9
7000 238 47.9
7000 239 48.39
7000 240 48.39
7000 241 48.39
7000 242 48.39
7000 243 48.39
7000 244 48.39
7000 245 48.88
7000 246 48.88
7000 247 48.88
7000 248 48.88
7000 249 49.36
7000 250 49.36
7000 251 49.36
7000 252 49.36
7000 253 49.36
7000 254 49.85
7000 255 49.85
7000 256 49.85
7000 257 49.85
7000 258 50.34
7000 259 50.34
7000 260 50.34
7000 261 50.34
115
7000 262 50.34
7000 263 50.83
7000 264 50.83
7000 266 50.83
7000 267 50.83
7000 268 50.83
7000 269 50.83
7000 270 51.32
7000 271 51.32
7000 272 51.32
7000 273 51.32
7000 274 51.81
7000 275 51.81
7000 276 51.81
7000 277 51.81
7000 278 51.81
7000 279 52.3
7000 280 52.3
7000 281 52.3
7000 282 52.3
7000 283 52.3
7000 284 52.79
7000 285 52.79
7000 286 52.79
7000 287 52.79
7000 288 52.79
7000 289 53.27
7000 290 53.27
7000 291 53.27
7000 292 53.27
7000 293 53.27
7000 294 53.76
7000 295 53.76
7000 296 53.76
7000 297 53.76
7000 298 54.25
7000 299 54.25
7000 300 54.25
7000 301 54.25
7000 302 54.25
7000 303 54.25
116
7000 304 54.74
7000 305 54.74
7000 306 54.74
7000 307 54.74
7000 308 54.74
7000 309 55.23
7000 310 55.23
7000 311 55.23
7000 312 55.23
7000 313 55.23
7000 314 55.72
7000 315 55.72
7000 316 55.72
7000 317 55.72
7000 318 55.72
7000 319 56.21
7000 320 56.21
7000 321 56.21
7000 322 56.21
7000 323 56.21
7000 324 56.7
7000 325 56.7
7000 326 56.7
7000 327 56.7
7000 328 57.18
7000 329 57.18
7000 330 57.18
7000 331 57.18
7000 332 57.18
7000 333 57.18
7000 334 57.67
7000 335 57.67
7000 336 57.67
7000 337 57.67
7000 338 58.16
7000 339 58.16
7000 340 58.16
7000 341 58.16
7000 342 58.16
7000 343 58.16
7000 344 58.65
117
7000 345 58.65
7000 347 58.65
7000 348 58.65
7000 349 58.65
7000 350 59.14
7000 351 59.14
7000 352 59.14
7000 353 59.14
7000 354 59.63
7000 355 59.63
7000 356 59.63
7000 357 59.63
7000 358 59.63
7000 359 59.63
7000 360 60.12
7000 361 60.12
7000 362 60.12
7000 363 60.12
7000 364 60.61
7000 365 60.12
7000 366 60.61
7000 367 60.61
7000 368 60.61
7000 369 60.61
7000 370 61.09
7000 371 61.09
7000 372 61.09
7000 373 61.09
7000 374 61.09
7000 375 61.58
7000 376 61.58
7000 377 61.58
7000 378 61.58
7000 379 61.58
7000 380 62.07
7000 381 62.07
7000 382 62.07
7000 383 62.07
7000 384 62.07
7000 385 62.07
7000 386 62.56
118
7000 387 62.56
7000 388 62.56
7000 389 62.56
7000 390 62.56
7000 391 62.56
7000 392 63.05
7000 393 63.05
7000 394 63.05
7000 395 63.05
7000 396 63.05
7000 397 63.54
7000 398 63.54
7000 399 63.54
7000 400 63.54
7000 401 63.54
7000 402 64.03
7000 403 64.03
7000 404 64.03
7000 405 64.03
7000 406 64.52
7000 407 64.52
7000 408 64.52
7000 409 64.52
7000 410 64.52
7000 411 64.52
7000 412 65
7000 413 65
7000 414 65
7000 415 65
7000 416 65
7000 417 65
7000 418 65.49
7000 419 65.49
7000 420 65.49
7000 421 65.49
7000 422 65.49
7000 423 65.98
7000 424 65.98
7000 425 65.98
7000 426 65.98
7000 427 65.98
119
7000 428 65.98
7000 429 66.47
7000 430 66.47
7000 431 66.47
7000 432 66.47
7000 433 66.47
7000 434 66.96
7000 435 66.96
7000 436 66.96
7000 437 66.96
7000 438 66.96
7000 439 67.45
7000 440 67.45
7000 441 67.45
7000 442 67.45
7000 443 67.45
7000 444 67.45
7000 445 67.94
7000 446 67.94
7000 447 67.94
7000 448 67.94
7000 449 67.94
7000 450 68.43
7000 451 68.43
7000 452 68.43
7000 453 68.43
7000 454 68.43
7000 455 68.91
7000 456 68.91
7000 457 68.91
7000 458 68.91
7000 460 68.91
7000 461 68.91
7000 462 69.4
7000 463 69.4
7000 464 69.4
7000 465 69.4
7000 466 69.4
7000 467 69.89
7000 468 69.89
7000 469 69.89
120
7000 470 69.89
7000 471 69.89
7000 472 70.38
7000 473 70.38
7000 474 70.38
7000 475 70.38
7000 476 70.38
7000 477 70.38
7000 478 70.38
7000 479 70.87
7000 480 70.87
7000 481 70.87
7000 482 70.87
7000 483 70.87
7000 484 70.87
7000 485 71.36
7000 486 71.36
7000 487 71.36
7000 488 71.36
7000 489 71.36
7000 490 71.36
7000 491 71.85
7000 492 71.85
7000 493 71.85
7000 494 71.85
