Name: Muhammad Usama Roll No: 20013122-032

Experiment No. 10
Title:
Observe the effects of Proportional Band, Integral Action, and Derivative Action.

Objectives:
i. Detect the purpose of Three-Term Control.
ii. Perceive the effects of Proportional Band, Integral Action and Derivative Action.

Apparatus Required:
 MS-15 DC Motor Module
 AS-3 Command Potentiometer
 CLIO Interface Module with PC connection leads
 System Power supply
 4mm Connection Leads
 PC running VCL (Visual Control Laboratory) Software

Procedure:
 Start VCL and load CA06PE09.

 Set Integral time constant (Itc) Off and Derivative time constant (Dtc) to 0. The
controller is now proportional only and the proportional control is marked as PB
(Proportional Band) which is the inverse of gain. When it is expressed as a percent,
the resulting nomenclature is a result of the origins of PID control
%PB = 100/ Kc
 Set PB to 100% (Kc = 1) and switch on the system. A considerable error can be
seen between the input (ch l dark blue) and the velocity (ch 4 purple).
 From Chapter 5, Equation 5.6, the output will be K/(l+K). Since K= Kc x Kp, and
Kp is close to 1, the error will be around 50%.

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Name: Muhammad Usama Roll No: 20013122-032

 Increase the controller gain to 2.5 by setting PB to 40%. Observe that the error has
been reduced but is still considerable. You can also observe that the response time
has decreased indicating that the system has speeded up.
 Now, decrease the PB to 4% (controller gain = 25). As the gain is increased, the
error reduces but the drive signal and the output get increasingly noisy.
 The shortcomings of proportional control on a system without an integration effect
were examined in Chapter 5. Proportional Band on its own does not give adequate
control.
 There is always an error and increasing the gain to reduce the error causes the
plant to run rough.
Integral Control:
 For integral control, decrease the input Level to 30% and set the PB to 40%. Now
set the Integral time constant (I tc) to 1 second and click the On /Off box to bring in
the Integral controller. Click channel 7 ON. Observe that, during the positive step,
the output of the integral term (channel 7 yellow) now ramps upward with time as
the error is integrated. This pushes the output closer to the required value.
 Decrease the Integral time constant until a good response is obtained. This should
occur when the Integral time constant is of the order of 0.1s. The Integral action
has removed the steady state error.
 If the integral goes off scale and the system will not respond, click the I tc to Off
then back to On. This resets the integrator.
 The Integral time constant (or Integral Time) sets the response speed of the
integrator. In some texts and installations, Integral Gain is used instead of Integral
Time. Integral Gain is the inverse of Integral Time - the shorter the Integral Time,
the higher the Integral Gain.
 Although adding an integrator in this way does make the system more prone to
oscillation, the closed loop system does not oscillate as readily as did the position
system since the integrator in parallel with the proportional gain creates a
dampening effect rather like that introduced by velocity feedback. As a result,
many plants can be controlled by just the two terms, P+I.

Derivative Control:

 Make a note in your workbook of the PI settings you have determined for the DC
Motor system.

PB = 40 % Itc= 0.1 s

 Change the Plant to Process. The computer is now simulating a more

complicated plant.
 Set PB = 30% and Itc = 0.24s. The Output should be showing an oscillator transient.
 Increase the Derivative time constant (Dtc) until only a small overshoot can be seen.
 Make a note in your workbook of the derivative setting you have determined.

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Name: Muhammad Usama Roll No: 20013122-032

Dtc= 0.5 _s

 Change Plant back to Analog; restore the PB and Itc settings to those recorded
earlier and set Dtc to Off (0s). Reduce Itc by 0.02s. This should introduce some
overshoot.
 Increase Dtc and observe the effect on the output and drive signals. With Dtc above
0.20s, the noise will dominate making the derivative action ineffective. Reset Dtc to
Off (0s).

 Do not allow the motor to run like this for long as it will damage the rig.

Conclusion:
In this experiment I have observe the effects of Proportional Band, Integral Action and
Derivative Action.

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar