Abstract

This report shows the components of the experiment and how it works with a schematic drawing.
Also shows the transfer functions of the two outputs (Pressure, Travel) with the input (Current) , and
PID Tunning in MATLAB Simulink to tune the transfer functions.

I
Table of Contents

Abstract ............................................................................................................................ I

Schematic Drawing ...........................................................................................................1

Components ......................................................................................................................1

How each component works ..............................................................................................2

1) Air Compressor .....................................................................................................2

2) Pressure Regulator .................................................................................................2

3) I/P Converter .........................................................................................................3

4) Loop Controller .....................................................................................................3

5) Flow Meter............................................................................................................4

6) Pneumatic Control Valve .......................................................................................4

7) Manual Valve ........................................................................................................5

Readings & Graphs............................................................................................................6

Transfer Function ..............................................................................................................9

1) Input (Current) with Output (Pressure)....................................................................9

2) Input (Current) with Output (Travel) ....................................................................10

MATLAB PID Tunning...................................................................................................11

1) First Transfer Function (Pressure) ........................................................................12

2) Second Transfer Function (Travel) .......................................................................13

Conclusion ......................................................................................................................15

References ......................................................................................................................17

Appendices .....................................................................................................................18

II
Schematic Drawing

Figure 1 Schematic Drawing for Whole Kit

Components
1) Tank
2) Air Compressor
3) Pressure Regulator
4) I/P Converter
5) Loop Controller
6) Flow Meter
7) Pneumatic Control Valve
8) Manual Valve

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How each component works
1) Air Compressor

Figure 2 Air Compressor

Air compressors work by forcing atmospheric air under pressure to create potential energy that can
be stored in a tank for later use. Just like an open balloon, the pressure builds up when the
compressed air is deliberately released, converting the potential energy into usable kinetic energy.
From there, this energy transfer can be harnessed to power various pneumatic tools.

2) Pressure Regulator

Figure 3 Pressure Regulator

Pressure regulators reduce a supply (or inlet) pressure to a lower outlet pressure and work to
maintain this outlet pressure despite fluctuations in the inlet pressure. The reduction of the inlet
pressure to a lower outlet pressure is the key characteristic of pressure regulators.

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3) I/P Converter

Figure 4 I/P Convertor

I/P Converters operate on a similar principle as proportional valves in that they provide adjustable
flow volumes and control functions. In converting electric current into pneumatic output, I/P
converters also eliminate the need for an external power supply to control the pneumatic-operated
components. In doing so, I/P converters increase machine efficiency and control.

The function of I/P converters relates to the concept of an electromagnetic force balance principle,
i.e., the process of converting electric current into force and then pressure. Simply, for I/P converters
to work, electromagnetic effects are exploited to build current which force transducers for
mechanical actuation. This action converts electrical current (typically 4 to 20 mA) into pneumatic
pressure output (3 to 15 psi) that, in turn, proportionally controls the opening or closing of a valve
according to the force balance principle.

4) Loop Controller

Figure 5 Loop Controller

Control loops are systems applied by design engineers in various industrial applications to maintain
process variables (PVs) at a desired value or set point (SP). Control loops are important for
maintaining the stability of a system, and for consistently producing the desired outcome of a
process.

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5) Flow Meter

Figure 6 Flow Meters

A differential pressure flow meter forces water through a constriction of some type, such as an
orifice or nozzle, and measures the water pressure on both sides of the constriction. A high-pressure
drop indicates high water flow.

The obvious downside of this type of flow meter is that it reduces pressure and can slow down water
flow, causing permanent pressure loss. These kinds of flow meters are undesirable in applications
that require maximum pressure throughout the system.

6) Pneumatic Control Valve

Figure 7 Pneumatic Valves

Pneumatic Actuators use an air or gas signal from an external source to produce a modulating control
action. The actuator receives the force of the pneumatic signal through a top port. Then, it distributes
the signal across the actuator’s diaphragm. As a result, the diaphragm exerts pressure on the
diaphragm plate. This moves the valve stem downward in a way that strokes the control valve.