7000 495 71.85
7000 496 71.85
7000 497 72.34
7000 498 72.34
7000 499 72.34
7000 500 72.34
7000 501 72.83
7000 502 72.83
7000 503 72.83
7000 504 72.83
7000 505 72.83
7000 506 72.83
7000 507 73.31
7000 508 73.31
7000 509 73.31
7000 510 73.31
121
7000 511 73.31
7000 512 73.31
7000 513 73.31
7000 514 73.8
7000 515 73.8
7000 516 73.8
7000 517 73.8
7000 518 73.8
7000 519 73.8
7000 521 74.29
7000 522 74.29
7000 523 74.29
7000 524 74.29
7000 525 74.29
7000 526 74.29
7000 527 74.78
7000 528 74.78
7000 529 74.78
7000 530 74.78
7000 531 74.78
7000 532 74.78
7000 533 75.27
7000 534 75.27
7000 535 75.27
7000 536 75.27
7000 537 75.27
7000 538 75.76
7000 539 75.76
7000 540 75.76
7000 541 75.76
7000 542 75.76
7000 543 75.76
7000 544 75.76
7000 545 76.25
7000 546 76.25
7000 547 76.25
7000 548 76.25
7000 549 76.25
7000 550 76.25
7000 551 76.74
7000 552 76.74
122
7000 553 76.74
7000 554 76.74
7000 555 76.74
7000 556 76.74
7000 557 76.74
7000 558 77.22
7000 559 77.22
7000 560 77.22
7000 561 77.22
7000 562 77.22
7000 563 77.71
7000 564 77.71
7000 565 77.71
7000 566 77.71
7000 567 77.71
7000 568 77.71
7000 569 78.2
7000 570 78.2
7000 571 78.2
7000 572 78.2
7000 573 78.2
7000 574 78.2
7000 575 78.69
7000 576 78.69
7000 577 78.69
7000 578 78.69
7000 579 78.69
7000 580 78.69
7000 581 78.69
7000 582 79.18
7000 583 79.18
7000 585 79.18
7000 586 79.18
7000 587 79.18
7000 588 79.18
7000 589 79.67
7000 590 79.67
7000 591 79.67
7000 592 79.67
7000 593 79.67
7000 594 80.16
123
7000 595 80.16
7000 596 80.16
7000 597 80.16
7000 598 80.16
7000 599 80.16
7000 600 80.16
7000 601 80.65
7000 602 80.65
7000 603 80.65
7000 604 80.65
7000 605 81.13
7000 606 81.13
7000 607 81.13
7000 608 81.13
7000 609 81.13
7000 610 81.13
7000 611 81.62
7000 612 81.62
7000 613 81.62
7000 614 81.62
7000 615 81.62
7000 616 81.62
7000 617 81.62
7000 618 82.11
7000 619 82.11
7000 620 82.11
7000 621 82.11
7000 622 82.11
7000 623 82.11
7000 624 82.6
7000 625 82.6
7000 626 82.6
7000 627 82.6
7000 628 82.6
7000 629 82.6
7000 630 82.6
7000 631 83.09
7000 632 83.09
7000 633 83.09
7000 634 83.09
7000 635 83.09
124
7000 636 83.09
7000 637 83.58
7000 638 83.58
7000 639 83.58
7000 640 83.58
7000 641 83.58
7000 642 83.58
7000 643 84.07
7000 644 84.07
7000 645 84.07
7000 646 84.07
7000 647 84.07
7000 648 84.07
7000 649 84.07
7000 650 84.56
7000 651 84.56
7000 652 84.56
7000 653 84.56
7000 654 85.04
7000 655 84.56
7000 656 85.04
7000 657 85.04
7000 658 85.04
7000 659 85.04
7000 660 85.53
7000 661 85.53
7000 662 85.53
7000 663 85.53
7000 664 85.53
7000 665 85.53
7000 666 85.53
7000 667 85.53
7000 668 86.02
7000 669 86.02
7000 670 86.02
7000 671 86.02
7000 672 86.02
7000 673 86.02
7000 674 86.51
7000 675 86.51
7000 676 86.51
125
7000 677 86.51
7000 678 86.51
7000 679 86.51
7000 680 86.51
7000 681 86.51
7000 682 87
7000 683 87
7000 684 87
7000 685 87
7000 686 87
7000 688 87.49
7000 689 87.49
7000 690 87.49
7000 691 87.49
7000 692 87.49
7000 693 87.49
7000 694 87.49
7000 695 87.98
7000 696 87.98
7000 697 87.98
7000 698 87.98
7000 699 87.98
7000 700 87.98
7000 701 88.47
7000 702 88.47
7000 703 88.47
7000 704 88.47
7000 705 88.47
7000 706 88.47
7000 707 88.47
7000 708 88.95
7000 709 88.95
7000 710 88.95
7000 711 88.95
7000 712 88.95
7000 713 88.95
7000 714 88.95
7000 715 89.44
7000 716 89.44
7000 717 89.44
7000 718 89.44
126
7000 719 89.44
7000 720 89.44
7000 721 89.44
7000 722 89.93
7000 723 89.93
7000 724 89.93
7000 725 89.93
7000 726 89.93
7000 727 89.93
7000 728 90.42
7000 729 90.42
7000 730 90.42
7000 731 90.42
7000 732 90.42
7000 733 90.42
7000 734 90.91
7000 735 90.91
7000 736 90.91
7000 737 90.91
7000 738 90.91
7000 739 90.91
7000 740 90.91
7000 741 90.91
7000 742 91.4
7000 743 91.4
7000 744 91.4
7000 745 91.4
7000 746 91.4
7000 747 91.4
7000 748 91.89
7000 749 91.89
7000 750 91.89
7000 751 91.89
7000 752 91.89
