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Instrumentation and Process Control Lab 7: Name:-Payal Mahesh Khandagale GR - No.: - 11920014 Roll No.: - 33

The document describes an experiment to tune a first order control system with time lag using fine tuning methods, where the student estimated parameters for a proportional controller, determined ultimate gain and period values, applied Ziegler-Nichols tuning to calculate initial PID settings, and further fine-tuned the PID parameters to achieve a decay ratio of 0.246 for optimal system response.

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40 views

Instrumentation and Process Control Lab 7: Name:-Payal Mahesh Khandagale GR - No.: - 11920014 Roll No.: - 33

The document describes an experiment to tune a first order control system with time lag using fine tuning methods, where the student estimated parameters for a proportional controller, determined ultimate gain and period values, applied Ziegler-Nichols tuning to calculate initial PID settings, and further fine-tuned the PID parameters to achieve a decay ratio of 0.246 for optimal system response.

Uploaded by

Arjun phad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Instrumentation and Process Control

Lab 7
Name:- Payal Mahesh Khandagale
Gr.no.:- 11920014

Roll no.:- 33

Experiment: : First Order Control System With Time Lag

Objective:
To Tune the First Order Control System using fine tuning methods.

Procedure:
1. Enter required unique label for the log file to be created on the data acquisition software.
2. Enter the desired value for the setpoint

Part I: Fine Tuning Procedure: Estimation of PBu & Pu


1. Settings for Proportional Controller:
Set the PID controller in the P mode with a wide PB as follows:
PB (Proportional Band): large, say 100 %,
 (Integral Time): Maximum (the display of reset value on the UDC1000 controller
should vanish)
D (Derivative Time): 0.0 min
2. With the controller in auto mode, give a small disturbance to the process by pulsing the
setpoint - change the setpoint by small values for a short period of time and then get back
to the original setpoint.
3. Set the dead time to 2 sec and buffer default to 1024 to obtain the apparent damped
oscillations.
4. If the temperature becomes steady, reduce the PB by half, else if the system becomes
unstable, double the PB.
5. Repeat the interval-halving steps 5 & 6 to obtain the ultimate PB value, PBu. This
‘ultimate’ point represents the boundary between stable and unstable system behavior. At
PBu the temperature should show continuous oscillations, which do not decay or grow.
Thus: for PB > PBu system is stable
For PB < PBu system is unstable
At the value of PBu obtain the ultimate period of the continuous oscillations, Pu,
(Measure the time-required T for a few oscillations, n. Then Pu = T / n)
Part II: further fine tuning
1. Estimate the PID controller parameters as per the Ziegler – Nichols Closed Loop Tuning
Method (see Table 1)
2. Set the PID controller parameters as per the Ziegler-Nichols settings
3. Disturb the process by pulsing the setpoint & observe the response. If the response is not
satisfactory, fine-tune by adjusting the PB,  and D.

G(s) = 1/(10s+1)
Step Input: Set point is unity and dead time is 2 seconds with buffer of 1024
Set no. k Control system behaviour
1 2 Stable
2 4 Highly Unstable
3 3 Stable
4 3.5 Unstable
5 3.1 On the verge of instability
6 3.2 Unstable(ultimate)

K=2

K=4
K=3

K=3.5

K=3.1
K=3.2(ultimate)

Outcome:
Ku=3.2
Pu=10 sec

Corresponding ZN Criteria:
K= 1.92
= 5 sec
D=1.25 sec
Dead time =2 sec
Buffer = 1024
Part II: Further fine tuning

Sr.No. PID Controller Settings Control System Performance for Load Change
(Underdamped / Overdamped/ Unstable; Decay ratio, response
time, oscillation period for underdamped)
K  D
(Sec) (Sec)
1 1.92 5 1.25 DR: 0.386, Response time: 80 seconds
2 1.88 5.4 1.25 DR: 0.3175, Response time: 65 seconds
3 1.85 5.8 1.25 DR:0.30, Response time: 70 seconds
4 1.8 6 1.25 DR:0.23, Response time: 60 seconds
5 1.83 5.7 1.25 DR:0.246, Response time: 65 seconds
Trial 1:

Trail 2:

Trail 3:
Trial 4:

Trial 5:

Results:
1. Ziegler-Nichols Tuning Results:
Ultimate values :
Ku = 3.2 Pu = 10 sec

Ziegler-Nichols Controller Settings for PID Controller


Kc = 1.83,  =5.7 sec , D = 1.25 sec

2. a. Control System Performance for Z-N settings:


System becomes highly aggressive above K=3.2 and hence ultimate gain is 3.2. The
system becomes undamped and oscillations continue for very long.
b. Results of fine-tuning:
Considering different K values output response curve is obtained for which decay ratio is
calculated and by decreasing K or increasing  decay ratio is adjusted to ¼ i.e 0.25. For
above system at K=1.83 and =5.7sec we have obtained decay ratio of 0.246.

Conclusions:

If controller is aggressive, increasing  and decreasing K was found to be a good option which
gave DR=0.246.

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