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7) Manual Valve

Figure 8 Manual Valve

Flexible valves are those manual valves that use an elastomeric or flexible closure element and a
body that allows straight-through flow. The closure element pushes against a highly flexible
elastomeric or rubber insert until it meets against the bottom of the body or the other side of the
elastomeric insert, literally pinching the flow closed. The most common flexible valves are pinch and
diaphragm valves.

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Readings & Graphs
After the experiment done, I record some data in which help me to get the transfer function of the
system
Here is some of the data that recorded

Figure 9 Data Recorded

Then from this table I plotted a graph that shows the Input (Current), Output (Pressure, Travel) with
respect to time to notice that if there is any troubleshooting, and to know the SteadyState, and to find
the system is first order or second order to get the transfer function

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 90%

80%

70%

60%
Percentage %

50%

40%

30%

20%

10%

0%
0
2.2

8.8

53

64
4.4
6.6

11

75
13.2

17.6

24.3

28.7

33.1

37.5

44.1

48.6

59.6

68.3

72.8

79.4
15.4

19.8
22.1

26.5

30.9

35.3

39.7
41.9

46.4

50.8

55.2
57.4

61.8

66.1

70.6

77.2

81.6
Time (sec)

Input % Out Pressure % Travel %

Figure 10 Plotted data

From the graph we could notice the following:

1) The system is first order because it didn’t oscillates as known that the second order can
oscillates but the first order cannot
2) When the input (Current) changes the outputs (Pressure, Travel) changes as well, but with
some delays
3) From Figure 10 we get Yss for Pressure which is equals to 80%
4) From Figure 10 we get Yss for Travel which is equals to 68%
5) Pressure reach the SteadyState @ t = 32.1 Sec
6) Travel reach the SteadyState @ t = 40.4 Sec
7) Could get Ts and Tr for each output as known that
Ts = 0.98 × Yss
Tr = From 0.1 to 0.9 × Yss

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 Out Pressure %
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
0 10 20 30 40 50 60 70 80 90

Out Pressure % Ts Tr

Figure 12 Ts, Tr for Out Pressure

8) From Figure 11 above it shows the Ts and Tr for the Pressure Output

Travel %
80.00%
70.00%
60.00%
50.00%
40.00%
30.00%
20.00%
10.00%
0.00%
-10.00% 0 10 20 30 40 50 60 70 80 90

Ts Tr Travel %

Figure 11 Ts, Tr for Travel Output

9) From Figure 11 above it shows the Ts and Tr for the Travel Output

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Transfer Function
As we have one input and two outputs so we will get two transfer functions for each output with the
input, as mentioned before this is a first order system

1) Input (Current) with Output (Pressure)

Y(s) k
= G(s) = → equation 1
X(s) Ts + 1
80%
From Charts → X(t) = 80% @ t = 29.6 sec → X(s) =
s
From Charts → Y(t) = 85% @ t = 32.1 sec
k
From equation 1 → × X(s) = Y(s) → @T = 0.632 × Yss
Ts + 1
80%
= Y(s)
s(20.2872s + 1)
Convert this equation to time domain to get K
1
Y(s) = 80% × K × → by partial fraction (Equation2)
s(20.2872s + 1)
A B 1
+ = → A(20.2872s + 1) + B(s) = 1
s 20.2872s + 1 s(20.2872 + 1)
Let s = 0 → A = 1
1
Let S = − → B = −20.2872
20.2872
1 20.2872
− → get laplace
s 20.2872s + 1
1
1 − eat = 1 − e−20.2872t
By substituting in the equation2
1
85% = 80% × K × (1 − e−20.2872t ) → K = 1.337

