BDA3711 MAKMAL KEJURATERAAN VI

PROPORTIONAL CONTROL

1.0 TITLE: PROPORTIONAL CONROL

2.0 OBJECTIVES:
In this experiment, students will accomplish the following:
1. Describe the action of proportional control algorithm.
2. Define offset
3. Describe the system using Laplace transformations
4. Run the system with proportional controller.

3.0 SKILLS:
In this experiment, students will develop the following skills:
1. Technology: apply technology
2. System: understand system
3. Resources: manage time, manage materials, and facilities
4. Interpersonal: work as a member of a team
5. Personal: responsibility, self-esteem, and self-management

4.0 MATERIALS:
In this experiment, students need the following materials:
1. Process Line panel for Lever Control
2. PC computer with Process Motion Software

5.0 THEORY:
The proportional term of the controller produces a control signal proportional to

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PROPORTIONAL CONTROL

the error in the system, so that u (t ) K p e(t ) or U ( s ) K p E ( s ) . It is simply a

forward path gain. Typically, given a step change in set point, low values ok K p give
rise to stable responses, but large steady-state errors. Higher values of K p give batter
steady-state performance, but worse transient performance.
If steady-state error is a problem, then instead of increasing K p , the controllers
integral term is activated. Here, the control signal generated is proportional to the
integral of the error signal. That is
u (t ) K i e(t ) dt

or U ( s )

Ki
E ( s)
s

Where K i is the integral gain.

5. 1 Proportional Control Algorithm:

The proportional control algorithm output, m is defined as:

Kc * e mo

Where:
m
Kc
e
mo

proportional control algorithm output, which is expressed in terms of

percent input to the pump.
proportional control algorithm constant (gain)
error
controller bias. This a fixed value that will provide a constant value to
the control algorithm. When the error is 0, m will be equal to mo .
When the error is positive, m will be greater then the error is negative
m will less then mo .

Using the automobile cruise control as an example, when the cruise control in set to
55 miles per hour and the car is traveling at 55 miles per hour, the error is zero.
However, the controller needs to send a constant amount of gas to the engine to keep

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PROPORTIONAL CONTROL

the car going 55 mph. This constant amount of gas is the m for the cruise controller.
Suppose that the car stars climbing a hill. Its speed will decrease and an error
will develop. The cruise controller will add and amount of gas equal to Kc*e to the
constant amount mo . As the car speed up and approaches 55mph, the error will
decrease, and the controller will decrease the amount of gas sent the engine back to
the mo value.
This example illustrates an important principle of the proportional controller.
When a load is presented to system, or when the reference value changes, an error is
created. The proportional control algorithm output, m changes proportionally to the
error, e. The ratio between the changes in the control algorithm output, m and the

error, e is determined by the controller gain, Kc, as expressed in Kc =

m
. The
e

block diagram that describes the level control system with a proportional control
algorithm is as shown in Fig. 1-1.

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PROPORTIONAL CONTROL

Figure 1-1: Block diagram of Level Control System.

With the proportional control algorithm is used, the output, m is proportional
to the error, e and thus for a small error, the signal will be relatively small and for a
large error it will be bigger.
5.2 Laplace Transformations:
To examine the effect of changes in Kc over the system, we will use Laplace
Transforms. The Laplace Transforms is a technique for translating certain complicated
differential equations into simple algebraic equations. By substituting a complex
number S for t, we translate the equation from the real time plane into an imaginary
plane called the Laplece space. After the Laplace Transforms, time, t is removed from
the system and is replace with S. the system is now said to be in the Laplace, also
know as the Laplace planeor Laplace domain.

5.3 Level Control and Its Laplace Transform:

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PROPORTIONAL CONTROL

The following is a block diagram in Fig 1-2 describes the level control
system, and specifically for this case it is a first order system in the Laplace domain.

Figure 1-2: Block diagram of Level Control System in Laplace space.

