temperature control using analog pid controller
DESCRIPTION
Temperature Control Using Analog PID Controller. Project Report for Final Year Engineering Students.The objective of our project is maintaining the temperature constant in a particular area using analog PID controller.TRANSCRIPT
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TEMPERATURE CONTROL USING ANALOG PID CONTROLLER
Project report submitted in partial fulfillment of the requirements
For the award of the degree of
BACHELOR OF TECHNOLOGY
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
By
P.BHARGAVA (08241A0261)
B.PRASANNA KUMAR (08241A0283)
J.RAMESH BABU (08241A0290
S.VENKATESH (08241A02B3)
Under the guidance of
Ms. K. Sireesha
Assistant Professor
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Department of Electrical and Electronics Engineering
GOKARAJU RANGARAJU INSTITUTE OF ENGINEERING & TECHNOLOGY,
BACHUPALLY, HYDERABAD-72
2012
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GOKARAJU RANGARAJU INSTITUTE OF ENGINEERING AND TECHNOLOGY
Hyderabad, Andhra Pradesh.
DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING
C E R T I F I C A T E
This is to certify that the project report entitled TEMPERATURE CONTROL USING ANALOG PID CONTROLLER that is being submitted by
P.BHARGAVA, B.PRASANNA KUMAR , J.RAMESH BABU, S.VENKATESH in partial fulfillment for the
award of the Degree of Bachelor of Technology in Electrical and Electronics
Engineering to the Jawaharlal Nehru Technological University is a record of bonafide work carried out by him under my guidance and supervision. The results embodied in this project report have not
been submitted to any other University or Institute for the award of any Post graduation degree.
Prof P.M.Sharma Ms. K.Sireesha Dr. S.N.Saxena
HOD, EEE Assistant Professor, EEE Dept. Professor, Coordinator,
GRIET, Hyderabad GRIET, Hyderabad EEE Dept.
(Internal Guide) G.R.I.E.T, Hyderabad
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ACKNOWLEDGEMENT
This is to place on record my appreciation and deep gratitude to the persons without whose
support this project would never seen the light of day.
We wish to express my propound sense of gratitude to Mr. P. S. Raju, Director, G.R.I.E.T for his
guidance, encouragement, and for all facilities to complete this project.
We have immense pleasure in expressing my thanks and deep sense of gratitude to my guide
Ms K.Sireesha, Asst. Professor, Department of Electrical Engineering, G.R.I.E.T for his guidance
throughout this project.
We are also thankful to Mr.Chakravarthi, Assoc. Professor, Department of Electrical Engineering,
G.R.I.E.T who help.ed us a large wit his excellent guidance.
We also express our sincere thanks to Prof.P.M.Sharma, Head of the Department, G.R.I.E.T for
extending his help.
We express our gratitude to Dr. S.N. Saxena, Professor, Department of Electrical and
Electronics Engineering, Coordinator, Project Review Committee, G.R.I.E.T for his valuable
recommendations and for accepting this project report.
Finally we express our sincere gratitude to all the members of faculty and my friends who
contributed their valuable advice and helped to complete the project successfully.
P.BHARGAVA (08241A0261)
B.PRASANNA KUMAR (08241A0283)
J.RAMESH BABU (08241A0290)
S.VENKATESH (08241A02B3)
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ABSTRACT
The objective of our project is maintaining the temperature constant in a particular area
using analog PID controller. The motivation for doing this project is the fact that
temperature control has become an integral part of any control system operating in a
temperature sensitive environment Whatever the process or the parameter (temp, flow,
speed, ..) the principles of control are similar. Input and output signals are specified in this
project are analog. Control of a process is achieved by means of a closed loop circuit. One
of the primary purposes of using feedback in control system is to reduce the sensitivity of
the system to parameter variations.The project deals with a simple aspect of giving
information about the controlling of temperature in a furnace. In this project we are
developing a system, which can control temperature of a furnace automatically. The furnace
temperature is compared with the value set by the user and if the temperature goes beyond
the Preset temperature then heater will get off and if temperature goes below the set value
then heater gets on.In this project we tried to control the temperature of surrounding area of
the bulb.Initially the input voltage of the system for a particular temperature at bulb is noted
and it is taken as reference or set point and that temperature is maintained constant using
analog pid controller with the help of heat sensor LM35 whose output is fed back to the
input as feed back.
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CONTENTS
Chapter
No.
Name Of The Chapter
Page No.
