Telemark University College

Department of Electrical Engineering, Information Technology and Cybernetics

Air Heater Control System

HANS-PETTER HALVORSEN, 2012.10.19

Faculty of Technology, Postboks 203, Kjlnes ring 56, N-3901 Porsgrunn, Norway. Tel: +47 35 57 50 00 Fax: +47 35 57 54 01

Table of Contents
Table of Contents .....................................................................................................................................ii
1

Introduction .................................................................................................................................... 4

Modeling and Simulation................................................................................................................ 5

2.1

Introduction ............................................................................................................................. 5

2.2

Model Implementation ........................................................................................................... 6

Task 1: Transfer function of Air Heater ....................................................................................... 6

2.3

LabVIEW .................................................................................................................................. 6

Task 2: Model Adaptation in LabVIEW ........................................................................................ 7

Task 3: Implement the Transfer function of the Air Heater in MathScript ................................. 8
Task 4: Model Implementation and simulation in LabVIEW ....................................................... 9
3

Frequency Response ..................................................................................................................... 11

Task 5: Frequency Response...................................................................................................... 11
Task 6: Frequency Response from sinusoidal input and output signals.................................... 12

Design and Analysis ...................................................................................................................... 15

4.1

PI Controller Design ............................................................................................................... 15

Task 7: Controller Tuning ........................................................................................................... 15

4.2

Frequency Response and Stability Analysis........................................................................... 16

Task 8: Analysis of the Feedback System .................................................................................. 16

Task 9: System Bandwidths ....................................................................................................... 18

Task 10:

Stability Analysis ........................................................................................................ 18

Task 11:

Stable vs. Unstable System ........................................................................................ 19

Control System.............................................................................................................................. 21
Task 12:

Discrete Low-pass Filter............................................................................................. 21

ii

iii
Task 13:

Discrete PI Controller ................................................................................................ 22

Task 14:

Temperature Control System on Simulated System (model) .................................... 22

Task 15:

Temperature Control System on Real System........................................................... 23

Simulation, Control and Analysis of an Air Heater

1 Introduction
In this project we will design and implement a control system for a small scale industrial process,
called Air Heater.
Below we see a sketch of the final system we will end up with. The control system shall be
implemented in LabVIEW.

Before we can start using the real air heater process, we need to create a simulator of the system.
We start by creating a mathematical model of the system which we will implement in the simulator.
We will also analyze and design the control system using MathScript. We will find the transfer
function for the process and for the feedback system (including PID controller), which we will use in
the design and analysis phase.
Based on frequency response and stability analysis, we will find proper PID parameters for the
system.
When we have found proper PID parameters, we will simulate the system and check if the
performance is as expected.
Finally, we will implement our control system for the real Air Heater process to verify the
performance and stability of the system.

2 Modeling and Simulation

2.1 Introduction
In this task we will implement a mathematical model of an Air Heater system.

A simple mathematical model of the system could be:

]}

Where:

is the air temperature at the tube outlet

[ ] is the control signal to the heater
[ ] is the time-constant
[
] is the heater gain
[ ] is the time-delay representing air transportation and sluggishness in the heater
is the environmental (room) temperature. It is the temperature in the outlet air of the
air tube when the control signal to the heater has been set to zero for relatively long time
(some minutes)

Modeling and Simulation

Heater: The air is heated by an electrical heater. The supplied power is controlled by an external
voltage signal in the range 0 - 5 V (min power, max power).
Temperature sensors: Two Pt100 temperature elements are available (some of the Air Heaters have
only one). You can use Temperature sensor 1 in this assignment. The range is 1 - 5 V, and this voltage
range corresponds to the temperature range 20 - 50oC (with a linear relation).

2.2 Model Implementation

Task 1: Transfer function of Air Heater

Find the transfer function

( ) for the Air Heater process (Pen & Paper) based on the given

differential equation.
Tip! Use Laplace transformation on the differential equation for the Air Heater and find the transfer
function from ( ) to
( ).

]}

The Air Heater process is a 1.order process with time-delay, so a transfer function on the following
general form should be expected:
( )

( )
( )

[End of Task]

2.3 LabVIEW
In the assignment we will use a USB-6008 DAQ unit in order to read data from the process ( ) to the
PC, and write data ( ) from the PC to the process.

