EXPERIMENT NO.

04
(PID Controller)

Scilab – Study of Derivative Controller in PID

Objective

 To carry out a dynamic simulation system controlled with a derivative controller on Scilab

 To simulate a PID Control and to analyze the effect of Derivative controller

system behavior on the control system performance.

Software Package
Scilab 6.1

Practical Procedure

The procedure consists of monitoring the control system response for various Reset values –
from high to low. For each Reset value, the control system is given a step change in setpoint
and allowed to reach a steady state. This is followed by a reverse step change to the original
setpoint. The steps to be followed are as follows:

1. Enter the required unique label for the log file to be created on the data acquisition software.
2. Configure the UDC1000 PID controller as follows:
PB: Set a reasonable PB value that gives sufficient offset, so that offset elimination can be
demonstrated.
Rate: 0 (No derivative action)
Bias (Manual Reset): Doesn’t matter
SP: Required value Reset: Choose a large value to start with, say 1 or 2 min.
3. Put the controller in Auto mode and let the temperature reach steady state.
4. Give a step change in setpoint, around 5 – 10 0C. Observe the control system response
until a new steady state is reached.
5. Repeat 4 by changing the setpoint back to the original value.
6. Change reset and repeat the up-down setpoint change procedure. Repeat this for a total of
4-5 reset values, from high to very low.
Theory

Derivative is the third term within the PID. In mathematical terms the word derivative
is defined as the slope of a curve. Seen in the context of strip chart data derivative
represents, the rate of change in error - the difference between the Process Variable (PV)
and Set Point (SP), like the proportional and integral terms within a PID controller, the
derivative term seeks to correct for error. Valuable as the third term can be in maintaining
effective control, experience suggests that appropriate uses of derivative are not entirely
clear.

The derivative term is given by

The applications of derivatives are:

 To determine the rate of change of a quantity concerning another changing quantity.

 To determine maximum, minimum are saddle points of a function.

 To determine the concavity and convexity of a function.

Description of Simulated Control System

1. Creation of Scilab model

The simulated control system consists of a ‘third order’ process controlled using a PID
controller.

Model Elements

a. Transfer Function: A third order transfer function is to be used.

b. Sum: This block is used as comparator with two inputs & one output. The
inputs are Setpoint from the ‘constant’ block & controlled variable, which
is the output of the process.
c. PID: This is the PID controller block, with P, I & D representing
coefficients of the Proportional, Integral & Derivative parts of
the controller respectively
d. Constant: This block provides the setpoint to the control system
e. Scope: This block plots required variables as a function of time
 f. Mux: This block is used to send more than one variable to the
Scope block for plotting.

2. Simulation Parameters

a. Process Model – G(s) = 6/[s3 + 6s2 + 11s + 6]

b. Input constant – 1
c. Summation Parameters – [+1;-1]
d. PID Parameters – P = 10, I = 30, D = -0.0001 - -0.01
e.
Block diagram of the simulated control system
 Results at Kc = 10 & Pi = 30
D Value Graph
-0.001

Comments At this value, the oscillations remain constant, decay ratio 1, overshoot remains constant

-0.05

Comments We observe that the oscillations start to increase, indicating that the system is becomingmore
unstable

-0.5

Comments System tending towards instability

-1

Comments We observe high unstability

Systems for different set points at D = -0.001
Set Pt. Graph
1

2
 3

Results:
Parameters obtained at D = -0.001
Set Pt. Offset Overshoot Decay R Rise Time
1 0.683 0.683 1.067 0.469
2 1.387 0.6935 1.074 0.483
3 2.061 0.687 1.085 0.484
4 2.762 0.6905 1.080 0.478

Conclusion:
Overshoot Rise Offset
Time
Kc increases Increases Slight Increases
decrease
Ti increases Decreases Increases Large Increase
Set pt. increases Decreases Slight Increases
(keeping Ti constant) decrease