1
2
3
4
INTRODUCTION
PID CONTROLLER THEORY
2.1 P - Characteristics
2.2 I - Characteristics
2.3 D - Characteristics
2.4 PID - Characteristics
2.5 Importance Of Temperature Control
2.6 Advantage Of PID Controller For Temperature
Control
CONTROL LOOP BASICS
PROJECT OVERVIEW
4.1 Op Amp IC741
4.1.1 Description
4.2 Temperature Sensor LM35
4.2.1 Description
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11
12
14
16
18
20
21
23
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5
6
4.3 Relay RAS0510
4.3.1 Description
4.4 Bridge Rectifier BR 68
4.4.1 Description
4.5 Voltage Regulators 7915 7815 7015
4.5.1 Description
PHYSICALLY IMPLEMENTING OF PID CONTROLLER
5.1 Ideal versus Standard PID Form
5.2 Loop Tuning
5.2.1 Stability
5.2.2 Optimum Behaviour
5.2.3 Manual Tuning
DESCRIPTION OF PROJECT KIT
6.1 Design Of Panel Board
6.2 Panel Board Circuit
6.3 Working Of The Panel
6.3.1 Power Circuit
6.3.2 PID Circuit
6.3.3 Sensor Circuit
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36
37
40
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45
46
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7
8
9
CONCLUSION
FUTURE SCOPE OF PID CONTROLLER
8.1 Improvements
8.1.1 Feed Fprward
8.1.2 Other Improvements
BIBILOGRAPHY
9.1 APPENDIX
9.1.1 Appendix A
9.1.2 Appendix B
9.1.3 Appendix C
9.1.4 Appendix D
9.1.5 Appendix - E
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51
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CHAPTER 1
INTRODUCTION
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The PID controller is the most common form of feedback. It was an essential
element of early governors and it became the standard tool when process control emerged in the
1940s. In process control today, more than 95% of the control loops are of PID type, most loops
are actually PI control. PID controllers are today found in all areas where control is used. The
controllers come in many different forms. There are standalone systems in boxes for one or a few
loops, which are manufactured by the hundred thousands yearly. PID control is an important
ingredient of a distributed control system. The controllers are also embedded in many special
purpose control systems. PID control is often combined with logic, sequential functions,
selectors, and simple function blocks to build the complicated automation systems used for
energy production, transportation, and manufacturing. Many sophisticated control strategies,
such as model predictive control, are also organized hierarchically. PID control is used at the
lowest level; the multivariable controller gives the set points to the controllers at the lower level.
The PID controller can thus be said to be the bread and butter t of control engineering. It is an important component in every control engineers tool box. PID controllers have survived many changes in technology, from mechanics and pneumatics to microprocessors
via electronic tubes, transistors, integrated circuits. The microprocessor has had a dramatic
influence on the PID controller. Practically all PID controllers made today are based on
microprocessors. This has given opportunities to provide additional features like automatic
tuning, gain scheduling, and continuous adaptation. To accurately control process temperature
without extensive operator involvement, a temperature control system relies upon a controller,
which accepts a temperature sensor such as a thermocouple or RTD as input. It compares the
actual temperature to the desired control temperature, or set point, and provides an output to a
control element. The controller is one part of the entire control system, and the whole system
should be analyzed in selecting the proper controller.
The following items should be considered when selecting a controller:
1. Type of input sensor (thermocouple, RTD) and temperature range 2. Type of output required (electromechanical relay, SSR, analog output) 3. Control algorithm needed (on/off, proportional, PID) 4. Number and type of outputs (heat, cool, alarm, limit)
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CHAPTER 2
PID CONTROLLER THEORY
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2.1 P CHARACTERISTICS (Proportional term)
The proportional term produces an output value that is proportional to the current error
value. The proportional response can be adjusted by multiplying the error by a constant Kp,
called the proportional gain.
The proportional term is given by:
Proportional - To handle the immediate error, the error is multiplied by a constant P (for "proportional"), and added to the controlled quantity. P is only valid in the band over which a
controller's output is proportional to the error of the system. For example, for a heater, a
controller with a proportional band of 10 C and a set point of 20 C would have an output of
100% at 10 C, 50% at 15 C and 10% at 19 C. Note that when the error is zero, a proportional
controller's output is zero
A high proportional gain results in a large change in the output for a given change in the error.
If the proportional gain is too high, the system can become unstable (see the section on loop
tuning). In contrast, a small gain results in a small output response to a large input error, and a
less responsive or less sensitive controller. If the proportional gain is too low, the control action
may be too small when responding to system disturbances. Tuning theory and industrial practice
indicate that the proportional term should contribute the bulk of the output change.
