Høgskolen i Agder: MAS107 Reguleringsteknikk

Prosjektoppgave (lab):

Industriell PID-regulator (Fuji PYX5) for turtallsregulering

What the lab is about

In this part of the course you will get experience in using an industrial PID-controller, the Fuji PYX5 (price approximately NOK 3300). The controller will be used to control the rotational speed of a DC-motor.

Equipment

Practical information

The teacher will describe the construction and function of the equipment at the beginning of your lab time. The lab takes place at room 249.

Tasks

  1. As a preparation to the lab, read the following parts of the manual before beginning the practical work. (The page number indicated in the text below is the number used in the document, not the page number in Acrobat Reader.)
    • Section 5.4 (PYX5/9 Wiring Diagram). Comments:
      • In this controller the measurement signal is assumed a voltage input signal between terminals 16 and 18.
      • The control output signal is a current signal at terminals 13 and 14, cf. the upper figure at page 27. However, since the lab process to be controller in this lab assumes a voltage control signal, a resistor is mounted between terminals 13 and 14. The voltage drop over this resistor is then used at the actual control signal.
    • Page 30. Our controller is PYX5.
    • Ch. II (Front Panel Layout)
    • Ch. III (Operation Procedure), Sections 1, 2, and 3.
    • Ch. IV (Setting Input and Output Types).
    • Ch. V (Functions): Read about the following functions:
      • Auto-tuning
      • Control function, but only 1. Normal PID Control.
      • Alarm, but do use much time on studying the details about alarm parameters
      • Manual operation
      • Output monitoring
    • Ch. VI (Set-Up Parameter):
      • Input filter
      • Control type, but do not care about the fuzzy controller
      • Ouput limits
      • Setpoint value limits
      • Direct/reverse control action
      • Control processing time
  2. Do the following tasks on your own (in student groups):
    1. Set the controller parameters as indicated below, cf. Appendix 5: Parameter List in the manual (not all parameters in Appendix 5 are available in the present controller). Find from the manual the meaning of each of the parameters. The parameters in the list below is in same order as they appear in the controller.
      • LOCK = 3
      • OUT1: No setting required.
      • MOD = Man (= Manual)
      • AT = OFF
      • P = 100 (just some initial value of proportional band, but this value does not matter since you will perform an auto-tuning later)
      • I = 0 (same comment as above)
      • D = 0 (same comment as above)
      • AR = 100 (dont care about the meaning of this parameter)
      • MAN = 0
      • AL1T = 0001
      • AL11 = 90 (don't care)
      • A11H = 1 (don't care)
      • AL2T = 0002 (don't care)
      • AL21 = 10 (don't care)
      • A21H = 1 (don't care)
      • Loop = 0 (dont care)
      • PVT = 4111
      • PVF = 100
      • PVB = 0
      • PVD = 0
      • TF = 1.0
      • SFT = 0
      • SVH = 100
      • SVL = 0
      • CTRL = PID
      • DT = 0.5 (the effective value of this parameter is 0.5 no matter the value set)
      • REV1 = REV
      • TC-1 = 2 (this parameter is however not active)
      • MV-H = 100
      • MV-L = 0
      • BURN = 1 (don't care about the meaning of this parameter)
    2. Connect the controller to the process as follows:
      1. Controller input terminal no. 16 to Tachometer minus (not plus)
      2. Controller input terminal no. 18 to Tachometer plus (not minus)
      3. Controller output terminal no. 13 to Servo amplifier input ("Styrespenning") plus
      4. Controller output terminal no. 14 to Servo amplifier input ("Styrespenning") minus

      Ask the teacher to check the connections.

    3. With the controller (still) in manual mode (open loop control): Adjust the manual control signal so that the speed is approximately 50% (you can adjust the control signal with the controller in Operation Mode). Apply a small approx. constant load torque to the motor (use your finger). What is the steady-state control error (in %)?
    4. Set the controller in automatic mode (closed loop control). Set the setpoint equal to 50%.
      1. Execute auto-tuning. What are the resulting P-, I- and D-values? What is the value of the controller gain (Kp) that corresponds to the P-value from the auto-tuning?
      2. Is the stability of the control system ok? (Excite with a step in the setpoint.)
      3. Set setpoint to 50%. Apply a small approximately constant load torque to the motor (use your finger). What is the steady-state control error (in %)?
    5. What happens to the stability of the control system if the controller mode is changed from reverse action to direct action? (In the manual, direct action is denoted direct mode and also normal mode in the manual.)

[Til undervisningsplanen]

Oppdatert 16.4.07 av Finn Haugen, faglærer (e-postadresse: finn@techteach.no).