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GISELLA VILLAMIZAR M.

cod : 2061090 1

SISTEMA DE CONTROL PARA UNA PLANTA DE


SEGUNDO ORDEN
Gisella Victoria Villamizar Moreno Cod:2061090 Ingenieria de Telecomunicaciones

Practical Examples: We want to keep the temperature inside a


Abstract— Control systems have many ways to perform, chemical reactor at its reference value. We will have a control
depending whether they are in the frequency domain or if device temperature (and may be a heater, an electrical
in the time domain. For designs that are made, to know resistance), and a sensor (thermometer). The P, PI or PID will
how the system will want to perform calculations and control the variable (in this case temperature). The moment
other developing unique design elements. To perform the that this is not the correct alert the control device so that it acts
desired compensator and realize what you want calculs be by correcting the error. Anyway right thing to do is add a PID,
made by hand and buy something circuit maker, Matlab, if an IP is noisy but a P does not help us much, since it does
Simulimk tools not come to correct us to the exact value.[4]

Index Terms—Frequency, Proportonial, Integrator,


Derivative, Pulse, Compensator, Circuit, Matlab, Circuit
Maker, Simulink. II. CONTROLLER PID AND PLANT

A. PLANT
I. INTRODUCTION
A plant is any physical object perhaps simply a set of parts of
PID controllers are widely used in industrial control. From a a machine, working together, which aims to make a
modern perspective, a PID controller is simply a second-order transaction, in this case for the development of this project the
controller with integration. Historically, however, PID plant to be used in a second-order RC circuit
controllers are adjusted in terms of its components P, R and D.
PID structure has been shown empirically to provide sufficient
flexibility to give excellent results in many applications.[5]
PID controllers are sufficient to solve the problem of control
of many industrial applications, particularly when the
dynamics of the process allows (in general processes that can
be described by the dynamics of first and second order), and
performance requirements are modest (usually limited to Fig.1 Cto PID
specifications of the behavior of steady-state error and fast
response to changes in the reference signal). Closed-loop system This system has an actuating error signal,
The PID controller can be structured in different ways. The which is the difference between the input signal and the
forms are commonly used serial and parallel forms. In this retrolimentacion, which enters through the contol
regard, we discuss the differences between them from the electromagnetic disruptions.
point of view of its parameters. It also discusses the
implementation of PID controllers using digital computers. TRANSFER FUCTION PLANT
In this regard, discusses the fundamental concepts of sampling
process, the choice of sampling period and antialiasing filters.
Finally, we discuss the limitations of PID control, considering Vo( s ) 1
= 2
a couple of typical cases where drivers are more sophisticated Vi ( s ) S ( R 2 R1C1C 2) + S ( R1C1 + C 2 R1 + C 2 R 2) + 1
edge. Particularly, examples of control systems and Fig.2 Transfer fuction
considerable time delay control systems with higher order
processes.[1] B. PID
It is a feedback control mechanism that is used in industrial
control systems. A PID controller corrects an error between
your measured value and the value to be obtained by
calculating and then taking a correct action that can adjust to
GISELLA VILLAMIZAR M. cod : 2061090 2

the process. The PID controller is developed in different portion of the total range control and are different optimal
parameters: the proportional, integral, and derivative.[2] values for each portion of the range. The portion not consider
the time, therefore, the best way to permanently fix the error
Standard forms of PID Controllers and make the system contains a component that takes into
account the variation over time, including and setting is
integral and derivative actions.[3]

Fig.4 Cto Proportonial

Control Integral
The proportion determines the reaction of the current error. Integral control mode aims to reduce and eliminate the steady-
The integral generates a correction that the integral of error state error, caused by the proportionally. The integral control
indicates that applying a sufficient control effort, the error is
action when there is a deviation between the variable and the
reduced to zero. The derivative of the reaction time ends when
set point, integrating the deviation in time and adding to the
the error occurs. The sum of these three actions is used to
proportional action. The error is integrated, which is the
adjust the process via a control element as the speed of a
motor.[6] averaging or add it for a fixed term comprehensive response is
added to the mode. Proportional to form the P + I control for
the purpose of obtaining a stable response of the system
without steady error. It is characterized by the integration time
in minutes per repeat. It is the time when a signal step
forward, the final control element repeats the same movement
for proportional action.[3]

