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Practical 8

The document outlines the design of a PID controller for the system 1/(s+1)^8, using the Zeigler-Nichols method to determine parameters such as time constant and lag. It calculates the PID parameters Kp, Ki, and Kd, and addresses the issue of proportional kick in the system's response. A MATLAB program is provided to simulate the system and visualize the step responses, demonstrating the effects of the proportional kick and its remedy.

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jigar
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4 views4 pages

Practical 8

The document outlines the design of a PID controller for the system 1/(s+1)^8, using the Zeigler-Nichols method to determine parameters such as time constant and lag. It calculates the PID parameters Kp, Ki, and Kd, and addresses the issue of proportional kick in the system's response. A MATLAB program is provided to simulate the system and visualize the step responses, demonstrating the effects of the proportional kick and its remedy.

Uploaded by

jigar
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

Practical-8

Simulation PID controller structure with proportional kick and also find its remedy for remove proportional
kick.

Theory:

FOR SYSTEM 1/(s+1) ^8:

 Design PID controller for this system :


 According to Zeigler Nicholas open loop test we first give step to system to find step response.
 Here T is time constant approximated as time t1 and time t2 is taken by system to reach 28.3%
and 63.2% steady state value of step respectively.
 Than T = 3/2 (t2-t1) and L = t2-T
 L is lag or transportation delay of system
 K is the gain of system which is equal to steady state value of step.
 Here from experiment 1 we get K=1, t1 = 6.19 sec, t2 = 8.64 sec.
 From equation of T & L we get T = 3.67 sec, L = 4.96 sec
 Now find PID controller parameter :
 Kp=1.2*a = 0.89 (where ,a= KL/T=1.35)
 Ki= Kp/(2*L)=0.089
 Kd=kp*(L/2)=2.21
 Here structure is different so, for this type we get proportional kick as shown in figure 1 and
shows the procedure for remove the proportional kick.
 Output responses graph in figure 2.
2
Out2

PID(s) 1
Out1
Scope2
P contoller

1
poly( [-1 -1 -1 -1 -1 -1 -1 -1])(s)
Scope1
PID(s) Transfer Fcn

I Controller

Step1

4
Out4
PID(s)

I_ Controller
Scope4 3
Out3

1
poly( [-1 -1 -1 -1 -1 -1 -1 -1])(s)
Scope3
PID(s) Transfer Fcn1

P_ Controller

FIGURE 1
Step Respones of aproximated model of practical-3
1.4
sys with prop kick 1/(s+1)8
(controller) prop kick PI graph
1.2 sys remedy prop kick 1/(s+1)8
(controller)remedy prop kick PI graph

0.8
Magnitude (step)

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time (secs)
FIGUERE-2
MATLAB Program:

clear;
clc;
open_loop='model for system find in practical-3'
% for systrem 1/(s+1)^8
t1=6.19;
t2=8.64;
T=((3/2)*(t2-t1));
L=(t2-T);
K=1;
a= K*L/T;
Kp=1.2/a;
Td=L/2;
Ti=2*L;
Kd=Kp*Td;
Ki=Kp/Ti;

open_system('propkick')
sim('propkick')
plot(tout,yout(:,1),tout,yout(:,2),tout,yout(:,3),tout,yout(:,4)); % values to
plot
xlabel('Time (secs)'); grid;
ylabel('Magnitude (step)');
title('Step Respones of aproximated model of practical-3')
legend('sys with prop kick 1/(s+1)^8','(controller) prop kick PI graph','sys
remedy prop kick 1/(s+1)^8','(controller)remedy prop kick PI graph' )

Conclusion:

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