5.4 Deriving the System Gain:
The four blocks of the system shown in fig:1-2 and their functions are:
i) Controller block. The function in the controller block in the time domain is m =
Kc*e + mo. The controller multiplies the error, e by the controller gain kc and then adds
the constant mo to determine the proportional algorithm output, m. In the Laplace

domain the controller function is

m
Kc
e

ii) The Final Control Element (controlled pump gain). The controller pump gain is
Kp. The dynamic properties of the pump will be ignored. In the Laplace domain the

controller function is

qin
Kp
m

iii) The Tank. The tank is a first order system whose gain is K and whose time
constant is . The gain K and time constant need to be determined first. The laplace

BDA3711 MAKMAL KEJURATERAAN VI

transform of the tank is

PROPORTIONAL CONTROL

htan k
K

.
qin
S 1

iv) The Level Sensor. The level sensor gain is Km. The level sensor gain in this
system can be regarded as 1 and it will not effect the overall gain in the tank.
However the sensors inability to measure itself leads to a very significant difference
between the actual system output and the reference output. This difference is call
offset error. The relation ship between the level in the tank and the reference value is,

htan k

href

K
S 1
K
1 Kc K p *
S 1
Kc * K p *

We should note here that reference value is always going to be slightly larger than
pressure. This will cause a condition called an offset error. In actual, this mean that a
proportional controller can never really direct the system all the way up to the true
reference value, and the system output will always slightly lower than the reference.
We will observe the offset when we run the system. Simplifying equation 1.2 using
algebra yields equation 1.3,
K system
htan k

href
system S 1

where;
K system

Kc * K p * K

and system K * K * K 1
Kc * K p * K 1
c
p

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PROPORTIONAL CONTROL

Initial
referenc
e value
(e=0)

Referenc
e value
(after
step
input)

Percentag
e of step

Erro
r

Controlle
r output,
m

Total
respons
e time, t
(saat)

Error /
referenc
e value
(%)

Outpu
t (H)

106

106

0%

19

106

106

137.8

+30%

24

55

1.45

135

106

148.4

+40%

25

61

2.02

146

106

159.0

+50%

26

71

1.89

156

106

84.8

-20%

23

2.36

87

106

74.2

-30%

20

73

106

63.6

-40%

11

1.57

62

6.0 DATA SHEET:

Task 3: Using Proportional Control:
Table 1: Worksheet

Task 4: Vary the Kc Value:

1. When Kc = 100, initial reference value = 106:

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PROPORTIONAL CONTROL

Error

Controller
output, m

Total response time, t

(saat)

33

73

2.

Error /
reference value
(%)
0

Wh

en Kc = 100, initial reference value = 137.8:

Error

Controller
output, m

Total response time, t

(saat)

34

95

Error /
reference value
(%)
0

3. When Kc = 100, initial reference value = 137.8, valve A open, valve B close:

Error
4.
2

Controller
output, m

Total response time, t

(saat)

18

30

Error /
reference value
(%)
1.89

Wh

en Kc = 100, initial reference value = 137.8, valve A and valve B open:

5.

Error

Controller
output, m

Total response time, t

(saat)

-2

51

Error /
reference value
(%)
1.45

Wh

en Kc = 100, initial reference value = 106, valve A close:

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PROPORTIONAL CONTROL

6. When Kc = 1, initial reference value = 137.8:

7.0 CALCULATION:
Error

Controller
output, m

Total response time, t

(saat)

-2

32

Error /
reference value
(%)
1.89

Note: Taking reference value (after step input) = 137.8.

1. How to calculate reference value (after step input):
Error

Controller
output, m

Total response time, t

(saat)

24

25

87

Error /
reference value
(%)
17.4

Given initial reference value: 106

Percentage of step: +30%

# Reference value = 106 x

30%
106
100%

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PROPORTIONAL CONTROL

= 137.8

2. How to calculate percentage of offset error (%):

Given error: 2
Reference value (after step input): 137.8
# Offset error =

error
reference value

x 100%

= 137.8 x 100%
= 1.45 %

8.0 EKSPERIMENT OBSERVATION:

In running this experiment, we get to know on how this control system work
by using the proportional control algorithm. This experiment is to monitoring the
resulting system response in time constant and error. It also vary the controller gain to
test the result system response whether there are in both dynamic and static system.
In this experiment, it is good to check whether all the materials that are
required are available and are well function before the experiments are running. This
is importance to make sure that the experiment that we done will be given an accurate

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PROPORTIONAL CONTROL

result. Moreover during the experiment, we have to make sure that the water level has
to be drain to its minimum level. This is importance because if the water level is not
properly drained the system or the process line software from the computer will not be
run in a proper order. Moreover make sure that all the panel is connected to the COM
port properly so that there will be no troubleshooting during the experiment.
Besides that before getting the data, we have to make sure that the system is in
steady state. This is importance to know that whether there is an offset. For the first
experiment where the set point is 110,K c is 5,T1 is100000, TD and Mo are 0, there is no
offset point appear in the graph while for the other experiment where the parameters
are increase there is an offset point.
Furthermore from this experiment, we can see that the system will maintain
the water level in the tank by referring to the input that has being set. There is also a
sensor to acknowledge the system. If the water level in the tank is decrease, the pump
will start running and it will fill the tank to the level that is needed.

