Pid

Tutorial 7 - PID Control System
(JEE344 Applied Control Engineering)

Aim
To design and simulate an PID control system

To use simulation as a diagnostic tool to improve control system performance and
select control gains
Learning Outcomes
Design PID controllers with LabVIEW
Implement PID control algorithms for level control
Simulate PID control systems with Auto/Man switch mode
Use PtByPt Integral and Derivative functions
Use PID Control functions of the PID Control Toolkit
Use Formula Node and 4th-order RK Method
PID Control Algorithms Design and Simulation with LabVIEW
The PID control law is:
t
u = K p e + K i edt + K d
0
de
1
de
or u = K p e + edt + Td
dt
Ti 0
dt
Kp
100
; Ki =
; K d = K p Td
Kp
Ti
Transfer function:
K
U
1
U
= K p + i + K d s or
= K p 1 +
+ Td s
E
s
E
Ti s
Block diagram algorithm for PID controller with Auto/Man mode
PB =
PID Controller
SP
PV
Comparator
Subtract
Multiply
Kp
Sum
(Compound
Arithmetic)
P
Multiply
Integral uin
KI
Select
I
Multiply
uin
Derivative
Auto/Man
KD
OP
Auto
(Control signal)
4
To Actuator
Figure 1 Block diagram algorithm for PID control with Auto/Man switch mode
Notes: In LabVIEW PID Control Toolkit (Control Design and Simulation Module) there are
some PID control functions you can use.
The following shows the level control system with all components:
pc
Cross-sectional A
qi
Liquid supply
20-100 kPa
Pneumatic
I/P
supply 140 kPa
4-20mA
hm
LC
LT
Tank
PC 4-20mA
PID
h
qo
Figure 2 Liquid level control system
Resistance R
We need to match units for each component as shown in block diagram in Fig. 3.
Ps [kPa]
[V]
[mm]
Hsp
Km
[V]
H sp
+_
[V]
[V] > [mA]
[kPa]
Pc
KIP
[kPa]
Kv
Qin
[mm]
H
G
A/M
PID
[V] < [mA] Hm
Km
Figure 3 Block diagram of the level control system

PID Control Algorithm 1: Use Point by Point Integral and Derivative functions
Figure 4 PID control algorithm 1 using PtByPt Integral and Derivative functions (Signal
Processing)
2
PID Control Algorithm 2: Use blocks of Simulation Module
Figure 5 PID control algorithm 2 using Simulation Module

PID Control Algorithm 3: Use one of PID functions (PID Control Toolkit)
Figure 6 PID subpalette
Figure 7 Description of the NI PID VI

3
Figure 8 Application of the NI PID VI

PID Control Algorithm 4 (*): Use Formula Node and 4th-order RK Method
Step 1: Error e = SP PV
Step 2: Integral:
k1 = dt*e;
k2 = dt*(e+0.5k1);
k3 = dt*(e+0.5k2);
k4 = dt*(e+0.5k3);
ei = ei + (1/6)*(k1+2k2+2k3+k4);
Step 3: Derivative
ed = [e(k)-e(k-1)]/dt; (e must be stored in memory using Shift Resister)
Step 4: PID Control Signal:
uPID = Kp*e + Ki*ei + Kd*ed;
Figure 9 PID control algorithm using the 4th-order RK method

Note: We can apply any digital PID control algorithms using numerical integration methods
and finite difference.
Hands-on Exercise 1 PID Control Algorithm 1

Open the On-Off Level Control > Save as PIDLevelControlSysSim01.vi
Refer to PID Control Algorithm 1:
Save the VI frequently
Run and test the VI functionality
Select some values of control gains such that the system response has small overshoot
and zero offset.
(Estimated time: 30 minute)

Save the VI we created in Exercise 1 as PIDLevelControlSysSim02.vi
and zero offset.
Hands-on Exercise 3 PID Controller with a PID function

and zero offset.
Hands-on Exercise 4 PID control algorithm using Formula Node and RK method
Open the On-Off Level Control > Save as PIDLevelControlSysSim04.vi (we can start
from an earlier version of level system simulator)
Modify in a way that the Simulation Loop is replaced with a While Loop.
and zero offset.
(Estimated time: 1 hour)
Conclusions
At this point the following LOs have been met:
5

Further Reading and References

Finn Haugens website
http://techteach.no/labview/lv85/pid_control/index.htm
Follow-up Exercises
Make a LabVIEW simulation for the temperature control system (case study) [pp2.46-2.47].

