PID CONTROLLER FOR TEMPERATURE

CONTROL IN CYBER-PHYSICAL
HOME SYSTEM

Wai Wai SHEIN

waiwaishein@jaist.ac.jp

PRESENTATION OUTLINE
1. Introduction
2. Research Background on Cyber-physical System (CPS)

2.1 PID Controller

2.2 Hybrid Controller

3. Research Objective
4. Cyber-physical Home System

4.1 Mathematical Representation

4.2 Transfer Function

5. Hybrid Controller for Home Temperature Control System

6. Simulation Scenario, Parameter, Setting and Result
7. Discussion

8. Concluding Remarks

p. 2

p. 3

1. INTRODUCTION
Home Temperature Control (HTC) System
Outside
Summer

Summer

Winter

Outside

Outside

37C

Inside

0C

Inside

28C 20C

Winter
Inside

Air Con
Sensor

Sensor

Window
Sink

Internet
Gateway
Server

p. 4

1. INTRODUCTION (CONT.)
Our temperature control is considered the following features

Multiple devices
Satisfaction with thermal comfort
Low cost

Multiple devices
Cost

Satisfaction

p. 5

2. RESEARCH BACKGROUND
Cyber-physical System (CPS)

Interaction between the physical and virtual worlds through lots of

sensors and actuators
Physical and engineered systems whose operations are monitored,
coordinated, controlled and integrated by a computing and
communication core

Cyber
(discrete)

Computation
CPS
(hybrid)

Communication

Characteristics of CPS

Physical
(continuous)

Control
System

CPS models must stand for

Physical world

Sensors and actuators

Hardware platform

Software

Network

Control system
CPS models must incorporate

Timing

Concurrency

Dynamics

2. RESEARCH BACKGROUND (CONT.)

p. 6

Why CPS is necessary in home system?

Wireless Sensor Networks

(WSNs)

Only sense and monitor

Unable to affect the state of
physical environment

CPS

Integration of computation,
networking and physical
dynamics with hybrid control

Reasons

Better thermal comfort environment

Comfort satisfaction by dynamically
monitoring
Long life of the building
Desired temperature with low cost

p. 7

2.1 PID CONTROLLER

PID stands for proportional-integral-derivative
Important ingredient of a distributed control system
Is combined with logic, sequential functions, selectors, and

simple function blocks to build the complicated automation

system
PID algorithm is described by
u (t ) K p e(t ) K i e(t )dt K d
Kp = proportional gain

Ki = integral gain

Kd = derivative gain

e(t) = control error

de(t )
dt

p. 8

2.2 HYBRID CONTROLLER

A large collection of systems of

various classes
Involves a variety of mathematical
and engineering disciplines
Discrete event system finite state
machine (FSM), fuzzy logic, etc
Continuous dynamic system
differential geometry, differential
equations, etc
Interface communicates the two
different layers by means of
translating signals between them

Discrete event
system
(controller)
symbols
Generator

symbols
Actuator

Interface

Continuous
inputs

Continuous
inputs

Continuous
dynamic system
(plant)

3. RESEARCH OBJECTIVE
To develop a practical CPS approach for home system
To design the closed-loop HTC system with two actuators

(air-conditioner and window) by continuously monitoring

the desired temperature regardless of dynamically changing
environment
To understand and analyze how our HTC system control

the desired room temperature with PID controller and

hybrid controller with minimum cost

p. 9

4. CYBER-PHYSICAL HOME SYSTEM

Hybrid Controller

Tset (t) +
_

Disturbance

Airconditioner

Tsa (t)
+
+

Tr (t)

Window

Sensor
Tset (t)
Tout (t)
Tr (t)
Tr (t)
Te (t)
Tso (t)
Tsa (t)

Tout (t)

s(t)

PID
Te (t) Controller u(t)

= setpoint temperature
= outside temperature
= output temperature
= measured room temperature
= error temperature
= supplied temperature from outside
= supplied temperature by air-conditioner

p.
10

Tr (t)
Room

Tso (t)

WSAN

S aoff , wcl 0

S
s(t) = switched control signal = aon, wcl 1
S aoff , wop 2

u(t) = control input

WSAN = Wireless Sensor and Actuator Network

4.1 MATHEMATICAL REPRESENTATION

The dynamic room temperature is given by

Tr (t )

all

Tr (t 1)

where Qall= Qaircon + Qairflow + Qdth+ Qss +Qoccupant

Symbol

Definition

Qaircon

Heat supplied by air-conditioner

Qairflow

Heat generated by window opening

Qdth

Heat gain through the glass due to

temperature difference between
inside and outside

Qss

Heat gain when the sun shines

through the window

Qoccupant

Heat gain from the occupants

Equation

p.
11

p.
12

4.2 TRANSFER FUNCTION

Status

Rate of
room temperature changing

Transfer function

Air-conditioner
where
,

Cdth = ug Ag
Cac=1.08 CFM
Window opening
where
Cw=Aop cd vair Cp air

Cdth = ug Ag

5. HYBRID CONTROLLER FOR HTC

Tr (0) = Tset

p.
13

Tr (t) > (Tset + Toon) ^ Tout (t) > Tr (t)

Saoff,wcl
s(t) = 0

Saon,wcl
s(t) = 1
Tr (t) = (Tset + Tooff)

Te (t)
s(t)
Tout (t)

Saoff,wop
s(t) = 2

Actuators: Air-conditioner, Window

Initial state: Saoff,wcl
Saoff,wcl = air-conditioner is OFF & window is CLOSED
Saon,wcl = air-conditioner is ON & window is CLOSED
Saoff,wop = air-conditioner is OFF & window is OPENED