Simulation, Control and Analysis of an Air Heater

Modeling and Simulation

DAQ Assistant:
In order to communicate with the USB-6008 DAQ device within LabVIEW, we can use the DAQ
Assistant. Note! The NI-DAQmx software needs to be installed.
The DAQ Assistant is located from the Functions palette: Measurement I/O NI-DAQmx DAQ
Assist.
Analog In:

Analog Out:

Below we see a typical example in LabVIEW

where we read from the Analog Input port of
the DAQ device:

Task 2:

Below we see a typical example in LabVIEW

where we read from the Analog Output port of
the DAQ device:

Model Adaptation in LabVIEW

The Air Heater processes available are slightly different, so we need to do some practical
experiments in order to find the unknown model parameters (
) for your Air Heater process.
To do that we need the following equipment:

Simulation, Control and Analysis of an Air Heater

Modeling and Simulation

Air Heater Process

USB-6008 DAQ Device

Find the unknown model parameters (

) by running a step response on the real process

using LabVIEW.
The procedure is as follows:

Based on the transfer function found in the previous task and by plotting the step response for the
temperature
, we can find the unknown model parameters (
) directly from the plot as
illustrated above.
[End of Task]

Task 3: Implement the Transfer function of the Air Heater in MathScript

Implement the transfer function model in MathScript and then perform a Step Response.
Implement the transfer function using the sys_order1() function or/and a Pade approximation (e.g.,
use the built-in pade() function together with the tf() function).
Use the model parameters (

) found in the previous task.

Simulation, Control and Analysis of an Air Heater

Modeling and Simulation

You should also find the Poles and the Zeros for the transfer function in MathScript.
Do you get the same results here compared to the previous task?
Compare and discuss the results.
[End of Task]

Task 4: Model Implementation and simulation in LabVIEW

Create a model of the Air Heater and simulate it in LabVIEW.

The model should be implemented using the blocks (Integrator, Transport Delay, Summation,
Multiplication, etc.) from the Simulation palette in LabVIEW:

Tip! Draw a block diagram of the system using pen and paper before you start to implement the
system in LabVIEW.
Simulate the model and show the output temperature
signal .

in a plot after a step in the control

Use the model parameters found in a previous task in the simulations.

You should also validate the model by running the model in parallel with the real system as shown
below:

Simulation, Control and Analysis of an Air Heater

10

Modeling and Simulation

By plotting the output

for both the real process and the simulated process in the same plot, we
can easily see if the model is good or not.
Discuss the results.
[End of Task]

Simulation, Control and Analysis of an Air Heater

3 Frequency Response
The frequency response of a system is a frequency dependent function which expresses how a
sinusoidal signal of a given frequency on the system input is transferred through the system. Each
frequency component is a sinusoidal signal having certain amplitude and a certain frequency.
The frequency response is an important tool for analysis and design of signal filters and for analysis
and design of control systems. The frequency response can be found experimentally or from a
transfer function model.
The frequency response of a system is defined as the steady-state response of the system to a
sinusoidal input signal. When the system is in steady-state, it differs from the input signal only in
amplitude/gain (A) and phase lag ( ).

Task 5: Frequency Response

Given the model of the Air Heater:

]}

In a previous task you have found the transfer function for the Air Heater on the following form:
( )
( )

( )
Use values for

from a previous task.

Plot the Frequency Response in a Bode plot (use the bode() function in MathScript). What is the
break frequency?

Find

( ) and

( ) for the frequencies given below using MathScript code (use the bode()

function).
[

( )[

( )

11

12

Frequency Response

Set up the mathematical expressions for

Find

( ) and

( ) and

( )[

] and

( ).

( ) for the same frequencies above using the mathematical expressions for

( ). Tip: Use a For Loop or/and define a vector, e.g.,

].

Use the semilogx() function in order to plot the Bode diagram based on these values.
Compare and discuss the results.
[End of Task]

Task 6: Frequency Response from sinusoidal input and output signals

We can find the frequency response of a system by exciting the system with a sinusoidal signal of
amplitude
and frequency [
] (Note:
) and observing the response in the
output variable of the system.
In a previous task you have found the transfer function for the Air Heater on the following form:
( )
Use values for

( )
( )

from a previous task.