9.0 DISCUSSION:
Task 3: Using Proportional Control:
1. Desribe the system output response.
-

There have no offset in task 1 because the error is 0.

2. When is the offset percentage highest? Lowest?

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PROPORTIONAL CONTROL

The system output is 135mm and there have an offset error. The error is
2.And it take 55s to reach steady state condition. The error reference value is
1.45 and controller output is 24. The higher percentage of offset error in
when the percentage step increase to 40% and 50%.The lowest offset error is
when the percentage of step decrease to 40%.

3. What is the cause of offset?

-

The cause of this offset is there are difficult to find the steady state of system
because it cant properly achieve the steady state condition. The lever sensor
also will cause the error because the sensors inability to measure itself leads
to a very significant different between the actual system output and the
reference output.

Task 4: Vary the Kc Value:

1. Describe the general system response, the response time and the percentage of
offset when Kc is 100 and reference value is 137.8 with valve A close meanwhile
valve B open.
-

The system takes 51s to reach a steady-state condition and the error is -2.and
the error percentage is 1.45%.If we compare when the Kc is set to 10 it will
take more time to reach steady state and the error is same is 2. (The value in
role 2 in table).

2. Describe the general system response, the response time and the percentage of
offset when Kc is 100 and reference value is 137.8 with valve A open meanwhile
valve B close.

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PROPORTIONAL CONTROL

The system takes 73s to reach the steady state condition. And there have no
error in this system.

3. Describe the general system response when Kc is 100 and reference value is 137.8
with both valve A and B open.
-

When the valve A and Valve B is open so the system will take more time to
reach the steady state condition .This is because when the valve is open the
water will flow out through the valve and the pump will continue working
and force the water into the tank until the water level same as a input level
water.

4. Describe the general system response, the response time and the percentage of
offset when Kc is 1 and reference value is 137.8 with valve A close meanwhile
valve B open.
-

When we change the Kc value to 1 ,so there are a big error in this system
because the system cant achieve the steady state because the value of Kc is
to small so the pump cant work as effective so the output value difficult to
control by the pump.

10.0 CONCLUSION:

From the analysis of the proportional control system, it can be concluded as follows,

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PROPORTIONAL CONTROL

i)

When a proportional control algorithm is used to control a first order

system, the entire system act also like a first order system as
demonstrated in Eqn 1.3.

ii)

The entire system gain is

iii)

The system gain is always smaller than 1. thus for a step input, the
system will always display an offset error where the actual output is
slightly less than the reference value.

iv)

Increasing Kc (the controller gain) increase the system gain and

decrease the offset error.

v)

The system time constant is system

Kc * K p * K
htan k

href
Kc * K p * K 1

tan k
. The value of the
Kc * Kv * K 1

systems time constant, system is smaller than the tank time constant.

vi)

Increasing the controller gain, Kc decreases the systems time constant

and the system response time.

As a conclusion, this experiment was successful related to the experiments objective

which was to describe the action of the proportional control algorithm, define offset, n
describe the system using Laplace transformations.

11.0 REFERENCES:
1. Zainal Annuar, Asas Kejuruteraan Kawalan, Unit penerbitan UTM, 1989.
2. Norman S. Nise, Control System Engineering, 2nd edition, The Benjamin

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PROPORTIONAL CONTROL

Cummings Publishing Co.Inc, 1994.

3. J. Dorf, Modern Control Engineering, Addison Wesley Publishing, 1990.
4. Lab sheet Makmal Kejuruteraan Kawalan by En Zamri bin Omar.

11.0 APPENDIX:
i.

Control parameter: Kc = 5.00, Ti = 100000.0000, Td = 0.00, Mo = 0.00

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ii.

PROPORTIONAL CONTROL

Control parameter: Kc = 10.00, Ti = 100000.0000, Td = 0.00, Mo = 0.00

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PROPORTIONAL CONTROL

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