CPC Repport

7/23/2019 CPC Repport

http://slidepdf.com/reader/full/cpc-repport 1/20

UNIVERSITI TEKNOLOGY MARA

FACULTY OF CHEMICAL ENGINEERING

CHEMICAL PROCESS CONTROL

CPE562

LECTURER’S NAME

MOHD AIZAD AHMAD

STUDENT’S NAME

NUR SYAKIRAH BINTI ABD RAHIM

2013892!

EH2215A

DATE OF SUBMISSION

DECEMBER 2015



CHAPTER 1

• History of PID controller

A proportionl!inte"rl!#eri$ti$e controller %PID controller& is control loop fee#'c(

)ec*nis) %controller& co))only +se# in in#+stril control syste)s, A PID controller

contin+o+sly clc+ltes n error $l+e s t*e #ifference 'et-een )es+re# process

$ri'le n# #esire# set point, T*e controller tte)pts to )ini)i.e t*e error o$er ti)e

'y #/+st)ent of control $ri'le0 s+c* s t*e position of control $l$e0 #)per0 or

t*e po-er s+pplie# to *etin" ele)ent0 to ne- $l+e #eter)ine# 'y -ei"*te# s+),PID controllers *$e 'een ro+n# for )ny yers n# *$e *istoriclly 'een consi#ere#

to 'e t*e 'est controller,Ori"inlly #e$elope# fro) "o$ernor #e$ice0 -*ic* -s +se# to )es+re n# re"+lte

t*e spee# of )c*ine1 it -s s+'se2+ently #e$elope# n# +se# -it*in +to)tic s*ip

steerin" n# t*en for +se s pne+)tic controller, T*e first rel PID3type controller -s

#e$elope# 'y El)er Sperry in 4544, T*e first t*eoreticl nlysis of PID controller -s

p+'lis*e# 'y Nicols Minors(y in 4566, His o'ser$tions "re- o+t of efforts to #esi"n

+to)tic steerin" syste)s for t*e U,S, N$y, Bse# *is nlysis on o'ser$tions of

*el)s)n0 notin" t*e *el)s)n controlle# t*e s*ip 'se# not only on t*e c+rrent error0

'+t lso on pst error s -ell s t*e c+rrent rte of c*n"e0 t*is -s t*en )#e

)t*e)ticl 'y Minors(y, His "ol -s st'ility0 not "enerl control0 -*ic* si)plifie#

t*e pro'le) si"nificntly, 7*ile proportionl control pro$i#es st'ility "inst s)ll

#ist+r'nces0 it -s ins+fficient for #elin" -it* ste#y #ist+r'nce0 not'ly stiff "le

%#+e to #roop&0 -*ic* re2+ire# ##in" t*e inte"rl ter), Finlly0 t*e #eri$ti$e ter) -s

##e# to i)pro$e st'ility n# control, More recently PID controllers re no- +se# -it*in

-i#e rn"e of pplictions fro) in#+stril o$en to pc("in" )c*ines,In t*e erly *istory of +to)tic process control t*e PID controller -s i)ple)ente# s

)ec*nicl #e$ice, T*ese )ec*nicl controllers +se# le$er0 sprin" n# )ss n#

-ere often ener"i.e# 'y co)presse# ir, T*ese pne+)tic controllers -ere once t*e

in#+stry stn#r#, Most )o#ern PID controllers in in#+stry re i)ple)ente# in

pro"r))'le lo"ic controllers %PLCs& or s pnel3)o+nte# #i"itl controller, Soft-re

i)ple)enttions *$e t*e #$nt"es t*t t*ey re relti$ely c*ep n# re fle8i'le -it*

respect to t*e i)ple)enttion of t*e PID l"orit*),



• PID controller t*eory n# e2+tion

A Proportionl3Inte"rl3Deri$ti$e controller %PID controller& is "eneric controller -i#ely

+se# in in#+stril control syste)s, T*e PID control e2+tion in$ol$es t*ree seprte

pr)eters1 t*e Proportionl0 t*e Inte"rl n# Deri$ti$e ter)s, T*e Proportionl ter)

respon#s instntneo+sly to t*e c+rrent error %pro$i#in" instntneo+s response&, T*eInte"rl ter) respon#s to t*e cc+)+ltion of errors %pro$i#in" slo- response t*t

#ri$es t*e ste#y3stte error to-r#s 9&, An# t*e Deri$ti$e ter) respon#s to t*e rte t

-*ic* t*e error is c*n"in" %pro$i#in" so)e nticiptory response&, T*eir respecti$e

-ei"*tin" #eter)ines t*e controls response,Proportionl ction pro$i#es n instntneo+s response to t*e control error, T*is is

+sef+l for i)pro$in" t*e response of st'le syste) '+t cnnot control n +nst'le

syste) 'y itself, A##itionlly0 t*e "in is t*e s)e for ll fre2+encies le$in" t*e syste)