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Plot of PV vs time, for three values of Kp (Ki and Kd held constant)
Because a non-zero error is required to drive the controller, a pure proportional controller
generally operates with a steady-state error, referred to as droop. Droop is proportional to the
process gain and inversely proportional to proportional gain. Droop may be mitigated by adding
a compensating bias term to the set point or output, or corrected by adding an integral term
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2.2 I CHARACTERISTICS ( Integral term)
Integral - To learn from the past, the error is integrated (added up) over a period of time, and
then multiplied by a constant I (making an average), and added to the controlled quantity. A
simple proportional system either oscillates, moving back and forth around the set point because
there's nothing to remove the error when it overshoots, or oscillates and/or stabilizes at a too low
or too high value. By adding a proportion of the average error to the process input, the average
difference between the process output and the set point is continually reduced. Therefore,
eventually, a well-tuned PID loop's process output will settle down at the set point. As an
example, a system that has a tendency for a lower value (heater in a cold
environment), a simple proportional system would oscillate and/or stabilize at a too low value
because when zero error is reached P is also zero thereby halting the system until it again is too
low.
The integral term accelerates the movement of the process towards setpoint and eliminates the
residual steady-state error that occurs with a pure proportional controller. However, since the
integral term responds to accumulated errors from the past, it can cause the present value
to overshoot the set point value
Integrator Circuit
If a capacitor is used as the feedback element in the inverting amplifier, shown in figure 21, the
result is an integrator. An intuitive grasp of the integrator action may be obtained from the
statement under the section, Current Output, that current through the feedback loop charges the capacitor and is stored there as a voltage from the output to ground. This is a voltage input
current integrator.
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Plot of PV vs time, for three values of Ki (Kp and Kd held constant)
The contribution from the integral term is proportional to both the magnitude of the error
and the duration of the error. The integral in a PID controller is the sum of the instantaneous
error over time and gives the accumulated offset that should have been corrected previously. The
accumulated error is then multiplied by the integral gain ( ) and added to the controller output.
The integral term is given by:
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2.3 D CHARACTERISTICS (Derivative Term)
Derivative - To handle the future, the first derivative (the slope of the error) over time is
calculated, and multiplied by another constant D, and also added to the controlled quantity. The
derivative term controls the response to a change in the system. The larger the derivative term,
the more rapidly the controller responds to changes in the process's output. Its D term is the
reason a PID loop is also sometimes called a "predictive controller." The D term is reduced when
trying to dampen a controller's response to short term changes. Practical controllers for slow
processes can even do without D term. More technically, a PID loop can be characterized as a
filter applied to a complex frequency-domain system. This is useful in
order to calculate whether it will actually reach a stable value. If the values are chosen
incorrectly, the controlled process input can oscillate, and the process output may never stay at
the set point.
The derivative term slows the rate of change of the controller output. Derivative control
is used to reduce the magnitude of the overshoot produced by the integral component and
improve the combined controller-process stability. However, the derivative term slows
the transient response of the controller. Also, differentiation of a signal amplifies noise and thus
this term in the controller is highly sensitive to noise in the error term, and can cause a process to
become unstable if the noise and the derivative gain are sufficiently large. Hence an
approximation to a differentiator with a limited bandwidth is more commonly used. Such a
circuit is known as a phase-lead compensator.
Differentiator Circuit
Using a capacitor as the input element to the inverting amplifier, figure 22, yields a
differentiator circuit. Consideration of the device in figure 23 will give a feeling for the
differentiator circuit. Since the inverting input is at ground potential:
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Plot of PV vs time, for three values of Kd (Kp and Ki held constant)
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The derivative of the process error is calculated by determining the slope of the error over
time and multiplying this rate of change by the derivative gain . The magnitude of the
contribution of the derivative term to the overall control action is termed the derivative gain,
.
The derivative term is given by.
2.4 PID CHARACTERISTIC (PID Term)
A proportionalintegralderivative controller (PID controller) is a generic control
loop feedback mechanism (controller) widely used in industrial control systems a PID is the
most commonly used feedback controller. A PID controller calculates an "error" value as the
difference between a measured process variable and a desired set point. The controller attempts
to minimize the error by adjusting the process control inputs.
The PID control scheme is named after its three correcting terms, whose sum constitutes the
manipulated variable (MV). The proportional, integral, and derivative terms are summed to
calculate the output of the PID controller. Defining as the controller output, the final form
of the PID algorithm is:
where
Kp: Proportional gain, a tuning parameter
Ki: Integral gain, a tuning parameter
Kd: Derivative gain, a tuning parameter
: Error
t: Time or instantaneous time (the present)
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The PID loop adds positive corrections, removing error from the process's controllable
variable (its input). Differing terms are used in the process control industry: The "process
variable" is also called the "process's input" or "controller's output." The process's output is also
called the "measurement" or "controller's input." This "up a bit, down a bit" movement of the
process's input variable is how the PID loop automatically finds the correct level of input for the
process. "Turning the control knob" reduces error, adjusting the process's input to keep the
process's measured output at the set point. The error is found by subtracting the measured
quantity from the set point. "PID" is named after its three correcting calculations, whose sum
constitutes the output of the PID controller.
