COURSE: Process instrumentation

Class: Third 2017 - 2018

Name of Experiment: PID

Submitted by: Muhammad Akram ,Muhammad Star, Rebaz Kamil, Nihad sadiq
Experiment No: 5
Date of experiment: 2 /12/2017
Date of submission: 9 /12/2017
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EVALUATION

Activity During Experiment & Procedure

Data & Results

Discussion, Conclusion & Answer to the

Questions

Neat and tidy report writing

Overall Mark
Introduction:
The PID controller is the most common form of feedback. It was an essential
element of early governors and it became the standard tool when process control
emerged in the 1940s. In process control today, more than 95% of the control loops
are of PID type, most loops are actually PI control. PID controllers are today found
in all areas where control is used. The controllers come in many different forms.
There are stand-alone systems in boxes for one or a few loops, which are
manufactured by the hundred thousand yearly. PID control is an important
ingredient of a distributed control system. The controllers are also embedded in
many special-purpose control systems. PID control is often combined with logic,
sequential functions, selectors, and simple function blocks to build the complicated
automation systems used for energy production, transportation, and manufacturing.
Many sophisticated control strategies, such as model predictive control, are also
organized hierarchically. PID control is used at the lowest level; the multivariable
controller gives the set points to the controllers at the lower level. The PID
controller can thus be said to be the bread and butter t of control engineering. It
is an important component in every control engineers tool box. PID controllers
have survived many changes in technology, from mechanics and pneumatics to
microprocessors via electronic tubes, transistors, integrated circuits. The
microprocessor has had a dramatic inuence on the PID controller. Practically all
PID controllers made today are based on microprocessors. This has given
opportunities to provide additional features like automatic tuning, gain scheduling,
and continuous adaptation. We will start by summarizing the key features of the
PID controller. The textbook version of the PID algorithm is described by:

where y is the measured process variable, r the reference variable, u is the control
signal and e is the control error (e = ysp y). The reference variable is often called
the set point. The control signal is thus a sum of three terms: the P-term (which is
proportional to the error), the I-term (which is proportional to the integral of the
error), and the D-term(which is proportional to the derivative of the error). The
controller parameters are proportional gain K, integral time Ti, and derivative time
Td. The integral, proportional and derivative part can be interpreted as control
actions based on the past, the present and the future as is illustrated . The derivative
part can also be interpreted as prediction by linear extrapolation as is illustrated.
The action of the different terms can be illustrated by the following gures which
show the response to step changes in the reference value in a typical case.
The closed-loop step responses are obtained. and it can be seen that when Kp
increases, the response speed of the system increases, the overshoot of the closed-
loop system increases, and the steady-state error decreases. However when Kp is
large enough, the closed-loop system becomes unstable, which can be directly
concluded from the root locus analysis in Sec. 3.4. The root locus of the example
system is shown;

How does PID work?

The entire idea of this algorithm revolves around manipulating the error. The error
as is evident is the difference between the Process Variable and the Setpoint.
ERROR = PV - SP These 3 modes are used in different combinations:

P Sometimes used
PI - Most often used
PID Sometimes used
PD Very rare, useful for controlling servomotors.
Role of a Proportional Controller (PC):

The role of a proportional depends on the present error, I on the accumulation of

past error and D on prediction of future error. The weighted sum of these three
actions is used to adjust Proportional control is a simple and widely used method
of control for many kinds of systems. In a proportional controller, steady state
error tends to depend inversely upon the proportional gain (ie: if the gain is made
larger the error goes down). The proportional response can be adjusted by
multiplying the error by a constant Kp, called the proportional gain. The
proportional term is given by:

A high proportional gain results in a large change in the output for a given change
in the error. If the proportional gain is very high, the system can become unstable.
In contrast, a small gain results in a small output response to a large input error. If
the proportional gain is very low, the control action may be too small when
responding to system disturbances. Consequently, a proportional controller (Kp)
will have the effect of reducing the rise time and will reduce, but never eliminate,
the steady-state error. In practice the proportional band (PB) is expressed as a
percentage so:
Data and charts:

Kp =28 Tv=0.5

Kp =28 Tv=1.0
Conclusions and discussion:

Manny industrial processes are nonlinear and thus complicate to describe

mathematically. However, it is known that a good many nonlinear processes can
satisfactory controlled using PID controllers providing that controller parameters
are tuned well. PID controller and its different types such as P, PI and PD
controllers are today basic building blocks in control of various processes. In spite
their simplicity; they can be used to solve even a very complex control problems,
especially when combined with different functional blocks, filters (compensators
or correction blocks), selectors etc. One of the ways to improve the traditional PID
controllers is to use fractional order controllers with non integer derivation and
integration parts. However, the difficulties of designing Fractional Order PID
(FOPID) is relatively higher because these controllers include derivative order and
integer order in comparison with traditional PID controllers. As for a linear system,
if the dynamic characteristics are basically the same using either integer-order PID
controller or FOPID controller, the result of using FOPID controller may provide a
better robustness. We get the optimal control with a FOPID than a conventional
PID controller.