-it* non.ero ste#y3stte error,

Inte"rl ction #ri$es t*e ste#y3stte error to-r#s 9 '+t slo-s t*e response since t*e

error )+st cc+)+lte 'efore si"nificnt response is o+tp+t fro) t*e controller, Since

n inte"rtor intro#+ces syste) pole t t*e ori"in0 n inte"rtor cn 'e #etri)entl to

loop st'ility,Deri$ti$e ction cts on t*e #eri$ti$e or rte of c*n"e of t*e control error, T*is

pro$i#es fst response0 s oppose# to t*e inte"rl ction0 '+t cnnot cco))o#te

constnt errors, Deri$ti$es *$e p*se of :59 #e"rees le#in" to n nticiptory or

pre#icti$e response, Ho-e$er0 #eri$ti$e control -ill pro#+ce lr"e control si"nls in

response to *i"* fre2+ency control errors s+c* s set point c*n"es n# )es+re)entof noise,Proportionl3Inte"rl3Deri$ti$e or PID control co)'ines proportionl control0 inte"rl

control0 n# #eri$ti$e control in prllel, T*e e2+tion is;

C PID (s )= K P(k + k i

s +k d s)

7*ere; K P is t*e PID controller "in

k is constnt incl+#e# for )ore fle8i'ility

k i is t*e inte"rl "in

k d is t*e #eri$ti$e "in

Alternti$e e2+tion for PID controller;



C PID

(s )= K P(1+ 1

T r s+

T d s

τ Ds )

T*e e2+tion of PID cn 'e c*n"e# to ot*er e2+tion 'y;Set

T d=0

n# E2n, PID 'eco)es e2+l to E2n, PI

Setk i=0

n# E2n, PID 'eco)es e2+l to E2n, PD

Set k =0 n# E2n, PID 'eco)es n inte"rl3#eri$ti$e controller

Setk =0,k

i=0

n# E2n, PID 'eco)es e2+l to E2n, D

Setk =0,T d=0

n# E2n, PID 'eco)es e2+l to E2n, I

• Controller "in0 inte"rl ti)e0 #eri$ti$e ti)e n# #e# ti)e

Controller "in is #efine# s <c*n"e in process o+tp+t< #i$i#e# 'y <c*n"e in process

inp+t<, A process -it* *i"* process "in rects )ore to c*n"e in t*e process inp+t

t*n process -it* lo- process "in, , More "in in controller "i$es fster loop

response 3 n# )ore oscilltory %+nst'le& process,

Gain=100

Propor tionalBand

Deri$ti$e ti)e o'ser$es *o- fst t*e ct+l con#ition pproc*es t*e #esire# con#ition

n# pro#+ces control ction 'se# on t*is rte, T*e +nits +se# for #eri$ti$e ction

#escri'e *o- fr into t*e f+t+re yo+ -nt to loo(, Deri$ti$e ction i)pro$es t*e

controller ction 'ec+se it pre#icts -*t is yet to *ppen 'y pro/ectin" t*e c+rrent rte

of c*n"e into t*e f+t+re, T*is )ens t*t it is not +sin" t*e c+rrent )es+re# $l+e0 '+t

f+t+re )es+re# $l+e, Deri$ti$e ction o'ser$es *o- fst t*e ct+l con#ition

pproc*es t*e #esire# con#ition n# pro#+ces control ction 'se# on t*is rte, T*is

##itionl ction nticiptes t*e con$er"ence of ct+l n# #esire# con#itions, In effect0

it co+ntercts t*e control si"nl pro#+ce# 'y t*e proportionl n# inte"rl ter)s, T*e

inten#e# res+lt is re#+ction in o$ers*oot, T*is ##itionl ction nticiptes t*e

con$er"ence of ct+l n# #esire# con#itions, In effect0 it co+ntercts t*e control si"nl

pro#+ce# 'y t*e proportionl n# inte"rl ter)s, T*e inten#e# res+lt is re#+ction in

o$ers*oot,



T*e inte"rl ti)e is t*e ti)e )es+re)ent for t*e process c*n"e# fro) set point, T*e

inte"rl of si"nl is t*e s+) of ll t*e instntneo+s $l+es t*t t*e si"nl *s 'een0

fro) -*ene$er yo+ strte# co+ntin" +ntil yo+ stop co+ntin", Inte"rl ter) consi#ers t*e

*istory of t*e error0 or *o- lon" n# *o- fr t*e )es+re# process $ri'le *s 'een

fro) t*e set point o$er ti)e, Inte"rtion is contin+l s+))in", Inte"rtion of error o$er

ti)e )ens t*t -e s+) +p t*e co)plete controller error *istory +p to t*e present ti)e0

strtin" fro) -*en t*e controller -s first s-itc*e# to +to)tic,

e (t )=SP – PV

De# ti)e is t*e )o+nt of ti)e t*t it t(es for yo+r process $ri'le to strt c*n"in"

fter yo+r $l$e c*n"es, If yo+ -ere t(in" s*o-er0 t*e #e# ti)e is t*e )o+nt of

ti)e it -o+l# t(e for yo+ %t*e controller& to feel c*n"e in te)pert+re fter yo+ *$e