7000 753 91.89
7000 754 91.89
7000 755 91.89
7000 756 92.38
7000 757 92.38
7000 758 92.38
7000 759 92.38
127
7000 760 92.38
7000 761 92.38
7000 762 92.86
7000 763 92.86
7000 764 92.86
7000 765 92.86
7000 766 92.86
7000 767 92.86
7000 768 92.86
7000 769 92.86
7000 770 93.35
7000 771 93.35
7000 772 93.35
7000 773 93.35
7000 774 93.35
7000 775 93.35
7000 776 93.35
7000 777 93.84
7000 778 93.84
7000 779 93.84
7000 780 93.84
7000 781 93.84
7000 782 93.84
7000 783 93.84
7000 784 93.84
7000 785 94.33
7000 786 94.33
7000 787 94.33
7000 788 94.33
7000 789 94.33
7000 790 94.33
7000 791 94.33
7000 792 94.33
7000 793 94.82
7000 794 94.82
7000 795 94.82
7000 796 94.82
7000 797 94.82
7000 798 94.82
7000 799 94.82
7000 800 95.31
128
7000 801 95.31
7000 802 95.31
7000 803 95.31
7000 804 95.31
7000 805 95.31
7000 806 95.31
7000 807 95.8
7000 808 95.31
7000 809 95.8
7000 810 95.8
7000 811 95.8
7000 812 95.8
7000 813 95.8
7000 814 95.8
7000 815 96.29
7000 816 96.29
7000 817 96.29
7000 818 96.29
7000 819 96.29
7000 820 96.29
7000 821 96.29
7000 822 96.77
7000 823 96.77
7000 824 96.77
7000 825 96.77
7000 826 96.77
7000 827 96.77
7000 828 96.77
7000 829 97.26
7000 830 97.26
7000 831 97.26
7000 832 97.26
7000 833 97.26
7000 834 97.26
7000 835 97.26
7000 836 97.75
7000 838 97.75
7000 839 97.75
7000 840 97.75
7000 841 97.75
7000 842 97.75
129
7000 843 97.75
7000 844 97.75
7000 845 98.24
7000 846 98.24
7000 847 98.24
7000 848 98.24
7000 849 98.24
7000 850 98.24
7000 851 98.73
7000 852 98.73
7000 853 98.73
7000 854 98.73
7000 855 98.73
7000 856 98.73
7000 857 98.73
7000 858 98.73
7000 859 99.22
7000 860 99.22
7000 861 99.22
7000 862 99.22
7000 863 99.22
7000 864 99.22
7000 865 99.22
7000 866 99.22
7000 867 99.22
7000 868 99.71
7000 869 99.71
7000 870 99.71
7000 871 99.71
7000 872 99.71
7000 873 99.71
7000 874 99.71
7000 875 100.2
7000 876 100.2
7000 877 100.2
7000 878 100.2
7000 879 100.2
7000 880 100.2
7000 881 100.2
7000 882 100.2
7000 883 100.2
130
7000 884 100.68
7000 885 100.68
7000 886 100.68
7000 887 100.68
7000 888 100.68
7000 889 100.68
7000 890 100.68
7000 891 101.17
7000 892 101.17
7000 893 101.17
7000 894 101.17
7000 895 101.17
7000 896 101.17
7000 897 101.17
7000 898 101.66
7000 899 101.66
7000 900 101.66
7000 901 101.66
7000 903 101.66
7000 904 101.66
7000 905 101.66
7000 906 101.66
7000 907 102.15
7000 908 102.15
7000 909 102.15
7000 910 102.15
7000 911 102.15
7000 912 102.15
7000 913 102.15
7000 914 102.15
7000 915 102.15
7000 916 102.64
7000 917 102.15
7000 918 102.64
7000 919 102.64
7000 920 102.64
7000 921 102.64
7000 922 102.64
7000 923 102.64
7000 924 102.64
7000 925 102.64
131
7000 926 102.64
7000 927 102.64
7000 928 103.13
7000 929 103.13
7000 930 103.13
7000 931 103.13
7000 932 103.13
7000 933 103.13
7000 934 103.13
7000 935 103.62
7000 936 103.62
7000 937 103.62
7000 938 103.62
7000 939 103.62
7000 940 103.62
7000 941 103.62
7000 942 103.62
7000 943 103.62
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7000 945 103.62
7000 946 104.11
7000 947 104.11
7000 948 104.11
7000 949 104.11
7000 950 104.11
7000 951 104.11
7000 952 104.59
7000 953 104.59
7000 954 104.59
7000 955 104.59
7000 956 104.59
7000 957 104.59
7000 958 104.59
7000 959 104.59
7000 960 105.08
7000 961 105.08
7000 962 105.08
7000 963 105.08
7000 964 105.08
7000 965 105.08
7000 966 105.08
132
7000 967 105.08
7000 968 105.08
7000 969 105.08
7000 970 105.57
7000 971 105.57
7000 972 105.57
7000 973 105.57
7000 974 105.57
7000 975 105.57
7000 976 105.57
7000 977 105.57
7000 978 105.57
7000 979 106.06
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7000 981 106.06
7000 982 106.06
7000 983 106.06
7000 984 106.06
7000 985 106.06
7000 986 106.06
7000 987 106.06
7000 988 106.55
7000 989 106.55
7000 990 106.55
7000 991 106.55
7000 992 106.55
7000 993 106.55
7000 994 106.55
