EXPERIMENT NO.

8
Aim To study the effect ofPID controller/
Apparatus
1 Experimental kit (PCS-01)
2 CRO
3. Connecting probes
Theory A controller is a device which when introduced in a feedback or
forward path of a system, reshapes the time response of the system as per requirernerit. Such
device converts input to the controller to some function of error, like proportional.to error
derivative of error etc, due to which steady state &itransient response changes.tt e ot.
In general good time response demands r
i) Less settling time
ii) Less overshoot
iii) Less rise time
iv) Smaller steady state error
To improve the transient response damping ratio is changed. To improve steady state
performance steady state errors are tried to reduce.
Consider second order system
G(s) =o/s (s + 25w,)
H(s) =1 ,!
C(s)
R{S) s² + 20,s + o
Where Eis damping ratio & wn is natural frequency.
The error constantcan be determined as below

Kp = limG (s) H
(s) =0
S’0
K, = lim sG (s) H(s) = on /25
S’0
Where, K, is position error constant
K, is position error constant

R(s) E(s) c(s)

oi/s(s + 25w,)
 P controller
In many practical systems, controller input is proportional to the error generated.
Such
controllers are known as proportional cöntroller
Consider second.order system where coniroller input is error itself &proportional constant
is K s

Controller Plant

R{s) C(s)
K
wR/s(s + 2o,)
/s(s +3

By increase in K i.e., increase in system gain, steady state error can be reduced but due to
high. gain settling time & peak overshoot:-within äcceptable limits by pröviding fölowing
different types ofcontroller,
i) PDproportional + derivative action
ii) PLproportional + integral action
iii) PID proportional + integral +derivative action.
PD controller:
A. conttbller in the forward path, which changes the plant input to the proportional plus
derivative of error signal is called asPD'controller
i.es; inputto oontroler = Ke(t) + Kpde(t)/dt
Taking Laplace = KE(s) + sKpE (s)=E(s)FK + skD]
The transfer.function of such controller is [K + sKp]
This is realized as shown in f i g : tis id i s

R(s) E(s)
C(s)
K
w/s(s + 2),)

sKp

2
 G(S) = (K +sKp)w/s(s + 2f w,)
H(s) = 1
C(s) (K+sKp)w
R(s)

Comparing denominator with standard form,

o, is same as in the previous P type controller.
&2 ah-2 o, taKp
Therefore =Fto,Kp/2
This controller increases damping ratio by a factor onKp/2 while,

K, = @n/2
As there is no change in the error coefficients, steady state error remains same. Hence
controller has following effects on the system.
i) It increases damping ratio,
ii) on for the system remains unchanged,
in) Type of the system remains unchanged,
iv) It reduces peak overshoot,
v) It reduces settling time,
vi) Steady state error remains unchanged
In general it improves transient response without affecting steady state response
PI controHer:
Consider system with G(s) = 1/(s + 25w) H(s)=1

C(s)/R(s)=1/(s + 25on t 1)
ess = 25wn/(1 + 25o)
Acontroler in the forward path, which changes the controller input to the proportional plus
imegral of error signal is called as PI controller.
ie., Input to the controller = Ke(t) + K, fe(t) dt
Taking Laplace = KE(s) + S
= E()[K + K,/s]
The transfer function of such controller is [K + K,/s]
This is realized as shown in fig

3
 R(s) E(s)
K C(s)
1/(s + 25o,)

KË
S

G(s)H (s) = (K + Ki/s)/(s + 25n)

=(Ks + K) /s (s + 2k0)
This indicates type of system has increased from 0 to l
So K, =0
ess = 0
Hence PIcontroller has following effects
) It increases type of system
i) Steady state error reduces tremendously for the same input
Ingeneralit improves steady state response && has slight effect on Tiamsiut
the transfer response
PID controller:
As PD improves transient response & PI improves steady state
can be used to improve overall time response of the system
response combination of two
This is realized as shown in fig

Controller Plant

K,/s

R(s) C(s)
K
o/s(s +2w,)

sKp

4
 & Observe Input& Output
Procedure: Waveforms Simultäncously On CRO (Ch-I& Ch-II)
(A)SETTINGS
Set input sighal (waveform
1. Set switch SW2 on generator)
waveform generator panel to fast:k.
2. Setfrequency knob on division 2.
3. Set'square wave knob to 5V
4. Set, set valuè knob to zero
position.
(B)Set process
1. Set SW4 to fast.
2. Set switches P1'on lag &
P2 on lag
(C) Set controllerT
1. Set switch SW3. fast
2. Set proportional band (PB) knob on 100 %'

(D) Studyiapen loop system

1. Do connection as shown in fig 1
(Black colour only)
2. Observe output on CRO for PB knob setting
50%, 100%,200%
3. Draw rough sketch for each on same graph.
(E) Closed loóp system with proportional control only
1. Do additional connections (Blue colour)
2. Observe output on CRO for knob setting 200%,100% & 20%
3. Draw rough sketches for each on same graph.

