Control de Escoraje

T 8.2.
1
Control of Technical Lines
T 8.2.1.7 Automatic heel control
775 690EN
Version: 27BB04PME15W10
T 8.2.1.7
Instructions
EMC
The sensitive electronics inside the equipment used in this experiment description may be subject
to ESD (electrical static discharge) which negatively affects their operation in the experiment setups. For that reason, electrostatic build up should be avoided by selecting appropriate rooms or by
eliminating this by means of discharge.
Electronic Handbook
Copy the text files (*.pdf) and measurement files (*.labs, *.bsy) found on the cd into the same
subdirectory.
Install the CASSY Lab 2 software onto your PC.
Install the WinFACT software onto your PC.
By clicking on the corresponding measurement file, a measurement file especially designed
for this experiment is uploaded.
Note: The measurement files may also be contained in the appendix of the pdf document.
Experiments
The book may also contain experiment descriptions which require equipment not contained in your
particular order or delivery. Only those experiments can be performed for which LD has supplied the
necessary equipment. Deviating from the experiments described here is possible at one's own
discretion and only by qualified individuals working in compliance with the safety guidelines and
regulations. The results specified in the sample solutions serve only as orientation. The actual
measurement findings can deviate from the values provided for the following reasons:
Setting accuracy of the operating points (potentiometer, rotary position transducers)

Component and measurement tolerances
Power voltage fluctuations etc...
All measurement findings were recorded with the experiment set-ups shown and using the
measurement devices found in the equipment lists. Due to their wide range of features, SensorCASSY 2 and CASSY Lab 2 software are used in the experiments.
3rd party equipment

Instruction sheets and/or the software of third party equipment must be read prior to carrying out the
experiments.
There are no additional requirements to be found in this experiment handbook!
by LD DIDACTIC GmbH Leyboldstrae 1 D-50354 Hrth www.ld-didactic.com
LD DIDACTIC
Phone: +49-2233-604-0 Fax: +49-2233-604 222 e-mail: info@ld-didactic.de Technical alterations reserved.
T 8.2.1.7
WinFACT
WinFACT is a universal, modular CAE program for automatic control technology. The following
products are available for purchase from LD Didactic:
734 492
LD License
BORIS 100 blocks
734 482
COM3LAB/CASSY Edition BORIS 15 blocks
Time
domain
+
Fuzzy
+
Optimisation + PID Design Center
Time domain
License agreements
The LD license permits simultaneous use on up to 10 workstations. The COM3LAB/CASSY Edition
is a license confined to a single workstation. You have to purchase a separate license for each
workstation. All licenses include the LD drivers for COM3LAB and CASSY as well as experiment
samples for WinFACT.
Drivers and Installation

Install the WinFACT software onto your PC. Make sure that ProfiCASSY.dll and the example files
are copied onto your hard drive. Any missing drivers (CASSY.dll) may be installed retroactively. Read
the Read Me texts.
Fuzzy
Only the LD license contains the module to design Fuzzy rules and controllers. If you use a
parameterised Fuzzy block (from elsewhere), this is already running using the COM3LAB / CASSY
edition. However, there can be no alterations carried out on this block.
Tips
Do not select a simulation time that is too small. Otherwise there could be conflicts with the
sampling of the Profi-CASSY. Consequently real time modus is unable to operate correctly.
Example: Real time = 20 s but actual measuring time was 80 s. Remedy: Prolong simulation
steps e.g. from 0.01 to 0.05.
The WinFACT and CASSY Lab programs cannot access Profi-CASSY simultaneously. There
are two variations for this conflict:
If CASSY Lab is active, a message appears when starting the WinFACT experiment: USER1
(USER1) does not permit the simulation.
If WinFACT is active, the message Not all channels are valid... appears in the CASSY Lab
The Profi-CASSY symbol is crossed out. For that reason, WinFACT and CASSY Lab may
not be used simultaneously.
LD DIDACTIC
by LD DIDACTIC GmbH
T 8.2.1.7
Table of contents
Instructions ..................................................................................................................................... 2
EMC ............................................................................................................................................ 2
Electronic Handbook ................................................................................................................... 2
Experiments ................................................................................................................................ 2
3rd party equipment .................................................................................................................... 2
WinFACT..................................................................................................................................... 3
License agreements................................................................................................................. 3
Drivers and Installation ............................................................................................................ 3
Fuzzy ....................................................................................................................................... 3
Tips .......................................................................................................................................... 3
Concepts and Symbols ................................................................................................................... 6
Principles ........................................................................................................................................ 7
Selecting the controller ................................................................................................................ 8
Dimensioning controllers ............................................................................................................. 8
CHR optimisation rules for systems without compensation .......................................................... 9
ZN optimisation ......................................................................................................................... 10
Automatic heeling control .............................................................................................................. 11
Controlled systems: the container ship ...................................................................................... 11
Step responses of the controlled system ....................................................................................... 12
Equipment ................................................................................................................................. 12
Experiment procedure ............................................................................................................... 13
Results ...................................................................................................................................... 15
Step responses of the heel controlled system ........................................................................ 16
Summary ............................................................................................................................... 19
CHR optimisation for reference control ......................................................................................... 20
Within limits of the PID digital controller ..................................................................................... 20
Equipment ................................................................................................................................. 20
Variations .................................................................................................................................. 22
Results ...................................................................................................................................... 23
Disturbance response of the closed control loop ........................................................................... 27
Equipment ................................................................................................................................. 27
Profi-CASSY assumes the following functions in this experiment: ............................................. 28
Variations .................................................................................................................................. 29
Results ...................................................................................................................................... 30
Modelling and simulation............................................................................................................... 34
Identifying controlled systems.................................................................................................... 34
Results ...................................................................................................................................... 35
Simulated heel controlled system operating at its stability limits ................................................ 37
Simulated heel controlled system with PT2 filter ........................................................................ 40
Result ........................................................................................................................................ 41
ZN optimisation of the heel controlled system with PT2 ................................................................ 43
Equipment ................................................................................................................................. 43
Results ...................................................................................................................................... 46
ZN controller parameters ....................................................................................................... 47
Continuous software controllers .................................................................................................... 53
Equipment ................................................................................................................................. 53
LD DIDACTIC
by LD DIDACTIC GmbH
T 8.2.1.7

Results ...................................................................................................................................... 55
Automatic heel control with a three-position controller .................................................................. 60
Equipment ................................................................................................................................. 60
Result ........................................................................................................................................ 62
LD DIDACTIC
by LD DIDACTIC GmbH
T 8.2.1.7
Concepts and Symbols

