130-28176 Parallax Inc, 130-28176 Datasheet - Page 304
130-28176
Manufacturer Part Number
130-28176
Description
KIT PARTS PROCESS CONTROL
Manufacturer
Parallax Inc
Specifications of 130-28176
Accessory Type
Education Kit
Product
Microcontroller Accessories
Lead Free Status / RoHS Status
Contains lead / RoHS non-compliant
For Use With/related Products
Board of Education Full Kit
Lead Free Status / RoHS Status
Lead free / RoHS Compliant, Contains lead / RoHS non-compliant
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ACTIVITY #6: PROPORTIONAL-DERIVATIVE CONTROL
Parts required:
Same as Activity #1
Derivative control responds to a CHANGE in the error. The fundamental premise
determining derivative drive assumes that the present rate of change in the error signal
will continue into the future unless action is taken. Derivative drive, when properly tuned,
allows a system to rapidly respond to sudden changes and react accordingly. It can also
help damp the system to limit oscillations, and drive to limit the effects of short
disturbances.
To achieve the best plot response, we will work around the stable temperature for 50%
bias drive. Due to dealing with error over time, the smaller the resolution of our
temperature, the better, so the upper and lower temperatures will be set accordingly.
Run #1
Run #2
√
√
√
√
Co
%Drive
Connect and plot. Adjust your settings to the following:
Upper Temp:
Lower Temp:
Setpoint:
Band (+/−):
Time:
Kp:
Ki:
Kd
%Bias:
Allow temperature to stabilize.
Introduce a disturbance and monitor the resulting action.
Set Kd to 1.0, or another under-damped response that provides multiple
oscillations before stabilizing.
PID
= B + (K
TOTAL
= %Drive
P
E) + (∆E/∆t)
50% Bias Temperature + 10 (e.g. 100+ 10 = 110 °F)
50% Bias Temperature (e.g. 100 °F)
50% Bias Temperature − 10 (e.g. 100 − 10 = 90 °F)
2
1
1
0.000
0
50
BIAS
+ %Drive
PROP
+ %Drive
DERIV
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