University of Tripoli-Faculty of engineering

Department of electrical and electronics

EE561 control and computer lab II

Proportional controller

Lab report

Name:‫هديل عادل عبيد‬

ID: 022171912

Supervisor:‫أحمد جابر‬.‫د‬

Date of experiment: 4/6/2022

Date of submit: 25/6/2022

Spring 2022
  Objectives :
1. To become familiar with proportional controllers
2. To be able to define the terms proportional gain and proportional band
3. To understand how the error in a proportional controller can be minimized
4. To understand the relationship between gain and stability
5. To become familiar with the time-proportional power control technique

 Introduction:
The simplest continuous-type controller used in feedback systems is the proportional (P)
controller as shown in Figure1.it consists of a summing point and a proportional amplifier .the
measured variable is subtracted from the set point at the summing point to determine the process
error. The error is then amplified to produce the controller output signal.

Figure1

With a proportional controller the control action is proportional to the process error. The
proportional controller can’t completely eliminate the process error. This is because a steady-
state error is required to maintain the controller output signal at a give value.

Increasing the proportional gain as high as possible can help minimizing the offset.
Unfortunately, increasing the gain also increases the tendency towards instability.

One method for eliminating the error in a process control system with a proportional controller is
adding an offset at the controller output. This offset value is manually adjusted, at nominal
load ,so that the process error is zero. When an offset is added at the controller output the
relationship between the process error and the controller output becomes
P=K P E P+ P 0 where P isthe controller output signal

K P the proportional gain

E P the process error

P0 the controller offset

This method works with a given load , if the load changes the process error is no longer zero.
Therefore this method can be used in a process control system where the load mean value is
constant.

The proportional band is the range of error, expressed as a percentage of the controlled variable,
which is required so that the controller output signal passes from minimum (0%) to maximum
(100%) and vice versa. If the error exceeds this range, the controller output saturates to 0% or
100%, depending on the error polarity .In other words, the controller output is not saturated as
long as the process error remains in the proportional band.

The proportional band is defined by the following equation:

PB= ( kp1 ) x 100%

This equation shows that the proportional band is inversely proportional to the proportional gain.

Although a continuous-type controller is used in a process control system, the control element
may operate in a discontinuous fashion. This is often the case in high-capacity heating systems,
where the heating device can only be turned on and off. Nevertheless, a continuous proportional
control action can be obtained in such heating systems by adding a signal conditioner that uses
time- proportional power control.

Time- proportional power control is a technique in which the manipulated variable is switched
between maximum and minimum at a regular rate. By varying the duration of the intervals at
which the manipulated variable is maximum and minimum, it is possible to make the mean value
of the manipulated variable vary proportionally with the controller output signal.

The Time- proportional power control technique is effective when the duration of a maximum-
minimum cycle is short with respect to the process time constant. The duration of a maximum-
minimum cycle is equal to the period of the triangle-wave signal generated in the signal
conditioner.

The purpose of this experiment is measuring the input-output relationship of a proportional

amplifier, achieving proportional control of a temperature process in a process control trainer.
  Experiment Procedure :

Part1:
A. Circuit set-up:
1. Make sure the POWER switch of the process trainer is set to the off position ,and make
the appropriate connections as shown in Figure2.1

Figure2.1

2. Make the necessary settings on the process control trainer

B. Input-output relationship of a proportional amplifier :

1. Set the power switch on the trainer to the ON position
2. With the proportional gain set to minimum, the DC source-1 level is adjusted to
obtain the various proportional amplifier input voltage indicated .for each input
voltage ,the proportional amplifier output is recorded in Table.1

Tabel.1

Proportional amplifier input voltage Proportional amplifier output voltage

1 1
2 2
3 3
4 4
5 5
 3. The input-output relationship is plotted in figure2.2

4
outout voltage

0
0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5
Input voltage

Figure2.2 input-output relationship

C. Temperature process control using a proportional controller :

1. Set the power switch to the OFF position and make the appropriate connections to
obtain the circuit shown in figure2.3

Figure 2.3 temperature control system using Proportional controller

 2. make the following settings on the trainer

DC SOURCE-1 fully counterclockwise

TEMPERATURE TRANSMITTER ZERO mid position

TEMPERATURE TRANSMITTER SPAN MIN

LEVEL COMPARATOR HYSTERESIS MIN

HEATER POWER HIGH

FAN SPEED LOW

PROPORTIONAL GAIN MIN

LIMITER LEVEL MAX

3. temporarily disconnect the lead to the control input of the solid output to create and
open loop in the temperature control process and set the DC source-1 to 3.7v so the
temperature setpoint to approximately 37 c°
4. Record the initial temperature of the radiator ,the error voltage ,and the process
proportional amplifier output