Aim

Learning Outcomes
t
0
de
1
de
dt
Ti 0
dt
Kp
100
; Ki =
; K d = K p Td
Kp
Ti
Transfer function:
K
U
1
U
= K p 1 +
+ Td s
E
s
E
Ti s
PB =
PID Controller
SP
PV
Comparator
Subtract
Multiply
Kp
Sum
(Compound
Arithmetic)
P
Multiply
Integral uin
KI
Select
I
Multiply
uin
Derivative
Auto/Man
KD
OP
Auto
(Control signal)
4
To Actuator
pc
Cross-sectional A
qi
Liquid supply
20-100 kPa
Pneumatic
I/P
supply 140 kPa
4-20mA
hm
LC
LT
Tank
PC 4-20mA
PID
h
qo
Resistance R
Ps [kPa]
[V]
[mm]
Hsp
Km
[V]
H sp
+_
[V]
[V] > [mA]
[kPa]
Pc
KIP
[kPa]
Kv
Qin
[mm]
H
G
A/M
PID
[V] < [mA] Hm
Km

Processing)
2


3

Step 2: Integral:
k1 = dt*e;
k2 = dt*(e+0.5k1);
k3 = dt*(e+0.5k2);
k4 = dt*(e+0.5k3);
ei = ei + (1/6)*(k1+2k2+2k3+k4);
Step 3: Derivative


and zero offset.

and zero offset.

and zero offset.
and zero offset.
Conclusions
5


Follow-up Exercises

Aim

Learning Outcomes
t
0
de
1
de
dt
Ti 0
dt
Kp
100
; Ki =
; K d = K p Td
Kp
Ti
Transfer function:
K
U
1
U
= K p 1 +
+ Td s
E
s
E
Ti s
PB =
PID Controller
SP
PV
Comparator
Subtract
Multiply
Kp
Sum
(Compound
Arithmetic)
P
Multiply
Integral uin
KI
Select
I
Multiply
uin
Derivative
Auto/Man
KD
OP
Auto
(Control signal)
4
To Actuator
pc
Cross-sectional A
qi
Liquid supply
20-100 kPa
Pneumatic
I/P
supply 140 kPa
4-20mA
hm
LC
LT
Tank
PC 4-20mA
PID
h
qo
Resistance R
Ps [kPa]
[V]
[mm]
Hsp
Km
[V]
H sp
+_
[V]
[V] > [mA]
[kPa]
Pc
KIP
[kPa]
Kv
Qin
[mm]
H
G
A/M
PID
[V] < [mA] Hm
Km

Processing)
2


3

Step 2: Integral:
k1 = dt*e;
k2 = dt*(e+0.5k1);
k3 = dt*(e+0.5k2);
k4 = dt*(e+0.5k3);
ei = ei + (1/6)*(k1+2k2+2k3+k4);
Step 3: Derivative


and zero offset.

and zero offset.

and zero offset.
and zero offset.
Conclusions
5


Follow-up Exercises

Aim

Learning Outcomes
t
0
de
1
de
dt
Ti 0
dt
Kp
100
; Ki =
; K d = K p Td
Kp
Ti
Transfer function:
K
U
1
U
= K p 1 +
+ Td s
E
s
E
Ti s
PB =
PID Controller
SP
PV
Comparator
Subtract
Multiply
Kp
Sum
(Compound
Arithmetic)
P
Multiply
Integral uin
KI
Select
I
Multiply
uin
Derivative
Auto/Man
KD
OP
Auto
(Control signal)
4
To Actuator
pc
Cross-sectional A
qi
Liquid supply
20-100 kPa
Pneumatic
I/P
supply 140 kPa
4-20mA
hm
LC
LT
Tank
PC 4-20mA
PID
h
qo
Resistance R
Ps [kPa]
[V]
[mm]
Hsp
Km
[V]
H sp
+_
[V]
[V] > [mA]
[kPa]
Pc
KIP
[kPa]
Kv
Qin
[mm]
H
G
A/M
PID
[V] < [mA] Hm
Km

Processing)
2


3

Step 2: Integral:
k1 = dt*e;
k2 = dt*(e+0.5k1);
k3 = dt*(e+0.5k2);
k4 = dt*(e+0.5k3);
ei = ei + (1/6)*(k1+2k2+2k3+k4);
Step 3: Derivative


and zero offset.

and zero offset.