7000 995 106.55
7000 996 107.04
7000 997 107.04
7000 998 107.04
7000 999 107.04
7000 1000 107.04
7000 1001 107.04
7000 1002 107.04
7000 1003 107.53
7000 1004 107.04
7000 1005 107.53
7000 1006 107.53
7000 1007 107.53
133
7000 1008 107.53
7000 1009 107.53
7000 1010 107.53
7000 1011 107.53
7000 1012 108.02
7000 1013 108.02
7000 1014 108.02
7000 1015 108.02
7000 1016 108.02
7000 1017 108.02
7000 1018 108.02
7000 1019 108.02
7000 1020 108.02
7000 1021 108.5
7000 1022 108.5
7000 1023 108.5
7000 1024 108.5
7000 1025 108.5
7000 1026 108.5
7000 1027 108.5
7000 1028 108.5
7000 1029 108.99
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7000 1031 108.99
7000 1032 108.99
7000 1033 108.99
7000 1034 108.99
7000 1035 108.99
7000 1036 108.99
7000 1037 108.99
7000 1038 109.48
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7000 1042 109.48
7000 1043 109.48
7000 1045 109.48
7000 1046 109.48
7000 1047 109.48
7000 1048 109.48
7000 1049 109.97
134
7000 1050 109.97
7000 1051 109.97
7000 1052 109.97
7000 1053 109.97
7000 1054 109.97
7000 1055 109.97
7000 1056 109.97
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7000 1058 110.46
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7000 1062 110.46
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7000 1064 110.46
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7000 1067 110.95
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7000 1069 110.95
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7000 1071 110.95
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7000 1073 110.95
7000 1074 110.95
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7000 1076 111.44
7000 1077 111.44
7000 1078 111.44
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7000 1080 111.44
7000 1081 111.44
7000 1082 111.44
7000 1083 111.44
7000 1084 111.44
7000 1085 111.44
7000 1086 111.44
7000 1087 111.44
7000 1088 111.93
7000 1089 111.93
7000 1090 111.93
135
7000 1091 111.93
7000 1092 111.93
7000 1093 111.93
7000 1094 111.93
7000 1095 111.93
7000 1096 111.93
7000 1097 111.93
7000 1098 112.41
7000 1099 112.41
7000 1100 112.41
7000 1101 112.41
7000 1102 112.41
7000 1103 112.41
7000 1104 112.41
7000 1105 112.41
7000 1106 112.41
7000 1107 112.41
7000 1108 112.9
7000 1109 112.9
7000 1110 112.9
7000 1111 112.9
7000 1112 112.9
7000 1113 112.9
7000 1114 112.9
7000 1115 112.9
7000 1116 112.9
7000 1117 113.39
7000 1118 113.39
7000 1119 113.39
7000 1120 113.39
7000 1121 113.39
7000 1122 113.39
7000 1123 113.39
7000 1124 113.39
7000 1125 113.39
7000 1126 113.39
7000 1127 113.88
7000 1128 113.39
7000 1129 113.88
7000 1130 113.88
7000 1131 113.88
136
7000 1132 113.88
7000 1133 113.88
7000 1134 113.88
7000 1135 113.88
7000 1136 113.88
7000 1137 114.37
7000 1138 114.37
7000 1139 114.37
7000 1140 114.37
7000 1141 114.37
7000 1142 114.37
7000 1143 114.37
7000 1144 114.37
7000 1145 114.37
7000 1146 114.86
7000 1147 114.86
7000 1148 114.86
7000 1149 114.86
7000 1150 114.86
7000 1151 114.86
7000 1152 114.86
7000 1153 114.86
7000 1154 114.86
7000 1155 115.35
7000 1156 115.35
7000 1157 115.35
7000 1158 115.35
7000 1159 115.35
7000 1160 115.35
7000 1161 115.35
7000 1162 115.35
7000 1163 115.35
7000 1164 115.35
7000 1165 115.35
7000 1166 115.84
7000 1167 115.84
7000 1168 115.84
7000 1169 115.84
7000 1170 115.84
7000 1171 115.84
7000 1172 115.84
137
7000 1173 115.84
7000 1174 115.84
7000 1175 116.32
7000 1176 116.32
7000 1177 115.84
7000 1179 116.32
7000 1180 116.32
7000 1181 116.32
7000 1182 116.32
7000 1183 116.32
7000 1184 116.32
7000 1185 116.32
7000 1186 116.32
7000 1187 116.81
7000 1188 116.81
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7000 1190 116.81
7000 1191 116.81
7000 1192 116.81
7000 1193 116.81
7000 1194 116.81
7000 1195 116.81
7000 1196 116.81
7000 1197 116.81
7000 1198 116.81
7000 1199 116.81
7000 1200 116.81

8000 1 26.39
8000 2 26.39
8000 3 26.39
8000 4 26.39
8000 5 26.39
8000 6 26.39
8000 7 26.39
8000 8 26.39
8000 9 26.39
138
8000 10 26.39
8000 11 26.39
8000 12 26.39
8000 13 26.39
8000 14 26.39
8000 15 26.39
8000 16 26.39
8000 17 26.88
8000 18 26.88
8000 19 26.39
8000 20 26.88
8000 21 26.88
8000 22 26.88
8000 23 26.88
8000 24 26.88
8000 25 26.88
8000 26 26.88
8000 27 26.88
8000 28 26.88
8000 29 26.88
8000 30 26.88
8000 31 26.88
8000 32 26.88
8000 33 27.37
8000 34 26.88
8000 35 27.37
8000 36 27.37
8000 37 27.37
8000 38 27.37
8000 39 27.37
8000 40 27.37
8000 41 27.37
8000 42 27.37
8000 43 27.37
8000 44 27.37
8000 45 27.37
8000 46 27.37
8000 47 27.37
8000 48 27.37
8000 49 27.37
8000 50 27.86
139
8000 51 27.86
8000 52 27.86
8000 53 27.86
8000 54 27.86
8000 55 27.86
8000 56 27.86
8000 58 27.86
8000 59 27.86
8000 60 27.86
8000 61 28.35
8000 62 28.35
8000 63 28.35
8000 64 28.35
8000 65 28.35
8000 66 28.35
8000 67 28.35
8000 68 28.35
8000 69 28.35
8000 70 28.35
8000 71 28.35
8000 72 28.35
8000 73 28.35
8000 74 28.35
8000 75 28.84
8000 76 28.84
8000 77 28.84
8000 78 28.84
8000 79 28.84
8000 80 28.84
8000 81 28.84
8000 82 28.84
8000 83 28.84
8000 84 28.84
8000 85 28.84
8000 86 28.84
8000 87 28.84
8000 88 28.84
8000 89 29.33
8000 90 29.33
8000 91 29.33
8000 92 29.33
140
8000 93 29.33
8000 94 29.33
8000 95 29.33
8000 96 29.33
8000 97 29.33
8000 98 29.33
8000 99 29.33
8000 100 29.33
8000 101 29.33
8000 102 29.33
8000 103 29.33
8000 104 29.81
8000 105 29.81
8000 106 29.81
8000 107 29.81
8000 108 29.81
8000 109 29.81
8000 110 29.81
8000 111 29.81
8000 112 29.81
8000 113 29.81
8000 114 29.81
8000 115 29.81
8000 116 30.3
8000 117 29.81
8000 119 30.3
8000 120 30.3
8000 121 30.3
8000 122 30.3
8000 123 30.3
8000 124 30.3
8000 125 30.3
8000 126 30.3
8000 127 30.3
8000 128 30.3
8000 129 30.3
8000 130 30.3
8000 131 30.79
8000 132 30.79
8000 133 30.79
8000 134 30.79
141
8000 135 30.79
8000 136 30.79
8000 137 30.79
8000 138 30.79
8000 139 30.79
8000 140 30.79
8000 141 30.79
8000 142 30.79
8000 143 30.79
8000 144 30.79
8000 145 31.28
8000 146 31.28
8000 147 31.28
8000 148 31.28
8000 149 31.28
8000 150 31.28
8000 151 31.28
8000 152 31.28
8000 153 31.28
8000 154 31.28
8000 155 31.28
8000 156 31.28
8000 157 31.28
8000 158 31.28
8000 159 31.28
8000 160 31.77
8000 161 31.77
8000 162 31.77
8000 163 31.77
8000 164 31.77
8000 165 31.77
8000 166 31.77
8000 167 31.77
8000 168 31.77
8000 169 31.77
8000 170 31.77
8000 171 31.77
8000 172 31.77
8000 173 32.26
8000 174 32.26
8000 175 32.26
142
8000 176 32.26
8000 177 32.26
8000 178 32.26
8000 179 32.26
8000 180 32.26
8000 181 32.26
8000 182 32.26
8000 183 32.26
8000 184 32.26
8000 185 32.26
8000 186 32.26
8000 187 32.75
8000 188 32.75
8000 189 32.75
8000 190 32.75
8000 191 32.75
8000 192 32.75
8000 193 32.75
8000 194 32.75
8000 195 32.75
8000 196 32.75
8000 197 32.75
8000 198 32.75
8000 199 32.75
8000 200 33.24
8000 201 32.75
8000 202 32.75
8000 203 33.24
8000 204 33.24
8000 205 33.24
8000 206 33.24
8000 207 33.24
8000 208 33.24
8000 209 33.24
8000 210 33.24
8000 211 33.24
8000 212 33.24
8000 213 33.24
8000 214 33.72
8000 215 33.72
8000 216 33.72
143
8000 217 33.72
8000 218 33.72
8000 219 33.72
8000 220 33.72
8000 221 33.72