In this manual, the following concepts and symbols are used according to DIN:
Designation
Symbol
Definition
Controlled system
Process whose output variable is controlled
Controller
Components in the control loop responsible for

adjusting the controlled variable to the reference
variable
Controlled variable
Reference
variable
input w
Output variable of the control loop

Input variable of the control loop
Actual value
x0
Definite value of the controlled variable
Setpoint value
w0
Definite value of the reference input value
Control deviation
e=wx
Error signal, deviation from input variable of the

controller
Disturbance variable
External factors affecting the controlled system
LD DIDACTIC
by LD DIDACTIC GmbH
T 8.2.1.7
Principles
The essential task of automatic control technology lies in keeping the system variable under
consideration at a constant level (for fixed reference control) or to correct the system variable to
a predetermined value (follow-up servo control). The desired system response is achieved by
effectively intervening on the system with suitable external means. Undesired effects
(disturbances) should be kept to a minimum, if possible. A distinction is drawn between openloop and closed-loop controls. In the case of open-loop control, there is an open control
sequence that is in the form of a control chain. The following image illustrates this principle.
Disturbances z corrupt the input signal xe. These however are not detected by the control loop
and thus the resulting deviations that are evoked in the output signal Xa cannot be addressed
and eliminated.
Block circuit diagram of an open control chain (1): Control unit
(2): Actuator
(3): Controlled system
In contrast to open-loop control, closed-loop control involves a closed control sequence in which
measurement and feedback operations provide an actual value used for correcting the variable
being controlled. The block circuit diagram illustrates the principle of a control loop. The aim is
to keep the controlled variable x set to setpoint variable w for a prolonged period of time. During
this process, w is the reference input variable which is preset using a setpoint potentiometer.
Block circuit diagram of a closed control loop

1: Controller
2: Actuator
w: Reference input variable
e: Error signal
variable
3: Controlled system
y: Manipulated variable
4: Sensor
x:Controlled
The principle of automatic control comprises the measurement and feedback of the controlled
variable x. By continuously comparing the setpoint value to the actual value, the controller can
directly counteract any potential deviations. If a disturbance appears in the control loop, this
affects a corresponding change in the controlled variable x. The core of the control loop is the
segment where the regulating or correcting process occurs. This segment is termed the
controlled system or system for short.
LD DIDACTIC
by LD DIDACTIC GmbH
T 8.2.1.7
Selecting the controller

In the digital controllers most frequently used, the selection of the right controller for a given
controlled system is simple. PID-controllers are often a good choice and since the amount of
extra work involved with digital controllers is only a question of software, there is really no
economic grounds for not using this multifaceted controller. The only exception to this is the
automatic control of a system with absolute dead time. The table provides an empirical overview
of the use of controllers for certain given controlled systems.
Controller
Controlled system
Absolute dead time
PI
PD
PID
P-action element
PT1 element with small dead time
PT2 element with small dead time
+
+
System with delay time of a higher order

I-action element and delay
+
+
+: Suitable controller type

The table is based on empirical values and is highly dependent on the working conditions of the
controlled system in question. For example, is the system being controlled straying all over the
operating point or is the manipulated variable limited? Then it is better to consider the controller
suitability in the table as only a recommendation with limitations. It may well be that empirically
adjusted controllers operate better than controllers optimised according to adjustment rules.
Dimensioning controllers
After selecting the suitable controller type, the controller parameters have to be set for optimum
operation of the control loop. There are various methods for this:
Empirically designed controllers

Application of the optimisation rules (e.g. according to CHR and ZN)
Evaluation of Bode diagrams
The empirical method can be carried out quickly and allows controllers to be dimensioned for
simple systems. Optimising the controller setting according to the empirical values requires the
following steps:
All controller parameters are set to uncritical: Kp minimal, Ti maximal, Td minimal.

The gain Kp is increased until the system's initial instability is noticed. Oscillations must
be avoided, if necessary, by reducing the gain.
The integral-action component is then also activated, which enhances control precision.
A small D-action component frequently makes automatic control somewhat more
dynamic.
All of the values are readjusted iteratively.
LD DIDACTIC
by LD DIDACTIC GmbH
T 8.2.1.7
CHR optimisation rules for systems without compensation

When controlled systems without compensation (self-regulation) are subjected to a step signal
fed at the system input the output variable does not approach any final steady-state value; for
that reason there is no compensation time (Tb) for these types of controlled system. In this case
it is only possible to determine the integral-action coefficient of the system (here designated KIS)
and the delay time Te based on the step response. The following graphic shows how these
parameters are defined:
x
t
KIS =
x
y t
t
Te
Instead of using an inflectional tangent, in this case the tangent is applied to the step response
for large time values. The heel controlled system is a system without compensation. There are
four CHR optimisation rules in play for each controller type for this kind of controlled system as
well. These are summarised in the following table.
With overshoot
Disturbance
Reference
K PR = 0.71
1
K IS Te
K PR = 0.71
1
K IS Te
PI
K PR = 0.71
1
K IS Te
K PR = 0.59
1
K IS Te
Ti = 2.3 Te
K PR = 1.2
PID
Ti =
1
K IS Te
K PR = 0.95
1
K IS Te
Ti = 2 Te
Ti =
Td = 0.42 Te
Td = 0.47 Te
LD DIDACTIC
by LD DIDACTIC GmbH
T 8.2.1.7
Without overshoot
Disturbance
Reference
K PR = 0.3
1
K IS Te
K PR = 0.34
K PR = 0.3
PI
K PR = 0.59
T = 4 Te
K PR = 0.95
PID
1
K IS Te
1
K IS Te
1
K IS Te
Ti =
1
K IS Te
K PR = 0.59
Ti = 2.4 Te
1
K IS Te
Ti =
Td = 0.42 Te
Td = 0.5 Te
ZN optimisation
The controller optimisation method named after Ziegler and Nichols requires that the control
loop operates at its stability limits. ZN optimisation can only be applied to controlled systems
that are able to oscillate, mostly in the form of PTn-systems with time delay of a higher order
(n > 2). In controlled systems with time delay of a higher order, the control loop is initially closed
with a purely P-action controller and the control gain Kp is increased until, at constant input, the
output performs a sustained oscillation with the duration Tcrit for a controller gain of Kpcrit.
Controller parameters can then be derived from the oscillation period and the controller gain at
the oscillation limit, which provide practical results for disturbance response. The method is only
applicable for processes that can be operated at the oscillation limit safely. The optimisation
rules for the gain Kp, the integral-action (reset) time Ti and the derivative-action time Td (= TV)
for the optimum controller are given in the table.
Controller
Equation
Kp = 0.50 KP,crit
Kp = 0.45 KP,crit
PI
Ti = 0.850 Tcrit
Kp = 0.55 Kp,crit
PD
Td = 0.150 Tcrit
Kp = 0.60 Kp,crit
PID
Ti = 0.500 Tcrit
Td = 0.125 Tcrit
LD DIDACTIC
by LD DIDACTIC GmbH
10
T 8.2.1.7
Automatic heeling control

