Practical

S. Y. B.
Tech (ECE)
Semester: III Subject: Control System and Fuzzy Logic
Name: Unnati Dixit Class: SY-A
Roll No: PA-34 Batch: A3
Experiment No: 04
Name of the Experiment: Implement various fuzzy membership functions.
Marks Teacher’s Signature with date

Performed on: 25/11/22
Submitted on: 28/11/22
Aim : To Control the Speed of DC Motor Using PID Controller
Pre-requisite: PID controller
Objective:
1. To understand importance of PID controller ion Control Systems.
2. To understand Tuning of PID controller.
3. To find values of Kp, Ki, Kd
Theory:
PID Controller is a most common control algorithm used in industrial automation &
applications and more than 95% of the industrial controllers are of PID type. PID controllers are
used for more precise and accurate control of various parameters. Most often these are used for
the regulation of temperature, pressure, speed, flow and other process variables. Due to robust
performance and functional simplicity, these have been accepted by enormous industrial
applications where a more precise control is the foremost requirement.
What is a PID Controller?

A combination of proportional, integral and derivative actions is more commonly referred as PID
action and hence the name, PID (Proportional-Integral-Derivative) controller. These three
basic coefficients are varied in each PID controller for specific application in order to get optimal
response.
It gets the input parameter from the sensor which is referred as actual process variable. It also
accepts the desired actuator output, which is referred as set variable, and then it calculates and
combines the proportional, integral and derivative responses to compute the output for the
actuator.
Fig.1 Block Diagram of PID controller
Combining all three modes of control i.e. proportional, integral & derivative produces a
controller known as three mode controller or PID controller. The equation describing as
action can be determined as.
Controller O/P = Kp.e + ki ∫edt + kd de/dt
e is error between setpoint & feedback.
Where kp is the proportionality constant, ki the integral constant & kd the derivative
constant. Taking the laplace, transfer function is dtermind.
Deviation of actual value from the desired value in the PID control algorithm causes to produce
the output to the depending on the combination of proportional, integral and derivative responses.
So the PID controller continuously varies the output to the actuator till the process variable settle
down to the set value. This is also called as closed loop feedback control system.
All modern industrial controllers are of automatic type (or closed loop controllers), which are
usually made to produce one or combination of control actions. These control actions include
• ON-OFF Controller
• Proportional Controller
• Proportional-Integral Controller
• Proportional-Derivative Controller
• Proportional-Integral-Derivative Controller
In case of ON-OFF controller, two states are possible to control the manipulated variable, i.e.,
either fully ON (when process variable is below the set point) or Fully OFF (when process
variable is above the set point). So the output will be of oscillating in nature. In order to achieve
the precise control, most industries use the PID controller (or PI or PD depends on the
application)
Characteristics of P, I, and D controllers
A proportional controller (Kp) will have the effect of reducing the rise time and will reduce, but
never eliminate, the steady-state error.
An integral control (Ki) will have the effect of eliminating the steady-state error, but it may make
the transient response worse.
A derivative control (Kd) will have the effect of increasing the stability of the system, reducing
the overshoot, and improving the transient response.
Proportional Control
By only employing proportional control, a steady state error occurs.
Proportional and Integral Control
The response becomes more oscillatory and needs longer to settle, the error disappears.
Proportional, Integral and Derivative Control

All design specifications can be reached Table 1: Characteristics of P, I, and D controllers
CL RISE OVERSH SETTLING S-S