#/+ste# t*e *ot or col# -ter, P+re #e# ti)e processes re +s+lly fo+n# in pl+" flo-

or soli#s trnsporttion loops, E8)ples re pper )c*ine n# con$eyor 'elt loops,

De# ti)e is lso clle# #ely, A controller cnnot )(e t*e process $ri'le respon#

'efore t*e process #e# ti)e, To controller0 process )y pper to *$e )ore #e#

ti)e t*n -*t it ct+lly *s, T*t is0 t*e controller cnnot 'e t+ne# ti"*t eno+"*

%-it*o+t "oin" +nst'le& to )(e t*e process $ri'le respon# ppreci'ly 'efore n

e2+i$lent #e# ti)e, More cc+rtely0 t*e c*rcteristic ti)e of t*e loop is #eter)ine#

'y e2+i$lent #e# ti)e, E2+i$lent #e# ti)e consists of p+re #e# ti)e pl+s process

co)ponents contri'+tin" )ore t*n 4=9 #e"rees of p*se l", T*e p*se of #e# ti)e

increses proportionlly -it* fre2+ency, Any process *$in" )ore t*n 4=9 #e"rees

p*se l" *s e2+i$lent #e# ti)e,



• Effect of incresin" or #ecresin" $l+e of P0I >D to-r# process response

7*en t*e $ri'le pproc*es t*e set point0 proportionl ction is l)ost .ero '+t

inte"rl *s increse#, T*e #eri$ti$e 'r(in" ction contin+es, Once t*e $ri'le

crosses t*e line0 it c*n"es, P 'e"ins to increse its effort in t*e ot*er #irection s it

)o$es 'o$e t*e line, Inte"rl 'e"ins to rel8 no- t*t it *s )o$e# pst t*e set point,D sees t*e slope 'e"innin" to #ecline n# rel8es s -ell, Soon t*e proportionl ction

'rin"s it ro+n#0 t*e $ri'le *e#s to-r# t*e set point "in n# ll t*e ctions re

re$erse#,Proportionl ction is t*e stron"est -*en t*e #istnce fro) t*e set point is t*e "retest,

Inte"rl increses its effort -it* e$ery )o)ent t*t psses -it* t*e $ri'le on /+st one

si#e of t*e line, Deri$ti$e )(es no effort -*en t*e line is flt0 e$en if it is no-*ere

close to t*e set point, D -ill not )o$e t*e line itself0 it cn only co+nterct P n# I efforts,

So D controller0 if s+c* e8ists0 -o+l# 'e st'le n# esy to t+ne0 '+t not prtic+lrly

effecti$e, T*e rt of loop t+nin" is #eter)inin" t*e opti)+) $l+es for ec* of t*ose

ctions so t*t t*ey 'lnce ec* ot*er n# )o$e t*e specific loop in -y t*t is 'est

for t*t process,

ProportionlProportionl $l+e n# proportionl ction is t*e stron"est -*en t*e #istnce fro) t*e

set point is t*e "retest, Proportionl control pplies n effort in proportion to *o- fr

yo+ re fro) t*e set point, Its )in #r-'c( is t*t t*e closer yo+ "et to t*e set point0

t*e less it p+s*es, E$ent+lly it #oesn’t p+s* *r# eno+"* to )o$e t*e $ri'le0 so t*e

process cn r+n contin+o+sly close to t*e set point0 '+t not 2+ite t*ere, As -it* t*e P3Only controller0 t*e proportionl ter) of t*e PI controller0 ?c;e%t&0 ##s or

s+'trcts fro) CO'is 'se# on t*e si.e of controller error e%t& t ec* ti)e t, As e %t&

"ro-s or s*rin(s0 t*e )o+nt ##e# to CO'is "ro-s or s*rin(s i))e#itely n#

proportiontely, Its contri'+tion to t*e CO is 'se# on t*e si.e of e%t& only t ti)e t, As

e%t& "ro-s or s*rin(s0 t*e infl+ence of t*e proportionl ter) "ro-s or s*rin(s i))e#itely

n# proportiontely,

T*e plot 'elo- %clic( for lr"e $ie-& ill+strtes t*is i#e for set point response, T*e

error +se# in t*e proportionl clc+ltion is s*o-n on t*e plot;



Inte"rlT*e inte"rl ter) is contin+lly s+))in" e %t&, T*+s0 e$en s)ll error0 if it persists0 -ill

*$e s+) totl t*t "ro-s o$er ti)e n# t*e infl+ence of t*e inte"rl ter) -ill si)ilrly

"ro-, T*e inte"rl co)ponent of control loop *s t*e effect of contin+in" to increse or

