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Lab 4 Karan

The document summarizes a study of integral control in PID controllers using Scilab simulation software. The objective is to analyze the effect of varying the integral reset value on system behavior. The simulation models a third-order process controlled by a PID controller. Results show that decreasing the integral reset value from 5 minutes to 0.82 minutes stabilizes the oscillating system. Varying the set point while keeping the reset value constant at 3.3 minutes results in negligible overshoot deviation but a slight decrease in rise time and increase in offset.

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Samyak Dhutale
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8 views

Lab 4 Karan

The document summarizes a study of integral control in PID controllers using Scilab simulation software. The objective is to analyze the effect of varying the integral reset value on system behavior. The simulation models a third-order process controlled by a PID controller. Results show that decreasing the integral reset value from 5 minutes to 0.82 minutes stabilizes the oscillating system. Varying the set point while keeping the reset value constant at 3.3 minutes results in negligible overshoot deviation but a slight decrease in rise time and increase in offset.

Uploaded by

Samyak Dhutale
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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PI Control in PID

Instrumentation and Process Control

Experiment: Scilab – Study of Integral controller in PID

Kuwar Karan Kochhar, 11811114, 34

Objective

• To carry out dynamic simulation system controlled with a Integral controller on Scilab
• To carry out simulation of an Integral Control and to analyze the effect of Integral
controller system behavior on the control system performance.

Software Package
Scilab 6.1

Practical Procedure

The procedure consists of monitoring the control system response for various Reset values –
from high to low. For each Reset value the control system is given a step change in setpoint
and allowed to reach steady state. This is followed by a reverse step change to the original
setpoint. Steps to be followed are as follows:

1. Enter required unique label for the log file to be created on the data acquisition software.
2. Configure the UDC1000 PID controller as follows:
PB: Set a reasonable PB value which gives sufficient offset, so that offset elimination can
be demonstrated.
Rate: 0 (No derivative action)
Bias (Manual Reset): Doesn’t matter
SP: Required value Reset: Choose a large value to start with, say 1 or 2 min.
3. Put the controller in Auto mode and let the temperature reach steady state.
4. Give a step change in setpoint, around 5 – 10 0C. Observe the control system response
until a new steady state is reached.
5. Repeat 4 by changing setpoint back to the original value.
6. Change reset and repeats the up-down setpoint change procedure. Repeat this for a total of
4-5 reset values, from high to very low.
PI Control in PID

Theory

The contribution from the integral term is proportional to both the magnitude of the error
and the duration of the error. The integral in a PID controller is the sum of the instantaneous
error over time and gives the accumulated offset that should have been corrected previously.
The accumulated error is then multiplied by the integral gain (Ki) and added to the controller
output.

The integral term is given by

The integral term accelerates the movement of the process towards setpoint and eliminates
the residual steady-state error that occurs with a pure proportional controller. However, since
the integral term responds to accumulated errors from the past, it can cause the present value
to overshoot the setpoint value

Description of Simulated Control System

1. Creation of Scilab model

The simulated control system consists of a ‘third order’ process controlled using a PID
controller.

Model Elements

a. Transfer Function: A third order transfer function is to be used.


b. Sum: This block is used as comparator with two inputs & one output. The
inputs are Setpoint from the ‘constant’ block & controlled variable, which
is the output of the process.
c. PID: This is the PID controller block, with P, I & D representing
coefficients of the Proportional, Integral & Derivative parts of the
controller respectively
d. Constant: This block provides the setpoint to the control system
e. Scope: This block plots required variables as a function of time
f. Mux: This block is used to send more than one variable to the Scope
block for plotting.

2. Simulation Parameters

a. Process Model – G(s) = 6/[s3 + 6s2 + 11s + 6]


PI Control in PID

b. Input constant – 1
c. Summation Parameters – [+1;-1]
d. PID Parameters – P = 10.5, I = -10, D = 0

NOTE: From the previous experiment, we determined that the system started becoming
unstable at Kc = 10.5. Hence the same value of Kc is taken and changes in values of Ti are
made

Block diagram of the simulated control system

Results at Kc = 10.5
Pi Value Graph
3

Comments At this value, the oscillations remain constant, decay ratio 1, overshoot remains constant
PI Control in PID

3.3

Comments We observe that at Ti = 3.3s, the oscillations start to increase, indicating that the system is becoming
more unstable

Comments System tending towards instability

2.5

Comments On decreasing the value of Ti, the oscillations decrease indicating that the system is tending towards
stability
PI Control in PID

1.5

Comments We observe further decrease

0.95

Comments System tending towards stability

0.82

Comments Hence, at this value of Ti, the system achieves stability


PI Control in PID

Systems for different set points at Ti = 3.3


Set Pt. Graph
1

3
PI Control in PID

Results
Parameters obtained at Ti = 3.3
Set Pt. Offset Overshoot Decay R Rise Time
1 0.8 0.8 1.05 0.85
2 1.7 0.8 1.15 0.75
3 2.6 0.833 1.2 0.7
4 3.2 0.8 1.225 0.65

Conclusion
Overshoot Rise Time Offset
Kc increases Increases Slight decrease Increases
Ti increases Increases Increases Large Increase
Set pt. increases Negligible Slight decrease Increases
(keeping Ti constant) Deviation

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