The PID controller calculation (algorithm) involves three separate constant parameters, and
is accordingly sometimes called three-term control: the proportional,
the integral and derivative values, denoted P, I, and D. Heuristically, these values can be
interpreted in terms of time: P depends on the present error, Ion the accumulation of past errors,
and D is a prediction of future errors, based on current rate of change. The weighted sum of these
three actions is used to adjust the process via a control element such as the position of a control
valve, or the power supplied to a heating element.
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Some applications may require using only one or two actions to provide the appropriate
system control. This is achieved by setting the other parameters to zero. A PID controller will be
called a PI, PD, P or I controller in the absence of the respective control actions. PI controllers
are fairly common, since derivative action is sensitive to measurement noise, whereas the
absence of an integral term may prevent the system from reaching its target value due to the
control action.
2.5 IMPORTANCE OF TEMPERATURE CONTROL
Temperature control is so important because it not only keeps all substances and food items at set
temperatures but it also means that the business is operating completely legally, and its
surprising how temperature can have so much of an effect when it comes to the law.
Manual temperature control is often used, but now theres an even easier way of achieving the
same results wireless temperature monitoring. This is a lot more convenient and hassle-free
than more conventional methods, so businesses should always consider investing in a wireless
system (such as that provided by Kelsius) for complete peace of mind.
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2.6 ADVANTAGE OF PID CONTROLLER FOR TEMPERATURE
The different cases are discussed below:
The P controller shows a relatively high maximum overshoot , a long settling
time as well as a steady-state error .
The I controller has a higher maximum overshoot than the P controller due to the slowly
starting I behaviour, but no steady-state error.
The PI controller fuses the properties of the P and I controllers. It shows a maximum
overshoot and settling time similar to the P controller but no steady-state error.
The real PD controller to with has a smaller maximum overshoot due to the
'faster' D action compared with the controller types mentioned under a) to c). Also in this
case a steady-state error is visible, which is smaller than in the case of the P controller.
This is because the PD controller generally is tuned to have a larger gain due to the
positive phase shift of the D action. For the results shown in Figure the gain for the P
controller is and for the PD controller . The plant has a gain
of .
The PID controller to with fuses the properties of a PI and PD controller. It
shows a smaller maximum overshoot than the PD controller and has no steady state error
due to the I action.
The qualitative concepts of this example are also relevant to other type of plants with delayed
proportional behaviour. This discussion has given some first insights into the static and dynamic
behaviour of control loops.
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Figure Behaviour of the normalised controlled variable for step
disturbance at the input to the plant ; for different
types of controllers
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CHAPTER 3
CONTROL LOOP BASICS
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A familiar example of a control loop is the action taken when adjusting hot and cold
faucets (valves) to maintain the water at a desired temperature. This typically involves the
mixing of two process streams, the hot and cold water. The person touches the water to sense or
measure its temperature. Based on this feedback they perform a control action to adjust the hot
and cold water valves until the process temperature stabilizes at the desired value.
The sensed water temperature is the process variable or process value (PV). The desired
temperature is called the set point (SP). The input to the process (the water valve position) is
called the manipulated variable (MV). The difference between the temperature measurement and
the set point is the error (e) and quantifies whether the water is too hot or too cold and by how
much.
After measuring the temperature (PV), and then calculating the error, the controller decides when
to change the tap position (MV) and by how much. When the controller first turns the valve on, it
may turn the hot valve only slightly if warm water is desired, or it may open the valve all the
way if very hot water is desired. This is an example of a simple proportional control. In the event
that hot water does not arrive quickly, the controller may try to speed-up the process by opening
up the hot water valve more-and-more as time goes by. This is an example of an integral control
Making a change that is too large when the error is small is equivalent to a high gain controller
and will lead to overshoot. If the controller were to repeatedly make changes that were too large
and repeatedly overshoot the target, the output would oscillate around the set point in either a
constant, growing, or decaying sinusoid. If the oscillations increase with time then the system is
unstable, whereas if they decrease the system is stable. If the oscillations remain at a constant
magnitude the system is marginally stable.
In the interest of achieving a gradual convergence at the desired temperature (SP), the controller
may wish to damp the anticipated future oscillations. So in order to compensate for this effect,
the controller may elect to temper its adjustments. This can be thought of as a derivative control
method.