When we say heeling (= listing) we are referring to the rolling or tilting motion that ships make
in response to waves or during loading. Heeling is particularly noticeable when heavy freight
trains are loaded onto ferries. For rail cars, the launching onto the ferry must be free of any rail
kinks or bends at the crossing points between the ferry and the dock. Any kind of control problem
of this kind having to do with stabilising a position can be investigated using the Heeling control
system. This system can be used equally effectively with the PID digital controller (734 064) or
a software controller operating on the basis of WinFACT. Automatic position servo control using
ballast tanks is also important for aircraft.
Controlled systems: the container ship

The controlled system represents the cross-section of a ship's hull or the fuselage of an aircraft
and is used to investigate the instabilities involved in a non-linear system. The controlled system
is very well suited for FUZZY control. The current tilted position is a function of the filling level of
the two ballast tanks and the load distribution on the deck. The hull's displacement from the
vertical or plumb-line alignment is measured as the heeling angle. Containers here in the form
of cylinder magnets serve as freight and permit realistic experiments to be carried out.
The model is comprised of a rotatable panel on which two ballast tanks are mounted. Water can
be pumped back and forth between the tanks using a gear pump. This action alters the heeling
(tilting) angle of the ship. The deck of the ship can be loaded with small cylinder magnets
(representing containers). The imbalance caused by this leads to a tilting of the hull which needs
correcting by means of controller intervention.
LD DIDACTIC
by LD DIDACTIC GmbH
11
T 8.2.1.7
Step responses of the controlled system

Step responses shall be evaluated to assess the dynamic response of the container ship. A
suitable system optimisation method can be deduced from the step responses.
Equipment
1
1
1
1
1
1
1
1
2
2
734 300
524 016S2
775 690EN
500 59
726 86
500 641
500 642
500 644
Heel controlled system

Profi-CASSY Starter 2 USB
Book: T 8.2.1.7 Automatic heel control
PC with Windows 7/8
Frame
Set of 10 bridging plugs, black
DC power supply 15 V / 3 A
Safety connecting lead 100 cm, red
Safety connecting lead 100 cm, blue
Safety connecting lead 100 cm, black
Profi-CASSY assumes the following functions in this experiment:

Output Y
Output of the manipulated variable UY
Output X
Not used
Input A
Measurement of the listing of the container ship (voltage UA)
Input B
Not used
LD DIDACTIC
by LD DIDACTIC GmbH
12
T 8.2.1.7
Experiment procedure
Set up the experiment as shown in the figure.

Is the container ship able to move freely? Test it by moving back and forth!
Step responses for positive manipulated variables

Load the CASSY Lab example List_SR_pos.labs.
Reference variable generator:
Toggle switch downward
Using the rotary knob set the voltage UB1 to approx. -2 V. The pump starts up and fills
the left hand tank. Once the horizontal alignment of the hull is attained, set the toggle
switch to the upward position. If necessary, carry out a sample measurement until the
position is fine tuned.
Set the slide switch Step to Y = 5 V.
Start the measurement by pressing F9.
After the measurement, keep the toggle switch of the reference variable generator set in
the downward position until the hull is located in the horizontal position.
Evaluate the measurement. To do this right click in the graphic and Set marking to
(horizontal and vertical). Then select Carry out adjustment, mean straight line.
Determine the integral-action coefficient KIS. The following is true:
K IS =
A
1
=
TI
Y
Here A stands for the slope of the mean straight line in the CASSY Lab evaluation while
Y is the step amplitude at the input of the controlled system and TI is the integral-action
or rate time.
Determine the delay time Te.
Determine the rate time TI based on the integral-action coefficient KI directly from the
graph.
Repeat the measurement using Step: Y = 3 V and Y = 1 V.
Enter all of the measurement results into the table.
Interpret the step responses for the positive manipulated variables.
LD DIDACTIC
by LD DIDACTIC GmbH
13
T 8.2.1.7
Step responses for negative manipulated variables

Load the CASSY Lab example List_SR_neg.labs.
Reference variable generator:
Toggle switch downward
Using the rotary knob set the voltage UB1 to approx. +2 V. The pump starts up and fills
the right hand tank. Once the horizontal alignment of the hull is attained, set the toggle
switch to the upward position. If necessary, carry out a sample measurement until the
position is fine tuned.
Set the slide switch Step to Y = -5 V.
After the measurement, keep the toggle switch of the reference variable generator set in
the downward position until the hull is located in the horizontal position.
Repeat the measurement using Step: Y = -3 V and Y = -1 V.
Enter all of the measurement results into the table.
Interpret the step responses for negative manipulated variables.
LD DIDACTIC
by LD DIDACTIC GmbH
14
T 8.2.1.7
Results
Step responses for positive manipulated variables
U
A1
X = 3,68 V
t = 4,83 s
T e = 2,16 s
1
Offset = 0,29 V
0
1
6
t /s
For positive manipulated variables, the ship's hull rotates in the clockwise direction.
Determining the integral-action or integration constant
Step amplitude of the manipulated variable Y = 1 V
The linear rate of rise for the controlled variable (= tilting of the ship's hull) commences
after approx. Te = 2.16 s.
The measurement is limited (intendedly) to 7 s so that the tilt is not too excessive and
the ballast tanks do not spill over. By using the pump to redistribute the ballast tank
levels, a tilt angle of at most approx. +/- 10 can be compensated for. For an even greater
listing angle, the water returns through the overflow hose back into the other ballast tank.
For that reason, re-pumping is able to achieve a maximum of approx. +/-6 V for the
controlled variable.
To determine the integral-action time using the graph, the time is determined which the
output signal (= controlled variable x) needs to increase and approach the value of the
manipulated variable. Here a possible offset also needs to be taken into consideration.
X = Y t = TI
This definition only works for controlled systems with the same kind of input and output
signals, for example, voltages (V).
LD DIDACTIC
by LD DIDACTIC GmbH
15
T 8.2.1.7
A1
#3
0
1
6
t /s
Step responses of the heel controlled system

Black:
Step response for Y = 1 V
Red:
Blue:
Interpretation
As a response to the abrupt step-shaped pumping of the ballast tanks, there follows a
rotation of the ship's hull once the delay time Te has elapsed.
For a manipulated variable of Y = 5 V at the input of the heel controlled system, the
CASSY supplies a mean straight line with the slope or rate of rise of A = 1.47 V/s. The
axis segment (B) is not important for determining the integral-action coefficient KIS. The
following is true:
K IS =
A 1.47 V / s
=
0.3 s 1
5V
Y
LD DIDACTIC
by LD DIDACTIC GmbH
16
T 8.2.1.7
Evaluation of the step response example for Y = +1 V