Initial temperature of the radiator : 37c°

Error voltage:2.96 dc

PROPORTIONAL AMPLIFIER output voltage :2.82

5. Reconnect the lead to the control input of the solid state relay .record he temperature of
the radiator ,the error voltage and the proportional amplifier output every 30 seconds to
fill the following table

Table.2

Time (mins) Radiator temperature Error voltage

0:30 37.2 0.2
1 35.7 2.3
1:30 35.5 2.5
2 35.5 2.5
2;30 35.5 2.5
3 35.4 2.6
 6. the relationship between radiator temperature and time is shown in Figure 2.4

40

38
Temperature

36

34

32

30
0.5 1 1.5 2 2.5 3 3.5
Time

Figure2.4

7. Temporarily disconnect the lead at the control input. Set the DC source-1 so that the
proportional amplifier input voltage is 1v,then set the proportional amplifier output to
10v so the kp is now set to 10 .
8. Set the DC source-1 to 4v so the set point is approximately 40c°
9. Reconnect the lead to the control input of the solid state relay. the temperature of the
radiator ,the error voltage and the proportional amplifier output is recorded every 30
seconds to fill the following table

Table.3

Time (mins) Radiator temperature Error voltage

0:30 33.5 0.67
1 34.8 0.52
1:30 38.5 0.15
2 43 -0.32
2:30 44.4 -0.43
3 44.1 -0.38
3:30 42.9 -0.26
4 41.6 -0.13
4:30 40.2 0.1
5 39 0.12
5:30 38.7 0.15
6 39.7 0.04
6:30 40.8 -0.06
7 40.8 -0.06
 10. the relationship between radiator temperature and time is shown in Figure 2.5

46
44
42
40
Temperatue

38
36
34
32
30
1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5
Time

Figure2.5

D. Manual reset
1. the power switch of the process was set to the off position and the connections as
shown in Figure2.6 are made.

Figure2.6
 2. the DC source-2 is turned fully counterclockwise (MIN),and the power to the process
is set ON and the proportional offset and proportional amplifier output voltage are
recoded :
The proportional offset: 40C°
Proportional amplifier output: 0.06v

3. the level of the DC source-2 is set so it’s output is equal to the Proportional amplifier
output voltage.

Part 2:
Using the system whose transfer functions is we’re designing a P controller using
Fuzzy logic.

The inputs to the Fuzzy interface system are the error which is the difference between the
reference input and the output of the plant, and the Derror which is the first order approximation
of the rate of change of error, the output will be the control signal to the plant.

The rules of the fuzzy system are shown in this lookup table below:

Using fuzzy logic designer in Matlab we designed the fuzzy interface system (fig.3.1)
 Fig.3.1

We added the inputs and their membership functions and the type of these membership
functions, in this case we used Triangular membership function for the inputs and the output.

The range of the error and Derror are both [-1 1] ,and the range for the output is[0 45].

In matlab simulink we implemented the system first with no type of control whatsoever to better
understand the system we’re dealing with (fig.3.2)

Fig.3.2
We can see that the system is stable with a very large error, and that’s where the fuzzy P
controller role come, it’s going to minimize the error as much as possible without driving the
system to instability .

We implement the system but with the fuzzy logic controller this time, but since the fuzzy logic
controller only deals with discrete numbers and the system is continuous we have to convert it to
discrete.(fig.3.3)

Fig.3.3

We added a ZOH at the output of the fuzzy logic controller and a rate transition block to sample
the output.

we run the simulation and observe the response in the scope we find that the error in the system
decreased vastly but it’s not eliminated because this is a P controller.(Fig.3.4)

Fig.3.4
 Discussion:
First thing to notice is that when the value of proportional gain was set to minimum (1) the
steady state error of the system is high, this is the natural behavior of the system with no
controller involved ,however when we increase the proportional gain to become a value of 10
the error decreases, this is because the proportional gain increases the value of the static error
constant which in return with decrease the steady state error, we can keep increasing the
proportional gain to achieve a better performance but we might drive the system to instability
by making the closed loop poles go to the right-half of the root locus .

Because in this experiment we used P controller we can only decrease the error ,we can
eliminate it by adding the value of the error to the controller output signal so that the process
error is zero, but one the lead changes the error is no longer zero and we have to adjust it
again to regain the zero steady-state error .

 Conclusion:
In this experiment we became familiar with the simplest continuous-type controller, the
proportional controller. We saw that the control action is proportional to the process error
when a proportional controller is used. We observed that the error is not zero with the
proportional controller and we need manual adjustment to eliminate it.

Finally we became familiar with fuzzy logic where we designed a proportional fuzzy
controller in order to tune a given system .