We will use MathScript to find the Frequency Response of the model. You may e.g., use the lsim()
function in MathScript.
The input signal is given by:
( )
The steady-state output signal will then be:
( )

The gain is given by:

Simulation, Control and Analysis of an Air Heater

13

Frequency Response

The phase lag is given by:

[
Plot and
in the same plot and find
formulas above.

and

from the plots and find

and

using the

You will get plots like this for each frequency:

From the plot we can find

specific frequency.

and

You should select 2-3 frequencies (

then we use the formulas above to find

) where you find

and

and

for the

for these frequencies.

Fill in your results in a table like this:

[

[]

Plot the values found in a Bode diagram.

In MathScript you can use the semilogx() function in combination with the subplot() function.
Note! You shall not use the bode() function here!

Simulation, Control and Analysis of an Air Heater

14

Frequency Response

Compare (with results from previous tasks) and discuss the results.
[End of Task]

Simulation, Control and Analysis of an Air Heater

4 Design and Analysis

4.1 PI Controller Design
Task 7: Controller Tuning

Use the Skogestads method in order to find proper PI parameters for the Air Heater system
based on the model of the system.
Skogestads method:
In this task we assume the following process:
( )
Use values for

( )
( )

from a previous task.

The Skogestads method assumes you apply a step on the input ( ) and then observe the response
and the output ( ), as shown below:

If we have a model of the system (which we have in our case), we can use the following Skogestads
formulas for finding the PI(D) parameters directly:

15

16

Design and Analysis

Tip! In this task we can e.g., set

parameters).

and

(or try with other values if you get poor PI

For more details about the Skogestads method, please read this article: Model-based PID tuning
with Skogestads method.
[End of Task]

4.2 Frequency Response and Stability

Analysis
Here we will analyze the stability of the system using frequency response methods. We will use
MathScript for this purpose.

Task 8: Analysis of the Feedback System

Below we see the block diagram of the feedback system:

Process (Air Heater):

The transfer function for the process is as follows:
( )

( )
( )

Simulation, Control and Analysis of an Air Heater

17

Design and Analysis

Use values for

from a previous task.

PI controller:
The PI controller is defined as:
( )

Find the transfer function for the PI Controller:

( )

( )
( )

Tip! Use Laplace on the equation above.

Plot the Frequency Response for the PI controller (

Use values for

and

Loop transfer function:

( )) in a Bode plot.

found in a previous task.

( )

Find the Loop transfer function

( ) (Pen & Paper) and define

( ) using MathScript.

The Loop transfer function is defined as:

( )
Tip! Use the built-in function series in MathScript.

Tracking transfer function:

( )

Find the Tracking transfer function

( ) (Pen & Paper) and define

( ) using MathScript.

The Tracking transfer function is defined as:

( )

( )
( )

( )
( )

Tip! Use the built-in function feedback in MathScript.

Sensitivity transfer function:

( )

Find the Sensitivity transfer function

( ) (Pen & Paper) and define

Simulation, Control and Analysis of an Air Heater

( ) using MathScript.

18

Design and Analysis

The Sensitivity transfer function is defined as:

( )

( )
( )

( )

( )

[End of Task]

Task 9: System Bandwidths

Plot the Loop transfer function

( ), the Tracking transfer function

( ) and the Sensitivity

transfer function ( ) in the same Bode diagram. Use, e.g., the bodemag() function in MathScript
(only the gain diagram is of interest in this case, not the phase diagram).
Use the values for

and

found in a previous Task.

Find the different bandwidths

(see the sketch below).

Discuss the results.

[End of Task]

Task 10:

Stability Analysis

Find the crossover-frequencies (

) and stability margins GM ( ( )), PM ( ( )) of the

system ( ( )) from the Bode plot. Use the bode() function in MathScript and find the values from the
Bode plot as illustrated below:

Simulation, Control and Analysis of an Air Heater

19

Design and Analysis

Plot also Bode diagram where the crossover-frequencies, GM and PM are illustrated. Tip! Use the
margin() function in MathScript.

Use also the margin() function in order to find values for

( ),

( ) directly.