U
A1
T e = 2,16 s
A=K
IS
x Y = 0,700 V/s;
B = -1,25 V (
A *x + B )
Offset = 0,29 V
0
0
6
t /s
Evaluation using the matching function (fit function)
A1
T I = 1,43 s
1,00 V
0
0
6
t /s
Graphic evaluation
LD DIDACTIC
by LD DIDACTIC GmbH
17
T 8.2.1.7
Interpretation
The heel controlled system responds somewhat like an I-action element with PT2
components (I-T2-element, integral-action controlled system with time delay of the
second order).
The following limits apply for the ship's tilt angle:
Mechanically, by hand: 15
Electrically based on the angular encoder: approx. 13 (8.5 V)
The pumping operation enables the controlled variable to reach a maximum of Xmax = 6 V.
Beyond that, the tilting angle is too excessive and the ballast tanks spill over.
The rotary transducer is designed as a wire-wound potentiometer. The resolution is
limited and amounts to 1000 windings for 360 (approx. 0.3). This corresponds to a step
change in the output signal of the angular encoder of approx. 0.2 V!
Due to the limited resolution, the output signal of the rotary transducer is step-shaped.
The relationship between the integral-action or rate time and the integral-action
coefficient is:
K IS =
1 X
A
1
=
=
t Y
Y TI
Input
Slope (A)
KIS
Te
TI
Y = 1 V
0.70Vs-1
0.70 s-1
2.2 s
1.42 s
Y = 3 V
1.27 Vs-1
0.42 s-1
1.4 s
2.38 s
Y = 5 V
1.47 Vs-1
0.30 s-1
1.2 s
3.33 s
LD DIDACTIC
by LD DIDACTIC GmbH
18
T 8.2.1.7
Step responses for negative manipulated variables

U
A1
#3
-1
-2
-3
-4
-5
-6
1
6
t /s
Input
Slope (A)
KIS
Te
TI
Y = -1 V
-0.720Vs-1
0.70 s-1
1.8 s
1,437 s
Y = -3 V
-1.27 Vs-1
0.42 s-1
1.4 s
2.38 s
Y = -5 V
-1.52 Vs-1
0.30 s-1
1.1 s
3.33 s
Summary
Controlled systems without compensation (integral-action systems) respond to a step

change in the input variable (manipulated variable) with a linear rise of the output variable
over time.
A final, fixed steady-state value does not exist for the output variable.
Without restriction due to a safety mechanism (e.g. proximity switch) or a more suitable
construction (e.g. overflow of the tank, op amp saturation) the controlled variable left to
itself strives towards infinitely.
Due to the lack of any self-regulating limitation, I-action systems are generally more
difficult to correct than P-action controlled systems.
LD DIDACTIC
by LD DIDACTIC GmbH
19
T 8.2.1.7
CHR optimisation for reference control

The optimisation method according to CHR can be applied for reference and disturbance
control. In this experiment only reference control is investigated. The heel controlled system
essentially features integral-action character with a small PT2-element (I-T2- response).
Controlled systems of this kind do not reach any steady-state value without a controller and only
respond very slowly. The pure I-action controller is unsuitable for closed-loop control of I-action
systems, since both the controller as well as the controlled system produce a phase
displacement of -90. In the closed control loop this results in positive feedback that brings about
sustained oscillations. In contrast to this, there are no stability problems associated with the use
of a P-action or PI-controller. The P-controller however is unable to fully correct for and eliminate
disturbances. In the case of a pure I-system, an additional D-element in the controller has no
extra advantages. On the other hand, in the case of I-systems with time delay, it makes sense
to use a D-action element. In this experiment, the controller is optimised first according to the
optimisation rules set forth by CHR. The setpoint reference variable is a step function with
periodically varying step amplitude. The universal electronic PID digital controller is selected as
the controller.
Within limits of the PID digital controller

The overshoot indicator OVER on the controller changes colour depending on the operating
condition.
Over
Significance
Red
Overshoot at the input of the PID digital controller. The differential between
the reference variable and the controlled variable is more than 20 V.
Blue
Overshoot at the output of the PID digital controller.
Violet
Overshoot at both input and output of the PID digital controller.
Equipment
1
1
1
1
1
1
1
1
2
2
2
734 064
734 300
524 016S2
775 690EN
500 59
726 86
500 641
500 642
500 644
PID digital controller

Profi-CASSY Starter USB
PC with Windows 7/8
Frame
LD DIDACTIC
by LD DIDACTIC GmbH
20
T 8.2.1.7
Output Y
RESET
Output X
Output of the reference variable (operating the pump)
Input A
Measurement of the controlled variable (tilting of the ship)
Input B
Measuring the control error

Calculate the CHR optimisation parameters for reference response with overshooting.
Enter all of the values into the table. The system parameters of the heel controlled
system are derived from the step response for 3 V:
KIS = 0.42 s-1
Te = 1.4 s
Controller
CHR reference, overshoot 20%

Equation
K PR = 0.71
1
K IS Te
PI
K PR = 0.59
1
K IS Te
Evaluation
Ti =
K PR = 0.95
PID
1
K IS Te
Ti =
Td = 0.47 Te
Set the digital controller: Kp = 1.6, Ti = oFF, Td = 0.65.
LD DIDACTIC
by LD DIDACTIC GmbH
21
T 8.2.1.7
Load the CASSY Lab example List_CL_Ref.labs.

Evaluate the measurement.
Determine the maximum control deviation (error signal) e in steady-state operation.
Interpret your results.
Variations
Modify the controller parameters at your own discretion (empirical optimisation) and
observe the effects on the closed-loop control process.
Modify the step amplitudes: To do this, open Amplitude in the CASSY samples and
adjust the slide control to the desired values.
Vary the offset voltage (Offset DC) and observe the result.
LD DIDACTIC
by LD DIDACTIC GmbH
22
T 8.2.1.7
Results
Controller
CHR reference, overshoot 20%