#ecrese t*e o+tp+t s lon" s ny offset or #roop contin+es to e8ist, T*is ction #ri$es

t*e controller in t*e #irection necessry to eli)inte t*e error c+se# 'y t*e offset,

Inte"rl0 or reset0 #/+sts controller’s o+tp+t in ccor#nce -it* 'ot* t*e si.e of t*e

#e$ition fro) set point n# t*e ti)e it lsts, T*e totl inte"rl s+) "ro-s s lon" s e%t&

is positi$e n# s*rin(s -*en it is ne"ti$e, Inte"rl increses its effort -it* e$ery )o)ent

t*t psses -it* t*e $ri'le on /+st one si#e of t*e line,

Deri$ti$eDeri$ti$e cts s 'r(e or #)pener on t*e control effort, T*e )ore t*e controller

tries to c*n"e t*e $l+e0 t*e )ore it co+ntercts t*e effort, In o+r e8)ple0 t*e $ri'le

rises in response to t*e set point c*n"e0 '+t not s $iolently, As it pproc*es t*e set

point0 it settles in nicely -it* )ini)+) of o$ers*oot, It #oesn’t )o$e s 2+ic(ly s t*e

PI3only effort0 '+t -it*o+t t*e oscilltions0 t*e ri"*t )o+nt of #eri$ti$e ction cn

st'ili.e t*e process $ri'le t t*e set point sooner, A rpi#ly c*n"in" P@ *s steep slope n# t*is yiel#s lr"e #eri$ti$e, T*is is tr+e

re"r#less of -*et*er #yn)ic e$ent *s /+st 'e"+n or if it *s 'een +n#er-y for

so)e ti)e, In t*e plot 'elo- t*e #eri$ti$edPV /dt

#escri'es t*e slope or

steepness of P@ #+rin" process response, Erly in t*e response0 t*e slope is lr"e

n# positi$e -*en t*e P@ trce is incresin" rpi#ly, 7*en P@ is #ecresin"0 t*e



#eri$ti$e %slope& is ne"ti$e, An# -*en t*e P@ "oes t*ro+"* pe( or tro+"*0 t*ere is

)o)ent in ti)e -*en t*e #eri$ti$e is .ero,

T*e effects of t+nin" pr)eter re s follo-s;

Proportionl "in %P&; Incresin" P "enerlly increse control si"nl, A lr"e $l+e of

P typiclly )ens fster response0 since t*e lr"er t*e error t*e lr"er t*e fee#'c(

to co)penste, An e8cessi$ely lr"e proportionl "in -ill le# to process inst'ility, Inte"rl "in %I&; Increse Inte"rl effect -ill )(e slo-er t*e syste) ,A lr"e $l+e of

I i)plies t*t ste#y3stte errors re eli)inte# 2+ic(er, T*e tr#e3off is lr"er

o$ers*oot; ny ne"ti$e error inte"rte# #+rin" trnsient response )+st 'e

inte"rte# -y 'y positi$e error 'efore rec*in" ste#y stte, Deri$ti$e "in %D&; Increse #eri$ti$e -ill increse t*e spee#, A lr"e D $l+e

#ecreses '+t slo-s #o-n trnsient response n# )y le# to inst'ility,

Effect of c*n"in" control pr)eters %*ttp;---,eee,)et+,e#+,tr&

• Settlin" ti)e0 o$ers*oot0 #ecy rtio0 n+)'er of oscilltions

T*ere re so)e perfor)nce )es+re)ent criteri s+c* s settlin" ti)e0 o$ers*oot0

#ecy rtio n# n+)'er of oscilltion, T*e #efinition of settlin" ti)e is t*e ti)e re2+ire#

for t*e response c+r$e to rec* n# sty -it*in rn"e of certin percent"e %+s+lly



or 6& of t*e finl $l+e, T*e settlin" ti)e of n )plifier or ot*er o+tp+t #e$ice is

t*e ti)e elpse# fro) t*e ppliction of n i#el instntneo+s step inp+t to t*e ti)e t

-*ic* t*e )plifier o+tp+t *s entere# n# re)ine# -it*in specifie# error 'n#0

+s+lly sy))etricl 'o+t t*e finl $l+e, Settlin" ti)e incl+#es $ery 'rief prop"tion

#ely0 pl+s t*e ti)e re2+ire# for t*e o+tp+t to sle- to t*e $icinity of t*e finl $l+e0

reco$er fro) t*e o$erlo# con#ition ssocite# -it* sle-0 n# finlly settle to -it*in t*e

specifie# error, Syste)s -it* ener"y stor"e cnnot respon# instntneo+sly n# -ill

e8*i'it trnsient responses -*en t*ey re s+'/ecte# to inp+ts or #ist+r'nces,

M8i)+) o$ers*oot is #efine# t*e )8i)+) pe( $l+e of t*e response c+r$e

)es+re# fro) t*e #esire# response of t*e syste), T*e o$ers*oot is t*e occ+rrence of

si"nl or f+nction e8cee#in" its tr"et, It rises especilly in t*e step response of 'n#

li)ite# syste)s s+c* s lo-3pss filters, It is often follo-e# 'y rin"in"0 n# t ti)es

conflte# -it* t*e ltter, It cn 'e clc+lte# fro) Decy Rtio is t*e rtio 'y -*ic* t*e oscilltion is re#+ce# #+rin" one co)plete cycle0 or

t*e rtio of s+ccessi$e pe( *ei"*ts, A <one 2+rter< #ecy rtio is tr#itionl stn#r#,

T*e rtio cn 'e clc+lte# fro)Oscilltion is t*e repetiti$e $rition0 typiclly in ti)e0 of so)e )es+re 'o+t centrl

$l+e %often point of e2+ili'ri+)& or 'et-een t-o or )ore #ifferent sttes, T*e ter)

G$i'rtionG is precisely +se# to #escri'e )ec*nicl oscilltion '+t +se# s synony) of

GoscilltionG too, F)ilir e8)ples incl+#e s-in"in" pen#+l+) n# lterntin" c+rrent

po-er, Oscilltions occ+r not only in )ec*nicl syste)s '+t lso in #yn)ic syste)s in

$irt+lly e$ery re of science, T*ey re )ny types of oscilltion1 si)ple *r)onic

oscilltor0 #)pe# n# #ri$en oscilltion n# co+ple# oscilltions,

• O'/ecti$es of t*e st+#y

T*e o'/ecti$e of t*is st+#y is to #ifferentite n# in$esti"te t*e effects of c*n"in"

pr)eters, Besi#es0 t*e o'/ecti$e is to in$esti"te t*e effect of controller "in0 inte"rl

ti)e0 #eri$ti$e ti)e n# #e# ti)e %ti)e #ely& in PID controller,



CHAPTER 2

LAB 4; Effect of controller "in

4, Open Mt L' soft-re t*en ne- )o#el -s opene# 'y selectin" ne- file '+tton,

6, T*en0 t*e +ntitle# -in#o- -ill pper,, Clic( '+tton Si)+lin( li'rry 'ro-ser0 t*en #r" cloc(0 to -or(spce0 constnt0 PID

controller0 trnsfer fcn0 s+)0 scope n# #isply, Arrn"e n# connecte# ll Si)+lin( in

t*e ri"*t or#er,

J, Process trnsfer f+nction is set s

5 s

s2+10 s ,0 process set pointK4

, PID controllers pr)eter -s set+p s P4K9,90I4K9,940D4K9, Set si)+ltion pr)eters to 99, R+n t*e si)+ltion 'y clic(in" t*e r+n '+tton=, Plot P@ $s ti)e

plot %ti)e0P@&5, R+n secon# set of PIDs $l+e P6K9,40I6K9,940 D6K949, Plot t*e secon# process response

fi"+re %6&0 plot %ti)e0P@&44, R+n t*ir# set of PIDs $l+e PK9,6 IK9,940 DK946, Plot t*e t*ir# process response

fi"+re %&0 plot %ti)e0P@&4, @ie- ll t*e fi"+res in fi"+re plette,4J, Co)'ine response of fi"+re%6& n# fi"+re%& into fi"+re%4&4, Ren)e t*e 838is s ti)e n# y38is s P@ n# e$ery fi"+re s PID40 PID60 n# PID,4, S*o- t*e SP t 4,

Fi"+re 4; PFD for effect of controller "in

LAB 6; Effect of inte"rl ti)e

4, Open Mt L' soft-re t*en ne- )o#el is opene# 'y selectin" ne- file '+tton,6, T*en0 +ntitle# -in#o- -ill pper,



, Clic( '+tton Si)+lin( li'rry 'ro-ser0 t*en #r" cloc(0 to -or(spce0 constnt0 PID

controller0 trnsfer fcn0 s+)0 scope n# #isply, Arrn"e n# connecte# ll si)+lin( in

t*e ri"*t or#er,

J, Process trnsfer f+nction is set s

5 s

s2

+10 s ,0 process set pointK4

, PID controllers pr)eter -s set+p s P4K9,90I4K9,940D4K9, Set si)+ltion pr)eters to 99, R+n t*e si)+ltion 'y clic(in" t*e r+n '+tton=, Plot P@ $s ti)e

plot%ti)e0P@&5, R+n secon# set of PIDs $l+e P6K9,9 I6K9,96 D6K949, Plot t*e secon# process response

fi"+re%6&0plot%ti)e0P@&44, R+n t*ir# set of PIDs $l+e PK9,9 IK 9,9J0 DK946, Plot t*e t*ir# process response

fi"+re%&0plot%ti)e0P@&

4, @ie- t*e fi"+re in fi"+re plette4J, Co)'ine response of fi"+re %6& n# fi"+re %& into fi"+re %4&4, Ren)e t*e 838is s ti)e n# y38is s P@ n# e$ery fi"+re s PID40 PID60 PID,4, S*o- t*e SP t 4,