RESPONSE TIME OOT TIME ERROR
Small
Kp Decrease Increase Decrease
Change
Eliminat
Ki Decrease Increase Increase
e
Small Small
Kd Decrease Decrease
Change Change
Tips for Designing a PID Controller
1. Obtain an open-loop response and determine what needs to be improved
2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall response.
TECHNICAL SPECIFICATION: -
PMDC Motor :- 12V DC, 1500 RPM, 1.5 Amp, Torque: ½ Kgcm, Mounting Horizontal
Optical Sensor / Inductive Proximity Sensor :- 3 Wire, Sensing Distance: 10cm/ 7mm, 24 VDC
RPM Indicator/ Tachometer :- Speed: 0-1500 RPM, Supply: 230V AC, Cut out size :92 X 92
Retransmission O/P: 4-20mA according 0-1500rpm, 3 ½ digital display.
DC Drive :- Power Supply: 230 V AC, Input : 4-20mA, Output Voltage. 0-12 V DC.
Electrical Control Panel :- MS Powder coated panel with switches, indicator, test Points,
controller on front facia, UK 2.5 Terminal Connectors mounted on DIN rail channel, Use of 1sq
mm multi-strand wire with proper insulated Lugs, Feruling & Neat wire dressing & clamping.
Wires & power cables are seated through 1’’×1’’PVC cable tray.
Dimension: 1ft (L) ×1ft (W) ×1ft (H)
PID Controller :-Input: 4-20mA, Output:4-20mA, 3½ Digit display, Display: Dual for PV &
SP , Bar graph Display for Output & Deviation, High-Low Alarm Annunciation, Cut Out Size:
92mmX92mmX144mm
OPERATING PROCEDURE USING PID
1. Provide 230V AC supply to the set up.

2. Switch ‘ON’ all the rocker switches on the panel.
3. Make the toggle switch in UP position to select the control mode to AUTO MODE.
4. In AUTO MODE the control action is taking place by PID controller, If we connect R.
IND. OP (IN+) to PID I/N (IN+), R. IND. OP (IN-) to PID I/N (IN-) and PID O/P
(IN+) to DC DRIVE IP (IN+) and PID O/P (IN-) to DC DRIVE IP (IN-).i.e T1 TO T3,
T2 TOO T4, T5 TO T7 AND T6 T0 T8
5. Keep set point 50% i.e. 750 RPM, take PID controller in manual mode, as process
variable goes above the set point then take controller in auto mode for proper results.
6. Observe the speed of motor on Speed Indicator (RPM indicator).
7. Voltmeter and Ammeter shows voltage and current consumption of motor.
8. The speed of the motor will be controlled according to the set point.
9. RPM of Motor & corresponding time along with set point of RPM Should be noted. &
rest of the observations done.
10. Draw a graph between RPM & Time.
GRAPH OF RPM
2000
1500
TIME IN
RPM
1000 MINUTE
500
0
1 2 3 4 5 6 7 8 9 10 11 12 13
Note: PV(Yellow)=processing value, SP(Green)=Set point, OUT(White)=Deviation
Conclusion:
Post Lab Questions:
1) What is significance of Kp, Ki, Kd while designing PID controller?
2) Draw and explain block diagram of PID controller.

3) What are different applications of PID controller?
4) What is difference between Fuzzy Logic Controller and PID controller?
OUTPUT:

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S. Y. B.

Marks Teacher’s Signature with date

Submitted on: 28/11/22

Aim : To Control the Speed of DC Motor Using PID Controller

Pre-requisite: PID controller

What is a PID Controller?

Fig.1 Block Diagram of PID controller

Controller O/P = Kp.e + ki ∫edt + kd de/dt

e is error between setpoint & feedback.

Characteristics of P, I, and D controllers

By only employing proportional control, a steady state error occurs.

Proportional and Integral Control

Proportional, Integral and Derivative Control

CL RISE OVERSH SETTLING S-S

Tips for Designing a PID Controller

1. Obtain an open-loop response and determine what needs to be improved

2. Add a proportional control to improve the rise time

3. Add a derivative control to improve the overshoot

4. Add an integral control to eliminate the steady-state error

OPERATING PROCEDURE USING PID

1. Provide 230V AC supply to the set up.

1) What is significance of Kp, Ki, Kd while designing PID controller?

2) Draw and explain block diagram of PID controller.

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