Toon = offset temperature for

air-conditioner is ON
Tooff = offset temperature for
air-conditioner is OFF
Tout(t) = outside temperature
s(t) = status of switched control signal

p.
14

6. SIMULATION SCENARIO
Simulation Environment

MATLAB/Simulink
PI controller
Used experiment measured
inside/outside temperature of the
iHouse facility during summer season
(2010 August)
One living room with four windows

Assumption

Heat gain from the occupant and heat gain

from the sun through the glass are constant
For window opening state, the velocity of
air is constant

No heat loss from the room

p.
15

6. SIMULATION PARAMETER & SETTING

Constant and coefficient

Constant and coefficient

Volume of the room :Vroom

5.005 m 4.095 m 3 m

Density of air : air

0.61

1.2 kg/m3

Discharge coefficient for a 'Flat Plate' orifice

(hole) opening : cd

Specific heat capacity air : Cp

1.005 kJ/kgC

Air velocity leaving the opening (light air) : vair

3.4 m/s

Air volume flow rate : CFM

300 ft3/min

Air node correction factor : Fc

0.91

Desired temperature : Tset

25C

Shading factor for double glazing, open

horizontal blind and clear 6mm type of glass : Fs

0.95

Supplied temperature by airconditioning system : Tsa

19C

Tabulated cooling load : qsg

238 W/m2

Offset temperature for air-conditioner is

ON : Toon

0.5C

No. of occupants

1
230 Btu/h

Offset temperature for air-conditioner is

OFF : Tooff

0.2C

Sensible heat gain by occupants (light working) :

SHG
Latent heat gain by occupants : LGH

190 Btu/h

No. of air-conditioners

Cooling load factor for the occupants : CLF

Area of window type1 (LW) : Ag1

1.2 m 1.77 m

Area of window type2 (LW) : Ag2

1.2 m 0.6 m

Proportional gain for air-conditioner control (for

day time) : KpPM

Surface area of opening for window

type1 : Aop1

1 m2

Integral gain for air-conditioner control (for day

time) : KiPM

2.5

Surface area of opening for window

type2 : Aop2

0.456 m2

Proportional gain for window (for night time) :

KpAM

140

u value for clear 6mm, double glazing

glass : ug

2.8 W/m2C

Integral gain for window (for night time) : KpAM

150

p.
16

6. SIMULATION RESULT: DAY TIME

10:00AM to 06:00PM
Temperature (C)

35
30
25
20
09:00

Desired temperature

Outside temperature

ClosedLoop (without Hybrid)

ClosedLoop (with Hybrid)

10:00

11:00

12:00

State transition
3
Saoff,wop

Saon, wcl

Saoff,wcl

0
09:00

13:00
14:00
Time (hour)

Measured temperature

15:00

16:00

17:00

18:00

State of Measured temperature

State of ClosedLoop (without Hybrid)
State of ClosedLoop (with Hybrid)

10:00

11:00

12:00

13:00
14:00
Time (hour)

15:00

**Measured: Air-conditioner is operated from 10AM to 6PM (2010 August)

**ClosedLoop (without Hybrid): Air-conditioner is operated from 10AM to 6PM with feedback control
**ClosedLoop (with Hybrid): Air-conditioner is operated with hybrid feedback control (ON/OFF)

16:00

17:00

18:00

p.
17

6. SIMULATION RESULT: NIGHT TIME

10:00PM to 06:00AM
Temperature (C)

35

30

25

20
21:00

Desired temperature
ClosedLoop (without Hybrid)
22:00

23:00

00:00

Outside temperature
ClosedLoop (with Hybrid)

Measured temperature

01:00
02:00
Time (hour)

03:00

04:00

05:00

06:00

22:00
23:00
00:00
01:00
02:00
State of Measured temperature
Time (hour)
State of ClosedLoop (without Hybrid)
State of ClosedLoop (with Hybrid)

03:00

04:00

05:00

06:00

State transition
Saoff,wop
Saon, wcl
Saoff,wcl

3
2
1
0
21:00

**Measured: Neither Air-conditioner nor Window is operated (2010 August)

**ClosedLoop (without Hybrid): only Window is operated with feedback control
**ClosedLoop (with Hybrid): Air-conditioner or Window is operated with feedback control

p.
18

6. SIMULATION RESULT: COMPARISON

Electricity consumption

Hybrid controller can

reduce 57.75% compared
to without hybrid
controller
Hybrid controller
consumes less energy in
night time because of the
help of opening the
window to control the
desired temperature

Day time (10:00-18:00)

Night time (22:00-06:00)
Electricity consumption (kWh)

4.5

3.95

1.67
1.5

0.00
Closedloop without Hybrid

0.33
Closedloop with Hybrid

7. DISCUSSION

p.
19

Even we could not achieve the desired temperature by natural

ventilation (window opening), it helps to reduce the cost for the

usage of air-conditioner

It is because of the some assumption in calculation, e.g., the air flow rate
through ventilation opening Vairflow is constant

We also understood that PID controller enhance to achieve the

desired temperature faster by reducing steady-state error

However, we need to tune the gains of PID controller (Kp, Ki, Kd values)
to satisfy the performance and it has a weak anti-disturbance

Hybrid controller advantages the room temperature controlling

with low cost although there are some oscillation

8. CONCLUDING REMARKS

p.
20

In this research, we presented the design of CPS-based HTC

system with two actuators (air-conditioner and window)

We also presented the characteristics of PID controller and
hybrid controller in HTC system to reduce the resource cost
Our future works

Short-term: to design more concrete simulation program and to study

the optimum value of PID gain with additional physical disturbances
like number of occupants is increased
Long-term: to find the optimization algorithm by minimizing resource
cost

p.
21

THANK YOU FOR YOUR ATTENTION!