Fi"+re 6; PFD of effect on inte"rl ti)e

LAB ; Effect of #eri$ti$e ti)e

4, Open Mt L' soft-re t*en ne- )o#el is opene# 'y selectin" ne- file '+tton,

6, T*en0 +ntitle# -in#o- -ill pper,, Clic( '+tton si)+lin( li'rry 'ro-ser0 t*en #r" cloc(0 to -or(spce0 constnt0 PID

controller0 trnsfer fcn0 s+)0 scope n# #isply, Arrn"e n# connecte# ll si)+lin( in

t*e ri"*t or#er,J, Process trnsfer f+nction is set s0 process set pointK4, PID controllers pr)eter -s set+p s P4K9,90I4K9,940D4K9, Set si)+ltion pr)eters to 99, R+n t*e si)+ltion



=, Plot P@ $s ti)eplot%ti)e0P@&

5, R+n secon# set of PIDs $l+e P6K9,9 I6K09,940 D6K9,9449, Plot t*e secon# process response

fi"+re%6&0plot%ti)e0P@&44, R+n t*ir# set of PIDs $l+e PK9,9 IK9,940 DK9,96

46, Plot t*e t*ir# process responsefi"+re%&0plot%ti)e0P@&

4, @ie- t*e fi"+re in fi"+re plette,4J, Co)'ine response of fi"+re %6& n# fi"+re %& into fi"+re%4&4, Ren)e t*e 838is s ti)e n# y38is s P@ n# e$ery fi"+re s PID40 PID60 PID,4, S*o- t*e SP t 4,

Fi"+re ; PFD on effect of t*e #eri$ti$e ti)e

LAB J; Effect of #e# ti)e

4, Open Mt L' soft-re t*en ne- )o#el is opene# 'y selectin" ne- file '+tton,6, T*en0 +ntitle# -in#o- -ill pper,, Clic( '+tton si)+lin( li'rry 'ro-ser0 t*en #r" cloc(0 to -or(spce0 constnt0 PID

controller0 trnsfer fcn 0 $ri'le ti)e #ely 0 s+)0 scope n# #isply, Arrn"e n#

connecte# ll si)+lin( in t*e ri"*t or#er,J, Process trnsfer f+nction is set s0 process set pointK4, A## trnsport #ely n# set

Ti)e Dely to ,, PID controllers pr)eter -s set+p s P4K9,60 I4K9,940D4K9, Set si)+ltion pr)eters to 99, R+n t*e si)+ltion

=, Plot P@ $ers+s ti)eplot%ti)e0P@&

5, R+n secon# set of Ti)e #ely K 49, Plot t*e secon# process response

fi"+re%6&0plot %ti)e0P@&44, R+n t*ir# set of Ti)e #ely K 546, Plot t*e t*ir# process response

fi"+re%&0plot %ti)e0P@&



4, @ie- t*e fi"+re in fi"+re plette,4J, Co)'ine response of fi"+re %6& n# fi"+re %& into fi"+re %4&4, Ren)e t*e 838is s ti)e n# y38is s P@ n# e$ery fi"+re s PID40 PID60 PID,4, S*o- t*e SP t 4,

Fi"+re J; PFD on effect of #e# ti)e

CHAPTER 3

LAB 4; EFFECT OF CONTROLLER AIN

0 100 200 300 400 500 6000

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

time

P V

PID1

PID2

PID3

SP

PID4 PID6 PID

SETTLIN TIME %secon#& 9 699 459

PERIOD %secon#& =9 No 6 s+ccessi$e pe( No s+ccessi$e pe(



O@ERSHOOT 4, 4,J 4,6

UNDERSHOOT 9,9 9,= 9,==

RISE TIME 69 45 4=

Fi"+re ; Response of effect of controller "in



LAB 6; EFFECT OF INTERAL TIME

0 100 200 300 400 5000

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

time

P V

PID2

PID3

PID1

SP

Fi"+re ; Response on t*e effect of inte"rl ti)e

PID4 PID6 PID

SETTLIN TIME %secon#& J99 J69 J9

PERIOD %secon#& 59 9 9

O@ERSHOOT 4, 4, 4,=9

UNDERSHOOT 9, 9, 9,=

RISE TIME 69 4 49

LAB ; EFFECT OF DERI@ATI@E TIME



0 100 200 300 400 500 6000

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

time

P V

PID1

PID2

PID 3

SP

Fi"+re ; Response of effect of #eri$ti$e ti)e

PID4 PID6 PID

SETTLIN TIME %secon#& 49 9

PERIOD %secon#& 499 469 4

O@ERSHOOT 4,4 4,JJ 4,6

UNDERSHOOT 9, 9, 9,

RISE TIME 69 9

LAB J; EFFECT OF DEAD TIME



0 100 200 300 400 500 6000

0.5

1

1.5

2

2.5

Time

P V

PID3

PID2

PID1

SP

Fi"+re =; Response of effect of #e# ti)e

PID4 PID6 PID

SETTLIN TIME %secon#& 499 4 J99

PERIOD %secon#& No 4 s+ccessi$e pe( 9

O@ERSHOOT 4, 4,= 6,

UNDERSHOOT 9,5 9, 9,69

RISE TIME 4 4 4



Fi"+re s*o-s t*e response of effect of controller "in to t*e process $l+e, For t*is

e8peri)ent0 t*e $l+e of P is )nip+lte# 'y t*e $l+e of 9,90 9,4 n# 9,6 -*ile t*e $l+e of I

n# D is re)in constnt -*ic* t 9,94 n# 9 respecti$ely, For PID 40 t*e $l+e of P is set to

9,9, T*e settlin" ti)e is 9 secon#0 perio# is =9 secon#0 o$ers*oot is 4,0 +n#ers*oot is 9,9

n# rise ti)e is 69 secon#, For PID 60 t*e $l+e of P is set to 9,4, T*e settlin" ti)e o'tine# is

699 secon#s n# t*e perio# is t*e secon# s+ccessi$e pe( fro) t*e PID4 'ec+se t*ere re no

ot*er s+ccessi$e perio#s fter it, T*e o$ers*oot is 4,J -*ile t*e +n#ers*oot $l+e is 9,=, T*e

rise ti)e o'tine# is 45 secon#, For PID 0 t*e $l+e of P is set to 9,6, T*e settlin" ti)e is 459

secon# n# t*e perio# is t*e t*ir# s+ccessi$e pe( fro) t*e perio# in PID 4 n# PID 6, T*e

o$ers*oot $l+e is 4,6 n# t*e +n#ers*oot $l+e is 9,== -*ile t*e rise ti)e o'tine# is 4=

secon#,

Fi"+re s*o- t*e response of effect of inte"rl ti)e to t*e process $l+e, In t*is e8peri)ent t*e

$l+e of I -*ic* is t*e inte"rte# ti)e is 'ein" )nip+lte# -*ile $l+e of D %#eri$ti$e ti)e&0 P

%proportionl& n# set point %SP& is 'ein" set s controlle# $ri'le, Fi"+re s*o-s t*e effect

inte"rl ti)e, For t*is e8peri)ent0 t*e $l+e of D n# P is 'ein" )intine# t 9 9,9

respecti$ely, T*e $l+e of I in t*is e8peri)ent is 'ein" $rie# t 9,940 9,96 n# 9,9J, T*e settlin"

ti)e o'tine# is J99 secon# n# perio# for t*is process is 59 secon#, T*e o$ers*oot $l+e is

4, -*ile t*e +n#ers*oot $l+e is 9,, T*e rise ti)e is t 69 secon#, For PID 60 t*e $l+e of I is

set to 9,96, T*e settlin" ti)e o'tine# is J69 secon# n# t*e perio# is 9 secon#, T*e

o$ers*oot $l+e is 4, -*ile t*e +n#ers*oot $l+e is 9,, T*e rise ti)e o'tine# is 4 secon#,

For PID 0 t*e $l+e of I is set to 9,9J, T*e settlin" $l+e is J9 n# t*e perio# is 9 secon#,

T*e o$ers*oot $l+e is t 4,=9 -*ile t*e +n#ers*oot $l+e 9,=, T*e rise ti)e is 49 secon# for

t*is e8peri)ent,

Fi"+re s*o- t*e response effect of #eri$ti$e ti)e, In t*is e8peri)ent t*e $l+e of D is set s

)nip+lte# $ri'le -*ile P $l+e0 I $l+e n# set point is )intin t t*e constnt $l+e, T*e

$l+e of P n# I is 'ein" set t 9,9 n# 9,94 respecti$ely, T*e $l+e of D is 'ein" $rie# t 90

9,94 n# 9,96, For PID 40 t*e settlin" ti)e 49 secon#s n# t*e perio# is 499 secon#, T*e

o$ers*oot $l+e is 4,4 -*ile t*e +n#ers*oot $l+e is t 9,, T*e rise ti)e o'tine# is 69

secon#, For PID 60 t*e $l+e of D is set to 9,94, T*e settlin" ti)e is secon# -*ile t*e perio#

is for 469 secon#, T*e o$ers*oot $l+e is t 4,JJ n# t*e +n#ers*oot $l+e is 9,, T*e rise ti)e

is 6 secon#s, T*e settlin" ti)e is 9 secon# n# perio# is 4 secon#, T*e o$ers*oot $l+e is

4,6 n# t*e +n#ers*oot $l+e is 9,, T*e rise ti)e is for secon#,



Fi"+re = s*o-s t*e effect of #e# ti)e for t*e process, For t*is e8peri)ent0 #e# ti)e $l+e is