If a controller starts from a stable state at zero error (PV = SP), then further changes by the
controller will be in response to changes in other measured or unmeasured inputs to the process
that impact on the process, and hence on the PV. Variables that impact on the process other than
the MV are known as disturbances. Generally controllers are used to reject disturbances and/or
implement set point changes. Changes in feed water temperature constitute a disturbance to the
faucet temperature control process.
In theory, a controller can be used to control any process which has a measurable output (PV), a
known ideal value for that output (SP) and an input to the process (MV) that will affect the
relevant PV. Controllers are used in industry to regulate temperature, pressure, flow rate
,chemical composition, speed and practically every other variable for which a measurement
exists
Consider a typical process control system. For a particular example let us look at an open tank,
which supplies a process, say, a pump, at its output. The tank will require a supply to maintain its
level (and therefore the pumps positive suction head) at a fixed predetermined point. This
predetermined level is referred to as the set point (SP) and it is also the controlled quantity of the
system. Clearly whilst the inflow and outflow are in mass balance, the level will remain constant.
Any difference in the relative flows will cause the level to vary. How can we effectively control
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this system to a constant level? We must first identify our variables. Obviously there could be a
number of variables in any system, the two in which we are most interested are: The controlled
variable - in our example this will be level. The manipulated variable . the inflow or outflow
from the system. If we look more closely at our sample system (Figure 1), assuming the level is
at the set point, the inflow to the system and outflow are
balanced. Obviously no control action is required whilst this status quo exists. Control action is
only necessary when a difference or error exists between the set point and the measured level.
Depending on whether this error is a positive or negative quantity, the appropriate control
correction will be made in an attempt to restore the process to the set point. Henceforth, the error
will always take the form of:
Error = Set point . Measured Quantity
OR
e = SP - M
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CHAPTER 4
PROJECT OVERVIEW
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List of Components used in the project (Panel Board)
Op Amp IC741
Temperature Sensor LM35
Relays RAS0510
Bridge Rectifier BR 68
Voltage Regulators 7915 7815 7015
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4.1 Op Amp IC741
DECRIPTION
An operational amplifier ("op-amp") is a DC-coupled high-gain electronic voltage amplifier with
a differential input and, usually, a single-ended output. An op-amp produces an output voltage
that is typically hundreds of thousands times larger than the voltage difference between its input
terminals.
Operational amplifiers had their origins in analog computers where they were used in many
linear, non-linear and frequency-dependent circuits. Characteristics of a circuit using an op-amp
are set by external components with little dependence on temperature changes or manufacturing
variations in the op-amp itself, which makes op-amps popular building blocks for circuit design.
Op-amps are among the most widely used electronic devices today, being used in a vast array of
consumer, industrial, and scientific devices. Many standard IC op-amps cost only a few cents in
moderate production volume; however some integrated or hybrid operational amplifiers with
special performance specifications may cost over $100 US in small quantities.[citation needed]
Op-
amps may be packaged as components, or used as elements of more complex integrated circuits.
The op-amp is one type of differential amplifier. Other types of differential amplifier include
the fully differential amplifier (similar to the op-amp, but with two outputs), the instrumentation
amplifier (usually built from three op-amps), the isolation amplifier (similar to the
instrumentation amplifier, but with tolerance to common-mode voltages that would destroy an
ordinary op-amp), and negative feedback amplifier (usually built from one or more op-amps and
a resistive feedback network) .
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4.2 Temperature Sensor LM35
Description
An analog temperature sensor is pretty easy to explain, its a chip that tells you what the ambient
temperature is!
These sensors use a solid-state technique to determine the temperature. That is to say, they dont
use mercury (like old thermometers), bi metallic strips (like in some home thermometers or
stoves), nor do they use thermistors (temperature sensitive resistors). Instead, they use the fact as
temperature increases, the voltage across a diode increases at a known rate. (Technically, this is
actually the voltage drop between the base and emitter - the V be - of a transistor. By precisely
amplifying the voltage change, it is easy to generate an analog signal that is directly proportional
to temperature. There have been some improvements on the technique but, essentially that is how
temperature is measured.
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Because these sensors have no moving parts, they are precise, never wear out, don't need
calibration, work under many environmental conditions, and are constant between sensors and
readings. Moreover they are very inexpensive and quite easy to use
These stats are for the temperature sensor in the Ad a fruit shop, the Analog Devices TMP36 (-40
to 150C). Its very similar to the LM35/TMP35 (celsius output) and LM34/TMP34 (farenheit
output). The reason we went with the '36 instead of the '35 or '34 is that this sensor has a very
wide range and doensn't require a negative voltage to read sub-zero temperatures. Otherwise, the
functionality is basically the same.