(F) Closed löop with PI

1. Doadditional connections (Green colour)
2. Keep PBknob at 20% setting & integral time (IT) knob to zero.
3. Vary IT khob & note the changes in steady state & transient.
4. Draw rough sketch for each on same graph.

(GYClesed loop with PID

5. Do additiönal connections (Red colour)
6. Keep PB knòb at 20%, IT knob such that steady state error is zero & derivative time (DT)
knob zero.
7.Vary DT khob.& note changes in steady state &tranisient
B. Dráw rough sketches for each on same graph.
H} Closed loop with PD controller
1.Reihove integral cônnections (green colour)
2. PB.knob at 20%, DT at zero.
3.Varý DT &note the changes in steady stae &transient"
4. Draw rough sketches for each on same graph.
 PROCESS CONTROL SIMULATOR -(PCS-01)

only
Blue 0OVDROLE

DTIOALTY
TAT

TVALUN

WAVERORMODATOR
KDOYCLTAC

SL

CTACEN

(OPEN LOoP CoNNECTION BLACK

CLOSEDLoOP WTH PROPORTIONAL CONNECTION- BLUE
cCLOSED LooP WITH PL CONTROLER CONNECTn DN - E
CLOSED LO0P lWITAPLD CONTROULER CONNECTION
CLOSED LO0P. AITHPD-REMOYE GREEN
 DeTRRANCT
DTVAUI

POWER STURRNZ
LOAD

CLOSED
CLOSED CLoSEDOPEN
CLosED
NVERTER

LOOP
oOP.AITH LOOP LooP LoOP JRRCR

WITH w|THW|TH
I
CoNNECTION VALUS3T
-10N

PROCESS

PROPORT|ONAL
PD
PLD P iSONTROLLER
TRANTORT

DUYALR
IAG
LOW AST
EMOYE
CONTRoER
oNTRDER VALUBSET CONTROL
SW1
’
BLACK
VOLTATBDC ERI
SOUECE
SIMULATOR
GREEN CoN LOW
IROCISS
CiONGREEN.
coNNECTI
DNTSORAL
TIT()

NECT|ON- 15
AG

-
OUT (PCS-01)
ON- BLUE
VI NTEG
P2
HaroeyeOrs
RED. CENERATOR
WAVEORM

PRCPOJONAL 200%
Pt. LAND

ud, CUT

Chece&
FREQUEY DIBG LAG P1
ojCROGnJo
d
FAST DISIURANCZ
UTPLY
CS1
 3 Observe Input &Output Waveforms Simultaneously On CRO(Ch-I& Ch-II)
Procedure:
(A) SETTINGS
Set input signal (waveform generator)
1. Set switch SW2 on waveform generator panel to fast.
2. Set frequency knob on division 2.
3. Set square wave knob to 5V
4. Set, set value knob to zero position.

(B) Set process

1. Set SW4to fast.
2. Set switches Pl on lag & P2 on lag

(C) Set controller

1. Set switch SW3 fast
2. Set proportional band (PB) knob on 100%
(D) Study open loop system
1. Do connection as shown in fig 1 (Black colour only)
2. Observe output on CRO for PB knob setting 50%, 109%,200%
3. Draw rough sketch for each on same graph.

(E) Closed loop system with proportionalcontrol only

1. Do additional connections (Blue colour)
2. Observe output on CRO for knob setting 200%,100% & 20%
3. Draw rough sketches for each on same graph.

(F)Closed loop with PI

1. Doadditional connections ( Green colour)
2. Keep PB knob at 20% setting &integral time (IT) knob to zero.
3. Vary IT knob &note the changes in steady state &transient, NOte
4. Draw rough sketch for each on same graph.
(G)Closed loop with PID
5.Do additional connections (Red colour)
6. Keep PB knob at 20%, IT knob such that steady state error is zero &derivative time (DT)
knob zero.
7. Vary DT knob & note changes in steady state &transient *NOe
8. Draw rough sketches for each on same graph.
(H) Closed loop with PD controller
1. Remove integral connections (green colour)
2. PB knob at 20%, DT at zero.
’ ote
3. Vary DT & note the changes in steady state & transient
4. Draw rough sketches for each on same graph. respon se,
NGe !- TO ob sere S+eady stae a transie
Cnange frequen knob sng to rss diviston or es.