'ein" )nip+lte# -*ile P0I n# D re ct s controlle# $ri'le, For PID 40 t*e #e# ti)e is set

to , T*e settlin" ti)e is 499 secon# n# t*e perio# is t t*e first s+ccession pe( 'ec+se fter

t*is point0 t*ere is no s+ccessi$e pe(, T*e o$ers*oot $l+e is 4, n# t*e +n#ers*oot $l+e is

9,5, T*e rise ti)e is 4 secon#, For PID 60 t*e #e# ti)e is set to , T*e settlin" ti)e is 4

secon# n# t*e perio# is for secon#, T*e o$ers*oot $l+e is 4,= n# t*e +n#ers*oot $l+e is

9,, T*e rise ti)e is 4 secon#, Lstly0 t*e #e# ti)e is set to 5, T*e settlin" ti)e is J99

secon# n# t*e perio# is 9 secon#, T*e o$ers*oot $l+e is 6, n# t*e +n#ers*oot $l+e is

9,6, T*e rise ti)e is 4 secon#,

Fro) t*e e8peri)ent0 t*e )es+re)ent criteri for ll of t*e e8peri)ents s*o- t*e e2+l $l+e

of PID4 s s*o-n in t*e "rp*, T*is is 'ec+se t*e pr)eter t*t 'ein" +se# is s)e for t*e

e8peri)ents, T*e rise ti)e for t*e e8peri)ent on t*e effect of inte"rl ti)e0 #eri$ti$e ti)e n#

controller "in for PID 4 is s)e -*ic* is 69 secon#s -*ile t*e rise ti)e of PID4 for t*e effect of

#e# ti)e is re#+ce to 4, T*is is #+e to t*e secon#s #ely ti)e +se# in t*e e8peri)ent,

Bse# on t*e res+lt fro) t*e e8peri)ent0 t*e response cn 'e #i$i#e# to 6 -*ic* re t*e st'le

effect n# t*e +nst'le effect, T*e controller "in n# t*e #e# ti)e cn 'e consi#ere# s t*e

st'le effect 'ec+se it /+st nee#s s*ort ti)e to 'e settle#, T*e inte"rl ti)e n# t*e #eri$ti$e

ti)e is t*e e8)ple of +nst'le ti)e 'ec+se it nee#e# lon"er settlin" ti)e to st'ili.e t*e

process, So0 it cn 'e si# t*t0 t*e settlin" ti)e -ill ffect t*e st'ility of t*e process, T*e

s*orter t*e settlin" ti)e0 )ore st'le t*e process,

T*e effect of controller "in is t*e )ost st'le rt*er t*n t*e effect of #e# ti)e to t*e process,

It is 'ec+se t*e $l+e of o$ers*oot of effect of controller "in is lo-er t*n t*e $l+e of

o$ers*oot for t*e effect of t*e #e# ti)e, Difference in t*e $l+e of #eri$ti$e ti)e "i$es t*e

)ost +nst'le effect to t*e process, T*e process nee#s t*e lon"est ti)e to st'ili.e t*e effect

occ+r in t*e process, T*e $l+e of o$ers*oot for t*e effect of #eri$ti$e ti)e lso lo-er

co)pre# to t*e $l+e of o$ers*oot of inte"rl ti)e,



CHAPTER !" CONCLUSION AND RECOMMENDATION

Bse# on t*e res+lt o'tine# fro) t*e e8peri)ent0 t*e )ost st'le response is t*e effect of

controller "in to t*e process -*ile t*e lest st'le response is t*e effect of t*e #eri$ti$e ti)e,

T*e *i"*er t*e pr)eter of P0 t*e s*orter t*e settlin" ti)e nee#e# 'se# on t*e effect of t*e

controller, For t*e effect of #eri$ti$e ti)e0 t*e lo-er t*e pr)eter of D0 t*e s*orter t*e settlin"

ti)e nee#e# to st'ili.e t*e process, T*e e8peri)ent -s con#+cte# s+ccessf+lly n# t*e

o'/ecti$es of t*e st+#y *$e 'een c*ie$e#,

T*ere re fe- reco))en#tion cn 'e #one to increse t*e effect of t*e control ele)ent to

t*e process, First0 t*e )et*o# t*t 'ein" +se# to o'tine# t*e #t s*o+l# 'e ri"*t to o'tin t*e

cc+rte res+lt, Secon#ly0 t*e line to connect fro) one 'loc( to not*er 'loc( s*o+l# 'e

connecte# perfectly so t*t t*e si)+ltion cn r+n s)oot*ly, Ne8t0 t*e #t o'tine# fro) t*e

si)+ltion s*o+l# 'e #ifferentite# correctly 'y +sin" t*e #ifferent colo+r for ec* line, T*is toens+re -e re# t*e cc+rte line n# t'+lte t*e correct #t,

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