Finally Transfer Function

1.337
G(s) =
20.2872s + 1

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2) Input (Current) with Output (Travel)
Y(s) k
= G(s) = → equation 1
X(s) Ts + 1
80%
From Charts → X(t) = 80% @ t = 29.6 sec → X(s) =
s
From Charts → Y(t) = 68% @ t = 40.4 sec
k
From equation 1 → × X(s) = Y(s) → @T = 0.632 × Yss
Ts + 1
80%
= Y(s)
s(25.5328s + 1)
Convert this equation to time domain to get K
1
Y(s) = 80% × K × → by partial fraction (Equation2)
s(25.5328s + 1)
A B 1
+ = → A(25.5328s + 1) + B(s) = 1
s 25.5328s + 1 s(25.5328 + 1)
Let s = 0 → A = 1
1
Let S = − → B = −25.5328
25.5328
1 25.5328
− → get laplace
s 25.5328s + 1
1
1 − eat = 1 − e−25.5328t
By substituting in the equation2
1
68% = 80% × K × (1 − e−25.5328t ) → K = 1.069

Finally Transfer Function

1.069
G(s) =
25.5328s + 1

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MATLAB PID Tunning
A PID controller is a device that regulates temperature, flow, pressure, speed, and other process
variables in industrial control applications. The most precise and reliable controllers are PID
(proportional integral derivative) controllers, which employ a control loop feedback mechanism to
regulate process variables.

A tried-and-true method of guiding a system towards a desired location or level is PID control. It is
used to regulate temperature in a wide variety of chemical and scientific procedures as well as
automated systems, making it essentially ubiquitous. To maintain the actual output from a process as
near to the goal or setpoint output as feasible, PID control employs closed -loop control feedback.
P-Controller → It provides stable operation but always maintains the steady-state error
I-Controller → It limits the speed of response and affects the stability of the system.
D-Controller → It improves the stability of the system by compensating for phase lag caused by the
I-controller. Increasing the derivative gain increases the speed of response.

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1) First Transfer Function (Pressure)

Figure 13 First MATLAB PID Tunning

1) Step Input = 1
2) PID controller with P = 20, I = 0, D = 0, and No Saturation
3) Scope result

Figure 14 First MATLAB Scope With PID

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Figure 15 First MATLAB Scope Without PID

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Second Transfer Function (Travel)

Figure 16 Second MATLAB PID Tunning

1) Step Input = 1
2) PID controller with P = 20, I = 0, D = 0, and No Saturation
3) Scope Result

Figure 17 Second MATLAB Scope With PID

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Figure 18 Second MATLAB Scope Without PID

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Conclusion
At last, we made this experiment to get the transfer functions and to tune them with PID Controller
using MATLAB. And on the way we learned about some components, and how to deal with it, and
how to tune transfer function to get control on it.

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References
• https://www.elprocus.com/the-working-of-a-pid-controller/
• https://www.pneumatictips.com/what-are-air-compressors/
• https://automationforum.co/what-is-a-pneumatic-valve-and-what-is-the-function-of-pneumatic-
valve/
• https://www.electricalvolt.com/2022/03/what-is-an-i-p-converter-working-principle-applications/
• https://www.electrical4u.com/first-order-control-system/
• https://www.omega.co.uk/prodinfo/pid-
controllers.html#:~:text=A%20PID%20controller%20is%20an,most%20accurate%20and%20stable
%20controller.

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Appendices
Figure 1 Schematic Drawing for Whole Kit ........................................................................1

Figure 2 Air Compressor....................................................................................................2

Figure 3 Pressure Regulator ...............................................................................................2

Figure 4 I/P Convertor .......................................................................................................3

Figure 5 Loop Controller ...................................................................................................3

Figure 6 Flow Meters.........................................................................................................4

Figure 7 Pneumatic Valves ................................................................................................4

Figure 8 Manual Valve ......................................................................................................5

Figure 9 Data Recorded .....................................................................................................6

Figure 10 Plotted data ........................................................................................................7

Figure 11 Ts, Tr for Travel Output .....................................................................................8

Figure 12 Ts, Tr for Out Pressure .......................................................................................8

Figure 13 First MATLAB PID Tunning............................................................................12

Figure 14 First MATLAB Scope With PID.......................................................................12

Figure 15 First MATLAB Scope Without PID ..................................................................13

Figure 16 Second MATLAB PID Tunning .......................................................................14

Figure 17 Second MATLAB Scope With PID...................................................................14

Figure 18 Second MATLAB Scope Without PID ..............................................................15

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