and zero offset.
and zero offset.
Conclusions
5


Follow-up Exercises

Aim

Learning Outcomes
t
0
de
1
de
dt
Ti 0
dt
Kp
100
; Ki =
; K d = K p Td
Kp
Ti
Transfer function:
K
U
1
U
= K p 1 +
+ Td s
E
s
E
Ti s
PB =
PID Controller
SP
PV
Comparator
Subtract
Multiply
Kp
Sum
(Compound
Arithmetic)
P
Multiply
Integral uin
KI
Select
I
Multiply
uin
Derivative
Auto/Man
KD
OP
Auto
(Control signal)
4
To Actuator
pc
Cross-sectional A
qi
Liquid supply
20-100 kPa
Pneumatic
I/P
supply 140 kPa
4-20mA
hm
LC
LT
Tank
PC 4-20mA
PID
h
qo
Resistance R
Ps [kPa]
[V]
[mm]
Hsp
Km
[V]
H sp
+_
[V]
[V] > [mA]
[kPa]
Pc
KIP
[kPa]
Kv
Qin
[mm]
H
G
A/M
PID
[V] < [mA] Hm
Km

Processing)
2


3

Step 2: Integral:
k1 = dt*e;
k2 = dt*(e+0.5k1);
k3 = dt*(e+0.5k2);
k4 = dt*(e+0.5k3);
ei = ei + (1/6)*(k1+2k2+2k3+k4);
Step 3: Derivative


and zero offset.

and zero offset.

and zero offset.
and zero offset.
Conclusions
5


Follow-up Exercises

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Tutorial 7 - PID Control System

(JEE344 Applied Control Engineering)

To design and simulate an PID control system

Block diagram algorithm for PID controller with Auto/Man mode

Figure 2 Liquid level control system

[V] > [mA]

Figure 3 Block diagram of the level control system

PID Control Algorithm 2: Use blocks of Simulation Module

Figure 5 PID control algorithm 2 using Simulation Module

Figure 6 PID subpalette

Figure 7 Description of the NI PID VI

Figure 8 Application of the NI PID VI

Figure 9 PID control algorithm using the 4th-order RK method

Hands-on Exercise 1 PID Control Algorithm 1

Hands-on Exercise 2 PID Control Algorithm 2

Hands-on Exercise 3 PID Controller with a PID function

Use PID Control functions of the PID Control Toolkit

Further Reading and References

Tutorial 7 - PID Control System

To design and simulate an PID control system

Block diagram algorithm for PID controller with Auto/Man mode

Figure 2 Liquid level control system

[V] > [mA]

Figure 3 Block diagram of the level control system

PID Control Algorithm 2: Use blocks of Simulation Module

Figure 5 PID control algorithm 2 using Simulation Module

Figure 6 PID subpalette

Figure 7 Description of the NI PID VI

Figure 8 Application of the NI PID VI

Figure 9 PID control algorithm using the 4th-order RK method

Hands-on Exercise 1 PID Control Algorithm 1

Hands-on Exercise 2 PID Control Algorithm 2

Hands-on Exercise 3 PID Controller with a PID function

Use PID Control functions of the PID Control Toolkit

Further Reading and References

Tutorial 7 - PID Control System

To design and simulate an PID control system

Block diagram algorithm for PID controller with Auto/Man mode

Figure 2 Liquid level control system

[V] > [mA]

Figure 3 Block diagram of the level control system

PID Control Algorithm 2: Use blocks of Simulation Module

Figure 5 PID control algorithm 2 using Simulation Module

Figure 6 PID subpalette

Figure 7 Description of the NI PID VI

Figure 8 Application of the NI PID VI

Figure 9 PID control algorithm using the 4th-order RK method

Hands-on Exercise 1 PID Control Algorithm 1

Hands-on Exercise 2 PID Control Algorithm 2

Hands-on Exercise 3 PID Controller with a PID function

Use PID Control functions of the PID Control Toolkit

Further Reading and References

Tutorial 7 - PID Control System

To design and simulate an PID control system

Block diagram algorithm for PID controller with Auto/Man mode

Figure 2 Liquid level control system

[V] > [mA]

Figure 3 Block diagram of the level control system

PID Control Algorithm 2: Use blocks of Simulation Module

Figure 5 PID control algorithm 2 using Simulation Module

Figure 6 PID subpalette

Figure 7 Description of the NI PID VI

Figure 8 Application of the NI PID VI

Figure 9 PID control algorithm using the 4th-order RK method