Equation
Evaluation
K PR = 0.71
1
K IS Te
1.207
PI
K PR = 0.59
1
K IS Te
1.003
1
K IS Te
1.616
Ti =
K PR = 0.95
PID
Ti =
0.658 s
Td = 0.47 Te
LD DIDACTIC
by LD DIDACTIC GmbH
23
T 8.2.1.7
e #1
Controller
PD-controller, CHR overshoot 20%
Controller parameters
Kp = 1.6
Reference
Step change from w = -3 V w = +3 V
Disturbances
None
Td = 0.65 s
10
-5
-10
0
50
100
t /s
Black:
Red:
Blue:
Reference variable w
Controlled variable x
Error e
Interpretation
The controller setting was carried out in accordance with CHR for reference setpoint
overshoot of 20%. In spite of that, the controlled variable still demonstrates an aperiodic
characteristic.
The steady-state error signal e = X is due to the loop gain K0 of the open control loop.
This is small for this measurement.
LD DIDACTIC
by LD DIDACTIC GmbH
24
T 8.2.1.7
e #1
Controller
P-controller, empirical setting
Kp = 3.5
Reference
Disturbances
None
10
-5
-10
0
50
100
t /s
Black:
Red:
Blue:
Reference setpoint variable w (from Profi-CASSY output X)

Error e
Interpretation
Starting from a CHR optimisation, the controller parameters were then modified
empirically.
The controlled variable now shows practically no steady-state error signal at all.
The correction phase is carried out faster than was the case with CHR optimisation.
LD DIDACTIC
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25
T 8.2.1.7
e #1
Controller
PD-controller, empirical setting
Kp = 3.5
Reference
Disturbances
None
Td = 0.10 s
10
-5
-10
0
50
100
t /s
Black:
Red:
Blue:
Error e
Interpretation
The steady-state control error in response to a step change is for all practical intents
compensated by the integral-action element of the controlled system: e = 0 V
The PD-controller, which has empirically adjusted controller parameters, delivers
acceptable results for the selected operating point.
The rate of rise and the correction time can be improved with suitable controller settings.
Note
The parameters may fluctuate for optimal PID controllers. Try it out yourself!
LD DIDACTIC
by LD DIDACTIC GmbH
26
T 8.2.1.7
Disturbance response of the closed control loop

Disturbances can be introduced and investigated to the heel controlled system at different
locations:
Internal disturbances
Electrical disturbance voltages are fed directly into the summing point at the output of
the PID digital controller (Ux of the Profi-CASSY functions as disturbance variable).
Mechanical disturbances
Disturbances in the system's equilibrium can also be directly introduced by giving it a
push by hand. Furthermore, magnets can be attached to the ship's hull as loads
(containers).
PI- or PID-controllers can be used whose parameters are determined according to CHR or
determined empirically through trial and error.
Equipment
1
1
1
1
1
1
1
1
2
2
2
734 064
734 300
524 016S
775 690EN
500 59
726 86
500 641
500 642
500 644

PC with Windows 7/8
Frame
LD DIDACTIC
by LD DIDACTIC GmbH
27
T 8.2.1.7
Output Y
RESET
Output X
Triggering the disturbance Ux
Input A
Measurement of the controlled variable x (listing)
Input B
Measurement of the control deviation e

The following applies for the system parameters of the heel controlled system:
KIS = 0.42 s-1
Te = 1.4 s
Calculate the CHR controller parameters for an aperiodic disturbance and enter the
values into the table.
Controller
CHR disturbance, aperiodic

Equation
Evaluation
1
K IS Te
K PR = 0.3
PI
K PR = 0.59
1
K IS Te
Ti = 4 Te
K PR = 0.95
PID
1
K IS Te
Ti = 2.4 Te
Td = 0.42 Te
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28
T 8.2.1.7
Set the digital controller: Kp = 0.50, Ti = oFF, Td = oFF.

Load the CASSY Lab example List_CL_Ref.labs.
Reference variable generator: Toggle switch in the upward position, setpoint = 0 V.
Set the digital controller: Kp = 1.0, Ti = 5.6 s, Td = oFF.
Repeat the measurement.
Set the digital controller: Kp = 1.6, Ti = 3.4 s, Td = 0.60.
Repeat the measurement.
Display the set of controlled variables for the P-, PI- and PID-control loop together.
Interpret your results.
Disturbance control with reference preset

Set the digital controller: Kp = 1.6, Ti = 3.4 s, Td = 0.60.
Load the CASSY Lab example List_CL_Dist.labs.
Reference variable generator: Toggle switch in the downward position. Preset the ship's
tilt angle manually with the potentiometer.
For the PID controller, display the disturbance variable, the controlled variable and the
control deviation (= e) together. At the same time, adjust the reference variable coming
from the reference variable generator.
Open the instruments DC and A.
Set the DC offset and the amplitude of the disturbance signal to 1 V using the slide bar.
Set the digital controller: Kp = 1.0, Ti = oFF, Td = 0.70 s.
Start the measurement and at the same time slide the magnets to one side.
Repeat the experiment using one or both magnets. Observe the result.
Use your hand to rotate the ship's hull while measuring with CASSY.
Let go of the ship and observe the correction process of the control system.
Is it possible to achieve a rapid correction of the disturbance?
Variations
Modify the controller parameters at your own discretion and observe the effects on the
closed-loop control process.
LD DIDACTIC
by LD DIDACTIC GmbH
29
T 8.2.1.7
Results
Disturbances are fed in the form of voltage signals to the output summing point of the PID digital
controller.
Controller
CHR disturbance, aperiodic

Equation
Evaluation
1
K IS Te
0.51
1
K IS Te
1.003
K PR = 0.3
PI
K PR = 0.59
5.6 s
Ti = 4 Te
K PR = 0.95
PID
1
K IS Te
1.616
3.36 s
Ti = 2.4 Te
0.588 s
Td = 0.42 Te
LD DIDACTIC
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30
T 8.2.1.7
Disturbance control using P-, PI- and PID-controllers

Controller
P- / PI- / PID according to CHR, disturbances aperiodic
Kp = 0.51
Kp = 1.0
Ti = 5.6
Kp = 1.6
Ti = 3.4 s
Disturbance
Symmetrical square-wave signal at the controller output, amplitude 3 V
Z #1
Td = 0.6 s
10
-10
0
50
100
t /s
Black: Disturbance variable at the controller output

Red:
Automatic disturbance control using the P-controller:
Blue:
Automatic disturbance control using the PI-controller:
Green:
Automatic disturbance control using the PID-controller:
Interpretation
Disturbances to the equilibrium of the heel controlled system are corrected the fastest
and with the least amount of overshoots using the PID-controller.
LD DIDACTIC
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31
T 8.2.1.7
Disturbance control with reference preset