8000 222 33.72
8000 223 33.72
8000 224 33.72
8000 225 33.72
8000 226 33.72
8000 227 33.72
8000 228 33.72
8000 229 34.21
8000 230 34.21
8000 231 34.21
8000 232 34.21
8000 233 34.21
8000 234 34.21
8000 235 34.21
8000 237 34.21
8000 238 34.21
8000 239 34.21
8000 240 34.21
8000 241 34.21
8000 242 34.7
8000 243 34.7
8000 244 34.21
8000 245 34.7
8000 246 34.7
8000 247 34.7
8000 248 34.7
8000 249 34.7
8000 250 34.7
8000 251 34.7
8000 252 34.7
8000 253 34.7
8000 254 34.7
8000 255 34.7
8000 256 34.7
8000 257 35.19
8000 258 35.19
144
8000 259 35.19
8000 260 35.19
8000 261 35.19
8000 262 35.19
8000 263 35.19
8000 264 35.19
8000 265 35.19
8000 266 35.19
8000 267 35.19
8000 268 35.19
8000 269 35.19
8000 270 35.19
8000 271 35.19
8000 272 35.19
8000 273 35.19
8000 274 35.68
8000 275 35.68
8000 276 35.68
8000 277 35.68
8000 278 35.68
8000 279 35.68
8000 280 35.68
8000 281 35.68
8000 282 35.68
8000 283 35.68
8000 284 35.68
8000 285 35.68
8000 286 35.68
8000 287 36.17
8000 288 36.17
8000 289 36.17
8000 290 36.17
8000 291 36.17
8000 292 36.17
8000 293 36.17
8000 294 36.17
8000 295 36.17
8000 296 36.17
8000 297 36.17
8000 298 36.17
8000 299 36.17
145
8000 300 36.17
8000 301 36.17
8000 302 36.66
8000 303 36.66
8000 304 36.66
8000 305 36.66
8000 306 36.66
8000 307 36.66
8000 308 36.66
8000 309 36.66
8000 311 36.66
8000 312 36.66
8000 313 36.66
8000 314 36.66
8000 315 36.66
8000 316 36.66
8000 317 36.66
8000 318 36.66
8000 319 37.15
8000 320 37.15
8000 321 37.15
8000 322 37.15
8000 323 37.15
8000 324 37.15
8000 325 37.15
8000 326 37.15
8000 327 37.15
8000 328 37.15
8000 329 37.15
8000 330 37.15
8000 331 37.15
8000 332 37.15
8000 333 37.63
8000 334 37.63
8000 335 37.63
8000 336 37.63
8000 337 37.63
8000 338 37.63
8000 339 37.63
8000 340 37.63
8000 341 37.63
146
8000 342 37.63
8000 343 37.63
8000 344 37.63
8000 345 37.63
8000 346 37.63
8000 347 38.12
8000 348 38.12
8000 349 38.12
8000 350 38.12
8000 351 38.12
8000 352 38.12
8000 353 38.12
8000 354 38.12
8000 355 38.12
8000 356 38.12
8000 357 38.12
8000 358 38.12
8000 359 38.12
8000 360 38.61
8000 361 38.12
8000 362 38.61
8000 363 38.61
8000 364 38.61
8000 365 38.61
8000 366 38.61
8000 367 38.61
8000 368 38.61
8000 369 38.61
8000 370 38.61
8000 371 38.61
8000 372 38.61
8000 373 38.61
8000 374 38.61
8000 375 38.61
8000 376 38.61
8000 377 39.1
8000 378 38.61
8000 379 39.1
8000 380 39.1
8000 381 39.1
8000 382 39.1
147
8000 383 39.1
8000 384 39.1
8000 385 39.1
8000 386 39.1
8000 387 39.1
8000 388 39.1
8000 389 39.1
8000 390 39.1
8000 391 39.1
8000 392 39.1
8000 393 39.59
8000 394 39.59
8000 395 39.59
8000 396 39.59
8000 397 39.59
8000 398 39.59
8000 399 39.59
8000 400 39.59
8000 401 39.59
8000 402 39.59
8000 403 39.59
8000 404 39.59
8000 405 39.59
8000 406 39.59
8000 407 39.59
8000 408 39.59
8000 409 40.08
8000 410 40.08
8000 411 40.08
8000 412 40.08
8000 413 40.08
8000 414 40.08
8000 415 40.08
8000 417 40.08
8000 418 40.08
8000 419 40.08
8000 420 40.08
8000 421 40.08
8000 422 40.08
8000 423 40.08
8000 424 40.08
148
8000 425 40.08
8000 426 40.08
8000 427 40.57
8000 428 40.57
8000 429 40.57
8000 430 40.57
8000 431 40.57
8000 432 40.57
8000 433 40.57
8000 434 40.57
8000 435 40.57
8000 436 40.57
8000 437 40.57