Compare and discuss the results.

How much can you increase

before the system becomes unstable?

[End of Task]

Task 11:

Stable vs. Unstable System

Find and use different values of

where you get a marginally stable system, an

asymptotically stable system and an unstable system.

Plot the time response for the tracking function using, e.g., use the step() function in MathScript
for all these 3 categories. How can we use the step response to determine the stability of the
system?

Find

( ) and

( ) i all 3 cases. How can we use

and

to determine the

stability of the system?

Find and plot the poles and zeros for the system for all the 3 categories mentioned above. How
can we use the poles to determine the stability of the system?
Simulation, Control and Analysis of an Air Heater

20

Design and Analysis

Plot the Loop transfer function

transfer function

( ), the Tracking transfer function

( ) and the Sensitivity

( ) in a Bode diagram for the system for all the 3 categories mentioned above.

Discuss the results.

[End of Task]

Simulation, Control and Analysis of an Air Heater

5 Control System
Here we will create our own discrete low-pass filter and our own discrete PI controller. We will test
the low-pass filter and the discrete controller on a model of the Air Heater system created in a
previous task.
This is a typical block diagram of the system:

Task 12:

Discrete Low-pass Filter

Transfer function for a first-order low-pass filter may be written:

( )
Where

is the time-constant of the filter.

Create a discrete low-pass filter in LabVIEW using the Formula Node in LabVIEW. Create a SubVI
of the code. The user needs to be able to set the time constant of the filter
from the outside, i.e.,
it should be an input to the SubVI. The simulation Time-step
needs also to be set from the
outside.
Use the Euler Backward method:
21

22

Control System

Perform simulations to make sure the filter works as expected. Explain/Show how you do this. Why
do we use a low-pass filter?
[End of Task]

Task 13:

Discrete PI Controller

A continuous time PI controller may be written:

( )

( )

Where u is the controller output and e is the control error:

( )

( )

( )

Create a discrete PI controller in LabVIEW using the Formula Node. Create a SubVI of the code.
- Typical Inputs to the controller:
- Typical Outputs from the controller:
Use the Euler Backward method:

Make sure the PI controller works as expected.

[End of Task]

Task 14:

Temperature Control System on Simulated System (model)

Implement a temperature control system of the Air Heater in LabVIEW using the discrete PI
controller and a discrete Low-pass filter created in previous tasks. Test the system with the PI
parameters found in a previous task. Tune the parameters if necessary. Document and discuss the
results. Use the mathematical model of the Air Heater system created in a previous task in the
simulations.
The implementation should be according to the following specifications:

Simulation, Control and Analysis of an Air Heater

23

Control System

A PI controller, implemented from scratch with C-code in Formula Node in LabVIEW

The control signal (the controller output) shall be represented in unit of voltage (
).
The measurement signal, being connected to the controller, shall be represented in unit of
degree Celsius (
).
The temperature setpoint shall be in degree Celsius (
)..
The time-step (sampling time, ) of the system can be set to, e.g., 0.1 sec.
Plot the control signal, measurement signal and the setpoint.

[End of Task]

Task 15:

Temperature Control System on Real System

Now we are going to test our control system on the real Air Heater process.
For this task we will need the real Air Heater process and an USB-6008 DAQ device:
Air Heater Process

USB-6008 DAQ Device

Note! You need to install the NI-DAQ-mx driver that makes it possible to use the USB-6008 device
together with LabVIEW.
Set up hardware and software according to the sketch below:

Simulation, Control and Analysis of an Air Heater

24

Control System

Extend your application from the previous task so that you can switch between the simulator and the
real process.
Use the same PI parameters that you used in the previous task. Test and document the performance
of the control system (both for changes in the set point and for disturbances).
Make sure to use your low-pass measurement filter created in a previous task.
End of Task]

Simulation, Control and Analysis of an Air Heater

Telemark University College

Faculty of Technology
Kjlnes Ring 56
N-3918 Porsgrunn, Norway
www.hit.no

Hans-Petter Halvorsen, M.Sc.

Telemark University College
Department of Electrical Engineering, Information Technology and Cybernetics

E-mail: [email protected]
Blog: http://home.hit.no/~hansha/