Controller
PID-controller according to CHR, with aperiodic disturbances
Kp = 1.6
Disturbance
Symmetrical square-wave signal at the controller output, amplitude 3 V
e #1
Ti = 3.4 s
Td = 0.6 s
10
-5
W=0V
W>0V
-10
0
50
100
t /s
Plot of the disturbance variable, the controlled variable and control deviation (error)
Black:
Disturbance variable z, here square-wave signal +/-3 V
Red:
Blue:
Control deviation (error) e for w = 0 and w > 0
Interpretation
The disturbance variable z stems from the X-output of the Profi-CASSY and is fed to the
output summing point of the PID digital controller.
If the reference variable is w = 0 V, the ship's tilt angle is corrected to 0. (Reference
variable generator: toggle switch in the upward position.)
If the reference variable is w 0 V, the ship's tilt angle is also corrected to a value 0.
The position sensor has a resolution of 0.3 which corresponds to approx. 0.2 V. The
control deviation e cannot be lower than the sensor resolution.
LD DIDACTIC
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32
T 8.2.1.7
Controller
PI-controller, empirical optimisation
Kp = 1.0
Internal disturbance
Step change from w = 0 V w = 2 V
Additional disturbances
Magnets, pushed by hand
e #1
Ti = oFF
Td = 0.7 s
10
-5
-10
0
50
100
t /s
Black:
Red:
Blue:
Internal (electrical) disturbance variable

Controlled variable
Control deviation
Interpretation
The mechanical disturbance is produced by pushing against the ship's hull or by moving
the load magnets.
In addition to the mechanical disturbance there is an electrical disturbance affecting the
controlled system at the output of the controller.
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33
T 8.2.1.7
Modelling and simulation

Identifying controlled systems
The controlled system modelling and the recording of the step response are all performed using
the WinFACT software. Here the attempt is made to achieve as much agreement as possible
between the simulated step response and the experiment-based step response from Experiment
1 with the CASSY Lab. The objective is to determine the oscillation capacity of the heel
controlled system and, if necessary, to take precautions which would permit the use of the ZN
method on the heel controlled system.
Equipment
1
1
734 482
WinFACT COM3LAB/CASSY Edition

PC with Windows 7/8
Load the WinFACT example CharSimList.bsy.
Click on
to see the measurement instruments.
Start the measurement by pressing on .
If necessary, optimise the parameters in the block structure of the controlled system.
Here the objective is to find as much agreement as possible with the step response
results using the CASSY Lab.
Explain schematically the function of the blocks in the WinFACT reference controller.
Evaluate the step response of the simulated controlled system. MULTIPLOT2 shows the
shared step change signal at the input (5 V) and the step response. MULTIPLOT only
shows the step response.
Use the tangent tool found in the plotter for the evaluation of the step response.
LD DIDACTIC
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34
T 8.2.1.7
Results
The heel controlled system is a complicated, technical controlled system which is modelled out
of red blocks in BORIS:
Block
Function
GENERATOR
Generator for reference variables
DEADZONE
Starting response of the pump
PT1T2
Eddy current brake and bearing friction, time delay of electronic

components
Simulation of the ballast tanks (integrators)
QUANTIZER
Taking the resolution of the position sensor into consideration
MULTIPLOT 2
Plot of the reference variable, controlled variable and the step response
Notes
The DEADZONE block accounts for the start-up voltage of at least -0.6 V to 0.6 V which
the pump requires. This block is not important for recording step responses for step
change amplitudes amounting to 5 V. However, when a controller is being used, the
block must be taken into consideration.
The block PT1T2 contains the time constants T1 = 0.5 s and T2 = 1.0 s. The equivalent
dead time from the CASSY step response provides approx. 1 s (precisely: Te = 1.2 s).
The PT2 response is due to the above mentioned causes.
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35
x/V
T 8.2.1.7
GENERATOR
QUANTIZER
6
0
0
Blue (GENERATOR):
Red (QUANTIZER):
6
t/s
Input step change at the point in time t = 0 s from 0 V 5 V

(y = 5 V)
Output voltage x of the position sensor
t1 = 1.36 s (approx. Te = 1 s) K I =
x
dy
=
= 1.55 Vs-1/5 V KI = 0.31 s-1
y t
y dt
Note
In the marker field (MULTIPLOT), the characteristic's slope or rate of rise is defined as dy/dt. It
is not possible to edit the derivation in dx/dt.
Interpretation
The step response simulated using BORIS corresponds to the measurement made using
CASSY Lab.
The heel controlled system can be described as an I-T2controlled system at the
operating point considered here.
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36
T 8.2.1.7
Simulated heel controlled system operating at its stability limits

The heel controlled system examined using the BORIS simulation is now expanded by adding
a P-controller. Batch runs can be carried out with the assistance of the software package
WinFACT LD license. In this case, the controller gain KR can be varied in fixed increments which
makes the effects that gain setting has on the closed control loop particularly conspicuous. Using
the WinFACT COM3Lab / CASSY edition, the simulation can only be performed in single-step
mode (batch runs are not possible).
Equipment
1
1*
1
734 482
734 492

WinFACT LD license
PC with Windows 7/8
* recommended
Load the WinFACT example ZNSimList.bsy.
Click on
Start the batch run or the single step measurement.
If necessary, optimise the settings of the P-controller.
Vary the system parameters and observe how they impact the stability of the closed
control loop.
LD DIDACTIC
by LD DIDACTIC GmbH
37
T 8.2.1.7
Results
Block
Function
GENERATOR
PID
Controller, operated here as a pure P- controller
DEADZONE
DEADTIME
Dead time
PT1T2

components
QUANTIZER
MULTIPLOT
LD DIDACTIC
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38
y ->
T 8.2.1.7
1.5
KR=4
KR=6
KR=8
KR=10
1.0
0.5
0.0
-0.5
-1.0
-1.5
0
10
15
20
25
30
t ->
Interpretation
Once a critical controller gain level is exceeded, the BORIS model for the heel controlled
system demonstrates continuous oscillation (Kpcrit = 10, Tcrit = 5 s).
The oscillation tendency depends on the following controlled system parameters:
Dead zone
Systems time constants T1, T2.
Quantisation of the sensor signal
The step-like formation in the characteristic signal of the controlled system can be
attributed to the winding throws in the positioning sensor (wire potentiometer). In the
block circuit diagram, this is accounted for by the quantizer element.
LD DIDACTIC
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39
T 8.2.1.7
Simulated heel controlled system with PT2 filter

The heel controlled system examined in the BORIS simulation is expanded by an additional
PT2-element (PT2-PREFILTER).
Equipment
1
1*
1
734 482
734 492

