Control Pid

Basic Experiments in PID Control for Non-electrical Engineers
+15 v

Buffer
100 kΩ Pot

Process Variable Voltage

100 kΩ

100 kΩ Pot

100 kΩ 4.7 kΩ 100 kΩ

Error Proportional

100 kΩ +15 v 100 kΩ

Buffer
100 kΩ Pot

Set Point Voltage
1 MΩ Pot

1 µF

100 kΩ

Integral
100 kΩ

Summer Output Voltage

100 kΩ

1 MΩ Pot

100 kΩ

100 kΩ

10 µF

Inverter220 Ω

Differential

J.P. Thrower, S. Kiefer, K. Kelmer, and L. Silverberg May 1998

-15v

+15v

Process Variable 100 kΩ Pot

Process Variable

Set Point 100 kΩ Pot

Set Point

100 kΩ 100 kΩ

100 kΩ

Error
100 kΩ 4.7 kΩ

Proportional 100 kΩ Pot

Proportional

Integral 1 MΩ Pot

1 µF

Integral

100 kΩ

100 kΩ

Inverter
220 Ω

10 µF Derivative 1MΩ Pot

Derivative

100 kΩ

100 kΩ 100 kΩ

100 kΩ

Summer

10 kΩ

Power 100 kΩ Pot

Power Op Amp

Contents

Contents............................................................................................................................... 1 Introduction......................................................................................................................... 2 1. Analog Components ........................................................................................................ 5 The Resistor............................................................................................................... 5 The Capacitor ............................................................................................................ 8The Operational AmplifierIntroduction .................................................................... 9 Powering the Breadboard ........................................................................................ 10 2. The Analysis of Simple Circuits ................................................................................... 12 Kirchhoff’s Voltage Law & CurrentLaw................................................................ 12 Series and Equivalent Resistance and Voltage Division......................................... 13 Experiment 1: Measuring Currents and Voltages ........................................ 15 Experiment 2: Using a Potentiometer .......................................................... 16 The RC Circuit........................................................................................................ 17 Experiment 3: Measuring the Accumulation of Voltage.............................. 18 Operational Amplifiers............................................................................................ 19 Derivation of Op Amp Assumptions............................................................. 19 Saturationof Op Amps.................................................................................. 20 Signal Gain and Signal Inverting .................................................................. 21 Signal Buffering ............................................................................................ 22 Signal Addition............................................................................................. 22 Signal Subtraction ......................................................................................... 23 Signal Cascading ........................................................................................... 23 Experiment 4: Measuring Op Amp Gain ..................................................... 24 The DerivativeOperation.............................................................................. 25 The Integral Operation .................................................................................. 25 Experiment 5: Measuring Derivatives and Integrals.................................... 26 3. Propertional, Integral, Derivative (PID) Control Theory.............................................. 29 Terminology...