4.3 Relays RAS0510
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Description
A relay is an electrically operated switch. Many relays use an electromagnet to operate a
switching mechanism mechanically, but other operating principles are also used. Relays are used
where it is necessary to control a circuit by a low-power signal (with complete electrical isolation
between control and controlled circuits), or where several circuits must be controlled by one
signal. The first relays were used in long distance telegraph circuits, repeating the signal coming
in from one circuit and re-transmitting it to another. Relays were used extensively in telephone
exchanges and early computers to perform logical operations.
A type of relay that can handle the high power required to directly control an electric motor or
other loads is called a contactor. Solid-state relays control power circuits with no moving parts,
instead using a semiconductor device to perform switching. Relays with calibrated operating
characteristics and sometimes multiple operating coils are used to protect electrical circuits from
overload or faults; in modern electric power systems these functions are performed by digital
instruments still called "protective relays" .
4.4 Bridge Rectifier BR 68
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FEATURES
Low cost
This series in UL recognized under component
index, file number E127707
High forward surge current capacity
Ideal for printed circuit board
High isolation voltage from case to leads
High temperature soldering guaranteed:
260OC / 10 seconds, at 5 lbs. (2.3kg) tension.
MECHANICAL DATA
Technology: Cell with vacuum soldered
Case: Molded plastic body
Terminal: Lead solderable per MIL-STD-202E
method 208C
Polarity: Polarity symbols marked on case
Mounting: Thru hole for #10 screw, 5 in-lbs torque max.
Weight: 0.13 ounce, 3.66 gram
MAXIMUM RATINGS AND ELECTRICAL CHARACTERISTICS
Ratings at 25OC ambient temperature unless otherwise specified
Single Phase, half wave, 60Hz, resistive or inductive load
For capacitive load derate current by 20%
4.5 Voltage Regulators 7915 7815 7015
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Description
A voltage regulator is an electrical regulator designed to automatically maintain a
constantvoltage level. A voltage regulator may be a simple "feed-forward" design or may
include negative feedback control loops. It may use an electromechanical mechanism, or
electronic components. Depending on the design, it may be used to regulate one or
more AC or DC voltages.
Electronic voltage regulators are found in devices such as computer power supplies where they
stabilize the DC voltages used by the processor and other elements. In automobile alternators and
central power station generator plants, voltage regulators control the output of the plant. In
anelectric power distribution system, voltage regulators may be installed at a substation or along
distribution lines so that all customers receive steady voltage independent of how much power is
drawn from the line.
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CHAPTER 5
PHYSICALLY IMPLEMENTING OF PID CONTROLLER
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In the early history of automatic process control the PID controller was implemented as a
mechanical device. These mechanical controllers used a lever, spring and a mass and were often
energized by compressed air. These pneumatic controllers were once the industry standard.
Electronic analog controllers can be made from a solid-state or tube amplifier, a capacitor and
a resistance. Electronic analog PID control loops were often found within more complex
electronic systems, for example, the head positioning of a disk drive, the power conditioning of a
power supply, or even the movement-detection circuit of a modern seismometer. Nowadays,
electronic controllers have largely been replaced by digital controllers implemented
with microcontrollers or FPGAs.
Most modern PID controllers in industry are implemented in programmable logic
controllers (PLCs) or as a panel-mounted digital controller. Software implementations have the
advantages that they are relatively cheap and are flexible with respect to the implementation of
the PID algorithm. Variable voltages may be applied by the time proportioning form of Pulse-
width modulation (PWM) a cycle time is fixed, and variation is achieved by varying the
proportion of the time during this cycle that the controller outputs +1 (or 1) instead of 0. On a
digital system the possible proportions are discrete
e.g., increments of .1 second within a 2 second cycle time yields 20 possible steps: percentage
increments of 5% so there is a discretization error, but for high enough time resolution this
yields satisfactory performance
5.1 Ideal versus Standard PID Form
The form of the PID controller most often encountered in industry, and the one most relevant to
tuning algorithms is the standard form. In this form the Kp gain is applied to the Iout,
and Dout terms, yielding:
Where
Ti is the integral time
Td is the derivative time
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In this standard form, the parameters have a clear physical meaning. In particular, the
inner summation produces a new single error value which is compensated for future and past
errors. The addition of the proportional and derivative components effectively predicts the error
value at Td seconds (or samples) in the future, assuming that the loop control remains unchanged.
The integral component adjusts the error value to compensate for the sum of all past errors, with
the intention of completely eliminating them in Ti seconds (or samples). The resulting
compensated single error value is scaled by the single gain .
In the ideal parallel form, shown in the controller theory section the gain parameters are
related to the parameters of the standard form through and This parallel form, where the
parameters are treated as simple gains, is the most general and flexible form. However, it is also
the form where the parameters have the least physical interpretation and is generally reserved for
theoretical treatment of the PID controller. The standard form, despite being slightly more
complex mathematically, is more common in industry.
5.2 Loop Tuning
Tuning a control loop is the adjustment of its control parameters (proportional band/gain,
integral gain/reset, derivative gain/rate) to the optimum values for the desired control response.
Stability (bounded oscillation) is a basic requirement, but beyond that, different systems have
different behavior, different applications have different requirements, and requirements may
conflict with one another.
A PID controller needs to be tuned (PID gains set to appropriate values for your specific
system) to function properly. The performance of your control system is defined by a set of
measurements made when applying a specific input step function as the set point command
variable (going from 0 to 100% of the output value instantaneously) and then measuring the
response of the process variable. These measurements are shown in the graph of a systems
response to a step input below
When tuning your controller, you may desire an over-damped, critically damped, or under-
damped system. In most robotics applications overshoot is unacceptable and may cause damage
to the system. Most robotics systems are over-damped so that they never overshoot their setpoint.
The goal of tuning such systems, then, is decreasing the rise-time and steady-state error to
achieve the best possible performance
PID tuning is a difficult problem, even though there are only three parameters and in
principle is simple to describe, because it must satisfy complex criteria within the limitations of
PID control. There are accordingly various methods for loop tuning, and more sophisticated
techniques are the subject of patents; this section describes some traditional manual methods for
loop tuning.
Designing and tuning a PID controller appears to be conceptually intuitive, but can be hard
in practice, if multiple (and often conflicting) objectives such as short transient and high stability
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are to be achieved. Usually, initial designs need to be adjusted repeatedly through computer
simulations until the closed-loop system performs or compromises as desired.
Some processes have a degree of non-linearity and so parameters that work well at full-load
conditions don't work when the process is starting up from no-load; this can be corrected by gain
scheduling (using different parameters in different operating regions). PID controllers often
provide acceptable control using default tunings, but performance can generally be improved by
careful tuning, and performance may be unacceptable with poor tuning.
5.2.1 Stability
If the PID controller parameters (the gains of the proportional, integral and derivative terms)
are chosen incorrectly, the controlled process input can be unstable, i.e., its output diverges, with
or without oscillation, and is limited only by saturation or mechanical breakage. Instability is
caused by excess gain, particularly in the presence of significant lag.
Generally, stabilization of response is required and the process must not oscillate for any
combination of process conditions and set points, though sometimes marginal stability (bounded
oscillation) is acceptable or desired
5.2.2 Optimum Behaviour
The optimum behavior on a process change or set point change varies depending on the
application.
Two basic requirements are regulation (disturbance rejection staying at a given set point)
and command tracking (implementing set point changes) these refer to how well the
controlled variable tracks the desired value. Specific criteria for command tracking include rise
time and settling time. Some processes must not allow an overshoot of the process variable
beyond the set point if, for example, this would be unsafe. Other processes must minimize the
energy expended in reaching a new set point
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5.2.3 Manual Tuning
If the system must remain online, one tuning method is to first Ki set Ki and Kd values to
zero. Increase the Kp until the output of the loop oscillates, then the Kp should be set to
approximately half of that value for a "quarter amplitude decay" type response. Then
increase until Ki any offset is corrected in sufficient time for the process. However, too
much Ki will cause instability. Finally, increase Kd, if required, until the loop is acceptably quick
to reach its reference after a load disturbance. However, too much Kd will cause excessive
response and overshoot. A fast PID loop tuning usually overshoots slightly to reach the set point
more quickly; however, some systems cannot accept overshoot, in which case an over-
damped closed-loop system is required, which will require a Kp setting significantly less than
half that of the Kp setting causing oscillation
Effects of increasing a parameter independently
Parameter Rise time Overshoot Settling time Steady-state error Stability
Decrease Increase Small change Decrease Degrade
Decrease[4]
Increase Increase Decrease
significantly Degrade
Minor
decrease
Minor
decrease
Minor
decrease No effect in theory
Improve
if small
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CHAPTER 6
DESCRIPTION OF PROJECT KIT
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6.1 Design Of Panel Board
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6.2 Panel Board Circuit
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6.3 Working Of The Panel
6.3.1 Power Circuit
It consists of Transformer, bridge rectifier ,Voltage regulators namely 7815 and 7915 followed
by filter circuit. The transformer used is 230/36 volts. Bridge rectifier used is BR68 .The AC
supply voltage of 230 is fed to the transformer which whose out put is 36V AC. This 36V is fed
to the BR68 rectifier which converts the voltage from AC to DC. This voltage obtained is filtered
using capacitors. The Output from the filter is fed to the regulators 7915 and7815 whose output
is +15 Volts and -15Volts respectively. This is used as +Vcc and Vee for an Operational
amplifiers used in the circuit.