WinFACT LD license
PC with Windows 7/8
* recommended
Note
Using the WinFACT COM3Lab / CASSY edition the simulation can only be performed in singlestep mode (batch runs are not possible).
Load the WinFACT example ListPT2_ZN_Sim.bsy.
Click on
Start the batch run or the single step measurement.
If necessary, optimise the settings of the P-controller.
Vary the system parameters and observe how they impact the stability of the closed
control loop.
LD DIDACTIC
by LD DIDACTIC GmbH
40
T 8.2.1.7
Result
Block
Function
GENERATOR
PID
Controller, operated here as a pure P-controller
PT2-PREFILTER
Increase the system order, T1 = T2 = 0.6 s
DEADZONE
PT1T2

components
QUANTIZER
MULTIPLOT
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41
T 8.2.1.7
Interpretation
The heel controlled system with PT2-prefilter oscillates easier and, at the same
controller gain setting, produces higher oscillation amplitudes than the heel controlled
system on its own.
After exceeding the critical controller gain, the closed control loop carries out steadystate oscillations. From the plot we obtain:
KPcrit = 6
Tcrit = 12 s
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by LD DIDACTIC GmbH
42
T 8.2.1.7
ZN optimisation of the heel controlled system with PT2

This experiment takes the knowledge we attained in the simulation and transfers it to the real
experiment. To increase the oscillation tendency of the real system, an electronic filter (PT2) is
connected in series to the heel controlled system. This increases the order of time delay for the
entire controlled system and permits the system to operate at the oscillation limits. Then, in an
initial experiment step, the critical controller gain Kpcrit and the oscillation period Tcrit are
determined. The optimisation rules for the gain Kp, the integral-action time Ti and the derivativeaction time Td for the optimum controller are given in the table. ZN parameters are first and
foremost optimised for good automatic disturbance control. However, the controller parameters
you work out can also be used for reference (setpoint) variable control since manual tuning has
to be carried out anyway (post-optimisation).
Controller
Equation
Parameter
Kp = 0.50 KPcrit
Kp
Kp = 0.45 KPcrit
Kp =
Ti = 0.850 Tcrit
Ti =
Kp = 0.55 KPcrit
Kp =
Td = 0.150 Tcrit
Td =
Kp = 0.60 KPcrit
Kp =
Ti = 0.500 Tcrit
Ti =
Td = 0.125 Tcrit
Td =
PI
PD
PID
Equipment
1
1
1
1
1
1
1
1
1
1
3
2
2
2
734 064
734 091
734 300
524 016S
775 690EN
500 59
500 592
726 86
500 641
500 642
500 644
510 48

Digital controlled system
PC with Windows 7/8
Frame
Set of 10 bridging plugs, black with tap
Magnets, 35 mm, pair
LD DIDACTIC
by LD DIDACTIC GmbH
43
T 8.2.1.7

Output Y
RESET
Output X
Reference variable. Attention: Optimisation is specifically carried out for

disturbance control!
Input A
Voltage at the output of the position sensor of the heel controlled system
Input B
Not used
Determination of the optimum ZN parameters
Digital controlled system

Set the following parameters: KS = 1 and 2x PT1 with T1 = 0.6 s and T2 = 0.6 s.
Digital controller
Set the following parameters: Kp = 2, Ti = oFF, Td = oFF.
Load the CASSY Lab example List_ZN_Parameter.labs.

Increase the gain Kp until the controlled system reaches its stability limits. This is then
the case if the controlled variable starts to exhibit (continuous) oscillations.
If necessary, trigger the oscillations by pushing against the deck of the container ship.
Evaluate the measurement in a graph. Use the markers.
Note down the critical gain Kpcrit and the oscillation duration Tcrit.
Reduce the controller gain until the control oscillations begin to fade away again.
Calculate the optimum controller parameters according to ZN.
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44
T 8.2.1.7
Reference control according to ZN

On the PID digital controller, set the parameters according to ZN for a P-controller.
Kp = 2.5
Load the CASSY Lab example List_ZN.labs.
Evaluate the measurement in a graph.
Repeat the measurement for the following controllers.
Ti = 6.0 s
Td = oFF
PI-controller:
Kp = 2.3
PD-controller:
Kp = 2.8
Ti = off
Td = 1.1 s
Ti = 3.5 s
Td = 0.85 s.
PID-controller:
Kp = 3.0
Disturbance control according to ZN
Connect the X-output of the Profi-CASSY with the +input at the output of the PID digital
controller. To do this, re-plug the cable, the +input of the PID digital controller remains
disconnected!
Set the following parameters on the PID digital controller:
PD-controller:
Kp = 2.8
Ti = off
Td = 1.1 s
Load the CASSY Lab example List_ZN.labs.
Evaluate the measurement in a graph.
Variations
Repeat the experiment with modified PT2-controlled system gain settings.
LD DIDACTIC
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45
T 8.2.1.7
Results
Determination of the optimum ZN controller parameters
f1
100
T crit = 7,6 s
50
0
0
100
50
t /s
Operating the heel controlled system with the P-controller after exceeding the oscillation limit
1 = initiating oscillating phase (manual), 2 = oscillation phase, 3 = oscillation decay phase
Red:
Black:
Controlled variable x, KR = 4 for phase 2 (for t = approx. 50 s), KR = 2 for phases

1 and 3
Evaluations
Interpretation
With the PT2-element connected upstream in series there are considerable control
oscillations arising in the heel controlled system.
The ZN optimisation method can be applied with good results to the expanded heel
control loop with PT2 prefilter.
A determination of the oscillation limits does not provide any clearly defined value for the
critical controller gain setting. The Kpcrit value lies somewhere in the range from approx.
3 < Kpcrit < 6 for the existing heel controlled system with PT2-filter. The value can vary
from case to case and has an immediate effect on finding the optimum controller
parameters.
The critical period duration may, for example, be at Tcrit = 7 s.
Once the gain KR is reduced, the control oscillations begin to fade away again.
The objective of the experiment is to illustrate the fundamentals of automatic control
technology. In reality, it is normally not possible to optimise the control loop according to
the ZN method, since real processes may never be allowed to operate on the oscillation
limits.
LD DIDACTIC
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46
T 8.2.1.7
ZN controller parameters
Controller
P
PI
PD
PID
Equation
Parameter
Kp = 0.50 Kp,crit
Kp = 2.5
Kp = 0.45 Kp,crit
Kp = 2.3
Ti = 085 Tcrit
T1 = 6.0 s
Kp = 0.55 Kp,crit
Kp = 2.8
Td = 0.15 Tcrit
T1 = 1.1 s
Kp = 0.60 Kp,crit
Kp = 3.0
Ti = 0.50 Tcrit
T1 = 3.5 s
Td = 0.125 Tcrit
T1 = 0.85 s
LD DIDACTIC
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47
T 8.2.1.7
Reference control according to ZN

Controller
P-controller, ZN optimisation method
Kp = 2.5
Controlled system
Heel controlled system with PT2
Reference
Step change from w = -1 V w = 1 V
Disturbance
None
U A1
-1
-2
-3
0
50
100
t /s
ZN optimisation for automatic heel control with PT2-prefilter