Fig.4 Cto Integrator

Derivative Control

Derivative action occurs when there is a change in the


absolute value of error (if the error is constant, only acting
proportional and integral modes). The function of the
derivative action is to keep correcting errors to a minimum
proportion with the same speed that occurs, in this way
prevents the error increases. It is derived with respect to time
and multiplied by a constant D and then added to the previous
Fig3 del circuit PID
signal (P + I). The derivative control is characterized by the
derivative action time in minutes in advance. The derivative
Proportonial control
action is appropriate when there is a delay between the
The share is the product between the error signal and the
movement of the control valve and its impact on the
constant ratio as to make the steady-state error is almost nil,
controlled variable.[3]
but in most cases, these values are only optimal in a certain
GISELLA VILLAMIZAR M. cod : 2061090 3

Fig.5 Cto Derivator Fig.6 Cto Plant

TRANSFER FUCTION OF PID

 R3R 2 + R1R5   R 2 R3C1 + R1R 4C 2  1


S 2  + S +
Vo( s )
=  R1R3   R1R 4C 2 R3C1  R3R 4C1C 2
Vi ( s )  1 
S S + 
 R 4C 2 
Fig.9 Transfer fuction PID

Fig.7 Graphig response to pant

III. METODOLOGY
Transfer function analysis of the plant in Matlab
For the realization of this project began with an investigation
of each of the components involved in the design and the plant
and the PID controller, to investigate their performance. After Vo( s ) 1
= 2
completion of this research and having everything you need to Vi ( s ) S ( R 2 R1C1C 2) + S ( R1C1 + C 2 R1 + C 2 R 2) + 1
start, take each of the circuits that are part of the PID Fig.10 transfer fuction plant
(Proportional, Integrator and derivatives) and are finding the
transfer function of each of them for the answer the agency
system and then relate them. Following is passed to find the
values of the elements such as capacitors and resistors are also
made of the operational amplifier research proved necessary
for this design. Once you are ready to proceed to carry out
simulations in Simulink and Circuitmaker or with their
corresponding values in the observer if the calculated values
are needed or should make corrections.
It will make the purchase of the items to be assembled in
potroboar both physically and once again tested for its
operation and developed above all, if the physical installation
is successful and get the expected results to make the circuit
going to printed for presentation of the project was on card. Fig.11 Matlab code on the transfer function

IV. DEVELOPMENT PROYECT

Analysis of the plant with random values of resistors and Fig.12 transfer fuction
capacitors, the answer to this circuit was analyzed in
Circuit Maker obtained the following SISOTOOL function with a graphical interface that allows
results: you to see the location of the roots of the plant, exporting the
above function, we obtain a graph:
GISELLA VILLAMIZAR M. cod : 2061090 4

Add the poles and zeros in this way:

Fig.16 poles and zeros initial

Fig.13 roots points

Once done, you can see the step response shows the plant
Fig17. Compensator initial Matlab

These previous values are initially chosen values for the shape
of the poles and zeros in the compensator, we are the final
values are passed to calculate the corresponding values.

Fig.14 graphic of setting time (ts)

It could be noted that the settling time of a plant is ts = 0.0046


(4.6m Ins), which is to be achieved with the design of our PID
controller is to reduce this time to settle, for this we take an Fig.18 Final Graphic of poles ande zeros of our compensator
intermediate value of ts = 0.002 (2 m Ins) and a lower
overshoot or 15%.

With these initial parameters and the transfer function of PID


is necessary to find the driver. In theory it is known that the
PID will add two real zeros and one pole at zero, but our
transfer function requires us two poles (one at zero and the
other to take a random value which you can use), these will
initially be randomized while achieves the desired values that Fig.19 Final possicion poles ande zeros
meet our controller design. Then the transfer function of
PID.[7]

 R3R 2 + R1R5   R 2 R3C1 + R1R 4C 2  1


S 2  + S + Fig 20 Compensator values
Vo( s )
=  R1R3   R1R 4C 2 R3C1  R3R 4C1C 2
Vi ( s )  1 
S S + 
 R 4C2 
Fig.15 transfer fuction PID
GISELLA VILLAMIZAR M. cod : 2061090 5

R 2 R5 R2 1
A1 = + A2 = +
R1 R 4 R1R 4C 2 R3C1
1
A3 =
R3R 4C1C 2

1
A4 =
R 4C 2
Because we have four equations and number of unknowns is
necessary to assume some values to facilitate the development
of these equations, to this end, assume an element of each
stage of the PID (Proportional, Derivative, Integral).[7]

To assume proportional part R1= 220 Ω


Fig 21 Response to analys step whit the Final values To assume integral part C1=0.1 nF
To assume derivative part C1= 0.1 nF

Values obtained as a result of poles (0 and 2.42e3) and Zeros In addition to the previously assumed values are also known
(2E3 and 383), and observed graph the impulse response, (A1 A2 A3 A4) these values are the values that make the
graphics that meets the baseline raised ts = 0.00197 and OV% compensator made earlier in Matlab, these are:
= 12.7%.
A1=8.25 A2=1.963e4
It exports the result of the compensator is obtained in Matlab A3=6.3082e6 A4=2.4214e3
and poles / zeros and the command tf (C) the transfer function
we obtain as: Once you know the necessary values are passed to clear the
equations to calculate the values of resistors that are not
known equations to find these values are represented as
follows:
1 1
R4 = R3 =
A4C 2 A3R 4C1C 2
 1 
Fig.22 Fuction Export Compensator Matlab R 2 =  A2 −  R1R 4C 2
 R3C1 

 R2 
R5 =  A1 − R4
 R1 

Fig.23 tf(C) Compensator


Tool in Matlab is used in this way the desired values are
calculated as follows.

It is noted that the transfer function of PID is exactly like the


one just obtained by the calculations above, we can note that
you have the same two poles and two zeros themselves.

Fig.24 transfer fuction whit real values

To compute the values of capacitors and resistors, values that Fig.25 calculation of values of resistance equations
will be part of the design of PID, will be made this way by
equating each term of the equation and you get this for each
one. (Name them A1, A2, A3, A4) so there will be more
order.
The values of resistance are:
GISELLA VILLAMIZAR M. cod : 2061090 6

V. ANALYSIS RESULTS IN CIRCUIT MAKER

Fig.27 Graphic of PID on CircuitMaker

Fig.26 Resistors values

With all the known values of the compensator, is ready to arm


and see if you have previously completed operation.
Fig.28 Final Response on CircuitMaker

A. ELEMENTOS DE LA PLANTA

Ra=Rb= 10k VI. ANALYSIS IN SIMULINK


Ca=Cb=0.1uF
In the properties of simulink was placed a time of 0.025 and a
B. PID ELEMENTS square input signal with a frequency of 20Hz

PROPORTONIAL

R1=220 Ω
R2=1.5499K (1.5K+47Ω)

INTEGRAL

C1=0.1nF
R3=3.8294M(3.3M+510k+27k+1.5k)

DERIVATIVE Fig.29 Analysis in Matlab

C2=0.1nF
R4=4.1322M (3.9M+220k+8.2k+1.5k+100Ω)
R5=4.9802M (4.7M+330k+2,2k+1.5k+390Ω+10Ω)

AMPLIFER
LM741
GISELLA VILLAMIZAR M. cod : 2061090 7

Fig.30 Response in Simulink less scale

Fig.33 Response real compensator osiloscope

Fig.31 Respose Final Compensator Simulink

VII. REAL RESULTS

Fig.34 Response Compensator high view

VIII. CONCLUSION

- Was presented the problem of changing values of roots


because the results were negative resistor

Fig.32 Real circuit Final whit all the elements - The design of controllers is a topic a bit tedious to
handle because it requires patience and practice to
calculate design values

- Through support tool such as matlab, circuitmaker make


possible the development of calculations by hand to
avoid compensating
GISELLA VILLAMIZAR M. cod : 2061090 8

REFERENCES

[1] http://www.ecircuitcenter.com/Circuits/op_pid/op_pid.ht
m

[2] http://www.forosdeelectronica.com/f23/circuito-control-
pid-37/#post270530

[3] http://www.secyt.frba.utn.edu.ar/gia/SDC29.pdf

[4] http://www.eng.newcastle.edu.au/~jhb519/teaching/caut1/
Apuntes/PID.pdf

[5] http://csd.newcastle.edu.au/SpanishPages/clase_slides_do
wnload/C07.pdf

[6] http://www.slideshare.net/mariomgck/control-
pid?src=related_normal&rel=1628743

[7] Ingenieria de control moderna 3ra Edicion, Katsuhico


Ogata

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