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6.3.2 PID Circuit
This circuit consists of op amps, voltage regulators, Potentiometers, Diode and Relay. The
Voltage regulator is used to give an input to the op amp. The op amp is use to design the
proportional ,integral and derivative analog controller.. The input to the op amp consist of two
voltages . one is the variable voltage fed from the sensor as feedback and other is the fixed value
taken as reference. The difference between these two inputs is taken as error. The error is fed to
proportional ,integral and derivative block. Where the error is multiplied with proportional gain
in P block and error is multiplied after integrating in I block and the error is multiplied after
differentiating in D block. The output of these three blocks or circuits is added up using a
summer circuit. The output of the summer circuit is fed to the diode IN4007 .The diode is
connected in series with the relay. The output terminals of the relay is connected to the bulb.
6.3.3 Sensor Circuit
The sensor used is LM35 which is a heat sensor consisting of three terminals such as input
output and ground respectively .this sensor is output is amplified using op amp and the output is
fed as feed back to the input terminal of op amp which is compared with the reference value and
the error is calculated.
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CHAPTER 7
CONCLUSION
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Now a days temperature control has become an integral part of any control system operating in a
temperature sensitive environment. Input and output signals are specified in this project is
analog. Control of a process is achieved by means of a closed loop circuit. One of the primary
purposes of using feedback in control system is to reduce the sensitivity of the system to
parameter variations.The project deals with a simple aspect of giving information about the
controlling of temperature in a furnace. In this project we have developed a system which
controls the temperature of a furnace. Here we used a bulb in the place of a heater or furnace and
tried to control the temperature of the surroundings of the bulb using heat sensor LM35 . The
output of the sensor is fed back as input to the system as feed back. Here we used analog PID
controller to control the temperature.The gains are to be tuned manually.But use the softwares
(like labview) apt control is possible.
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CHAPTER 8
FUTURE SCOPE OF PID CONTROLLER
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8.1 Improvements
8.1.1 Feed-forward
The control system performance can be improved by combining the feedback (or closed-loop)
control of a PID controller with feed-forward (or open-loop) control. Knowledge about the
system (such as the desired acceleration and inertia) can be fed forward and combined with the
PID output to improve the overall system performance. The feed-forward value alone can often
provide the major portion of the controller output. The PID controller can be used primarily to
respond to whatever difference or error remains between the setpoint (SP) and the actual value of
the process variable (PV). Since the feed-forward output is not affected by the process feedback,
it can never cause the control system to oscillate, thus improving the system response and
stability.
For example, in most motion control systems, in order to accelerate a mechanical load under
control, more force or torque is required from the prime mover, motor, or actuator. If a velocity
loop PID controller is being used to control the speed of the load and command the force or
torque being applied by the prime mover, then it is beneficial to take the instantaneous
acceleration desired for the load, scale that value appropriately and add it to the output of the PID
velocity loop controller. This means that whenever the load is being accelerated or decelerated, a
proportional amount of force is commanded from the prime mover regardless of the feedback
value. The PID loop in this situation uses the feedback information to change the combined
output to reduce the remaining difference between the process setpoint and the feedback value.
Working together, the combined open-loop feed-forward controller and closed-loop PID
controller can provide a more responsive, stable and reliable control system.
8.1.2 Other improvements
In addition to feed-forward, PID controllers are often enhanced through methods such as
PID gain scheduling (changing parameters in different operating conditions), fuzzy
logic or computational verb logic. Further practical application issues can arise from
instrumentation connected to the controller. A high enough sampling rate, measurement
precision, and measurement accuracy are required to achieve adequate control performance.
Another new method for improvement of PID controller is to increase the degree of freedom by
using fractional order. The order of the integrator and differentiator add increased flexibility to
the controller.
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CHAPTER 9
BIBILOGRAPHY
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www.wekipedia.com, http://en.wikipedia.org/wiki/PDI
PID controller http://en.wikipedia.org/wiki/PID_control
Texas Instruments, Op Amps and Comparators - Don't Confuse Them, SLOA067, Bruce Carter, 09/06/2001
R. J. Widlar, Super Gain Transistors for ICs, IEEE Journal of Solid-State Circuits
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9.1 Appendixes
9.1.1 Appendix A
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9.1.2 Appendix B
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9.1.3 Appendix C
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9.1.4 Appendix D
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9.1.5 Appendix E
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