8000 438 40.57
8000 439 40.57
8000 440 40.57
8000 441 40.57
8000 442 40.57
8000 443 41.06
8000 444 41.06
8000 445 41.06
8000 446 41.06
8000 447 41.06
8000 448 41.06
8000 449 41.06
8000 450 41.06
8000 451 41.06
8000 452 41.06
8000 453 41.06
8000 454 41.06
8000 455 41.06
8000 456 41.06
8000 457 41.06
8000 458 41.54
8000 459 41.54
8000 460 41.54
8000 461 41.54
8000 462 41.54
8000 463 41.54
8000 464 41.54
8000 465 41.54
149
8000 466 41.54
8000 467 41.54
8000 468 41.54
8000 469 41.54
8000 470 41.54
8000 471 41.54
8000 472 41.54
8000 473 41.54
8000 475 41.54
8000 476 41.54
8000 477 42.03
8000 478 42.03
8000 479 42.03
8000 480 42.03
8000 481 42.03
8000 482 42.03
8000 483 42.03
8000 484 42.03
8000 485 42.03
8000 486 42.03
8000 487 42.03
8000 488 42.03
8000 489 42.03
8000 490 42.52
8000 491 42.52
8000 492 42.52
8000 493 42.52
8000 494 42.52
8000 495 42.52
8000 496 42.52
8000 497 42.52
8000 498 42.52
8000 499 42.52
8000 500 42.52
8000 501 42.52
8000 502 42.52
8000 503 42.52
8000 504 42.52
8000 505 42.52
8000 506 42.52
8000 507 42.52
150
8000 508 42.52
8000 509 42.52
8000 510 43.01
8000 511 43.01
8000 512 43.01
8000 513 43.01
8000 514 43.01
8000 515 43.01
8000 516 43.01
8000 517 43.01
8000 518 43.01
8000 519 43.01
8000 520 43.01
8000 521 43.01
8000 522 43.01
8000 523 43.01
8000 524 43.01
8000 525 43.01
8000 526 43.01
8000 527 43.5
8000 528 43.5
8000 529 43.5
8000 530 43.5
8000 531 43.5
8000 532 43.5
8000 534 43.5
8000 535 43.5
8000 536 43.5
8000 537 43.5
8000 538 43.5
8000 539 43.5
8000 540 43.5
8000 541 43.5
8000 542 43.5
8000 543 43.99
8000 544 43.99
8000 545 43.99
8000 546 43.99
8000 547 43.99
8000 548 43.99
8000 549 43.99
151
8000 550 43.99
8000 551 43.99
8000 552 43.99
8000 553 43.99
8000 554 43.99
8000 555 43.99
8000 556 43.99
8000 557 43.99
8000 558 43.99
8000 559 43.99
8000 560 44.48
8000 561 44.48
8000 562 44.48
8000 563 44.48
8000 564 44.48
8000 565 44.48
8000 566 44.48
8000 567 44.48
8000 568 44.48
8000 569 44.48
8000 570 44.48
8000 571 44.48
8000 572 44.48
8000 573 44.48
8000 574 44.48
8000 575 44.48
8000 576 44.48
8000 577 44.97
8000 578 44.97
8000 579 44.48
8000 580 44.97
8000 581 44.97
8000 582 44.97
8000 583 44.97
8000 584 44.97
8000 585 44.97
8000 586 44.97
8000 587 44.97
8000 588 44.97
8000 589 44.97
8000 590 44.97
152
8000 591 44.97
8000 592 45.45
8000 594 44.97
8000 595 45.45
8000 596 45.45
8000 597 45.45
8000 598 45.45
8000 599 45.45
8000 600 45.45
8000 601 45.45
8000 602 45.45
8000 603 45.45
8000 604 45.45
8000 605 45.45
8000 606 45.45
8000 607 45.45
8000 608 45.45
8000 609 45.45
8000 610 45.94
8000 611 45.45
8000 612 45.94
8000 613 45.94
8000 614 45.94
8000 615 45.94
8000 616 45.94
8000 617 45.94
8000 618 45.94
8000 619 45.94
8000 620 45.94
8000 621 45.94
8000 622 45.94
8000 623 45.94
8000 624 45.94
8000 625 45.94
8000 626 46.43
8000 627 45.94
8000 628 46.43
8000 629 46.43
8000 630 46.43
8000 631 46.43
8000 632 46.43
153
8000 633 46.43
8000 634 46.43
8000 635 46.43
8000 636 46.43
8000 637 46.43
8000 638 46.43
8000 639 46.43
8000 640 46.43
8000 641 46.43
8000 642 46.43
8000 643 46.43
8000 644 46.92
8000 645 46.92
8000 646 46.92
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Internship Report - Enrico - 021500430 PDF

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PROGRAMMABLE OF MULTISTEP TEMPERATURE CONTROL

POLYTECHNIC INSTITUTE OF NUCLEAR TECHNOLOGY

PROGRAMMABLE OF MULTISTEP TEMPERATURE CONTROL

POLYTECHNIC INSTITUTE OF NUCLEAR TECHNOLOGY

EXPERIENCE WITH BEAMLINE 6A : DEEP X-RAY LITHOGRAPHY

Beamline 6A : Deep X-Ray Lithography

Synchrotron Light Research Institute

July, 25th – August, 21st 2018

Dr.Eng. Sutanto, M.Eng

Head of Nuclear Technophsyics Department

Dr. Muhtadan, M.Eng

internship report is the outcome of Internship Program at Synchrotron Light

Research Institute of Thailand. The title of this internship report is

"Programmable of Multistep Temperature Control using PID Controller". This

report is one of my responsibilities after finished the insternship program, as well

as the requirement to complete the IV-diploma in the Nuclear Technophysics

me until this internship report can be solved well.

1. Mr.Edy Giri Rachman Putra, Ph.D as Head of Polytechnic Institute

of Nuclear Technology, National Nuclear Energy Agency and also as

2. Dr. Somchai Tancharakorn as Assistant Director in Synchrotron Light

Research Institute of Thailand

3. Dr. Muhtadan, M.Eng as Head of Nuclear T e c h n o p h y s i c s in

Polytechnic Institute of Nuclear Technology, National Nuclear Energy

4. Mr. Watcharapon Pummara as my mentor in Beamline 6a : Deep X-

always deficiencies. There might have problems regarding lack of limitation in

suggestions are very expected for me as the writer.

Hopefully, this internship report is helpful.

INTERNSHIP REPORT ....................................................................................... i

Figure 2.1 Organization Structure ........................................................................ 7

PROGRAMMABLE OF MULTISTEP TEMPERATURE CONTROL

Keywords : Temperature Controller, PID Controller, Microcontroller, Multistep

1.1. Internship Program Background

Nowadays, the development of science and technology is so rapidly

industries based science and technology in Indonesia. This development have to

be aligned with the development of human resources. Therefore, job competition

is a challenge that must be faced so that reliable and professional human

In this case, Polytechnic Institute of Nuclear Technology has prepared

at SLRI-Thailand is expected to be able to improve student’s skill and ability at

electronics and instrumentation field. The special task entitled "Programmable of

in this internship program.

1.2. Purpose of Internship

This internship program aims to providing opportunities for

student in order to learn and observe directly the Synchrotron Light

a. To obtain the knowledge and technical skills, as well as new

technologies in the Synchrotron Radiation

b. Learning about management, organizational structure and

activities in the SLRI.

c. Learning about daily activities in Beamline 6a : Deep X-Ray

d. To learn the basic principle of electronic device control.

e. To create an electronic circuit and integrate with electronic

f. To learn the method of control system

1.3. Time and Date of Internship

This Internship Program held from July, 2018 to August, 2018.

1.4. Scope of Problem

This internship report is limited with temperature control using electronic

circuit and microcontroller by implementing PID algorithm and phase control

a. Literature Study Method

To get data and information from this method, student has to

related with the subject.

Student has to practice by themselves to get actual

information. So, it can compare with the information from the