Red: Controlled variable x (tilt angle)
Blue: Reference variable w
Interpretation
The automatic control is unusable. Optimisation of the position control for a heel control
loop with PT2-filter according to ZN is simply not possible with a P-controller.
The ZN method is primarily used for the automatic disturbance control. When
determining controller parameters using optimisation rules, ZN - unlike CHR - does not
distinguish between reference control and disturbance control.
For that reason, the same controller parameters are used for both reference and
disturbance control.
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48
T 8.2.1.7
Controller
PI-controller, ZN optimisation method
Kp = 2.3 Ti = 6.0 s.
Controlled system
Reference
Disturbance
None
-1
-2
-3
0
50
100
t /s

Interpretation
The automatic control is unusable. Optimisation of the position control for the heel control
loop with PT2-filter according to ZN is simply not possible with a PI-controller.
The integral component in the controller amplifies the oscillation tendency of the
controlled system (I-T2 system).
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49
T 8.2.1.7
Controller
PD-controller, ZN optimisation method
Kp = 2.8
Controlled system
Reference
Disturbance
None
Td = 1.1 s
-1
-2
-3
0
50
100
t /s

Blue: Reference variable W
Interpretation
The control operation is fast and precise.
ZN optimisation for automatic heel control with a PT2-prefilter is very well suited for a
PD-controller.
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50
T 8.2.1.7
Controller
PID-controller, ZN optimisation method
Kp = 3.0
Controlled system
Reference
Additional disturbance
None
Ti = 3.5 s
Td = 0.85 s
-1
-2
-3
0
50
100
t /s

Interpretation
The control operation is imprecise and oscillates.
ZN optimisation for automatic heel control with a PT2-prefilter is only moderately well
suited for a PID-controller.
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51
T 8.2.1.7
Disturbance control according to ZN

Controller
PD-controller, ZN optimisation method
Kp = 2.8, Ti = oFF, Td = 1.1 s.
Controlled system
Heel controlled system with PT2-prefilter
Disturbances
Internal, electrical: Step change from z = -1 V z = +1 V

Mechanical: Magnets and a push by hand
U A1
-1
-2
-3
0
50
100
t /s
Black:
Red:
Blue:
Normal position of the ship (controlled variable X = 0 V +/- 0.4 V)

Controlled variable x, after a manual nudge and repositioning of the load
magnets.
Internal disturbance variable z, fed forward to the output summing point of the
Interpretation
Thanks to the series connection of the PT2-element to the heel controlled system we
obtain an integral-action controlled system with time delay of the n = 3 order (with dead
time). These kinds of controlled systems are difficult to control.
Determining the critical oscillation period and the proportional gain is much simpler in
systems with time delay of a higher order.
The optimisation of a PD controller according to ZN provides a usable disturbance
response for the heel controlled system with PT2-prefilter.
ZN optimisation for reference and disturbance response only provides acceptable
results for a PD-controller.
LD DIDACTIC
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52
T 8.2.1.7
Continuous software controllers

In this experiment, the real heel controlled system will be controlled using a software controller
created with WinFACT. The ramp-shaped reference variable is also generated by the simulation
and then fed forward to the real controlled system using the Profi-CASSY interface.
Equipment
1
1
1
1
1
1
1
1
1
2
1
734 300
524 016S
775 690EN
500 59
726 86
500 641
500 642
500 644
510 48

PC with Windows 7/8
Frame
Magnets, 35 mm, pair

Output Y
Not used
Output X
Manipulated variable
Input A
Voltage at the output of the position sensor
Input B
Not used
LD DIDACTIC
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53
T 8.2.1.7
Recording the step response using WinFACT

Load the WinFACT example ListSR.BSY.
Click on
If necessary optimise the generator settings (step amplitude, delay, period duration).
Reference control of the heel controlled system using WinFACT

Load the WinFACT example ListRef.BSY.
Click on
If necessary, optimise the generator settings (step change amplitude, delay, period
duration) and the controller parameters.
LD DIDACTIC
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54
T 8.2.1.7
Results
Recording the step response using WinFACT
Block
Function
GENERATOR
Generator for input variables
MULTIPLOT2
Plot of the input variable and the step response
EVALUATION
Evaluation of the step response
USER1, X
Profi-CASSY output for the manipulated variable
USER1, A
Profi-CASSY input for the measuring the listing (actual value)
Red:
Black:
Virtual blocks in WinFACT

WinFACT blocks with inputs / outputs for real components
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55
y ->
T 8.2.1.7
GENERATOR
USER1
6
-2
-4
-6
-8
0
10
12
14
16
18
t ->
20
Joint display of the step change signal at the input of the heel controlled system and the step
response
GENERATOR:
USER 1:
Input signal
Step response of the heel controlled system
Evaluation using the tangent tool of MULTIPLOT2

Rate of rise of the step response for integral-action controlled systems: dy/dt = 1.38 Vs-1
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56
T 8.2.1.7
Interpretation
In the time period 0 < t < 10 when the left ballast tank is filling up, the controlled variable
characteristic (tilt angle) is negative.
In the time period 10 < t < 20 s the step amplitude becomes positive and the right-hand
tank is filling up (clearly visible on the plotter MULTIPLOT2).
Using the plotter EVALUATION function, it is possible to assess the step response. For
a step amplitude of 4 V, we obtain:
KI =
Note
x
dy
=
= 1.38 Vs-1/4 V KI = 0.35 s-1
y t
y dt
In the marker field EVALUATION, the characteristic's slope is defined as dy/dt. It is not
possible to edit the derivation in dx/dt (x for controller variable, y for manipulated
variable).
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57
T 8.2.1.7
Reference control of the heel controlled system using WinFACT
Block
Function
GENERATOR
Generator for ramp-shaped reference variables
PID
Controller
SUMMING POINT
Summing point of the controller
Multiplot 2
Plot of the reference variable, controlled variable
USER1, X
USER1, A
Profi-CASSY input for the measurement of the controlled variable
Red:
Black:

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58
y ->
T 8.2.1.7
GENERATOR
USER1
-1
-2
-3
-4
-5
0
GENERATOR:
USER 1:
10
12
14
16
18
t ->
20
Interpretation
Only slight ramp delay.
Software controllers are sampling data instruments. For that reason, they are subject to
additional dead times and therefore have an increased tendency to oscillate.
With software controllers, the reference control is best using the P-controller. Only slight
ramp delay.
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59
T 8.2.1.7
Automatic heel control with a three-position controller

The pump of the heel controlled system is a bi-directional actuator. Depending on the polarity it
exchanges liquid back and forth between the ballast tanks and thus achieves the desired tilt or
list angle of the ship's hull. For the automatic control of a bi-directional system, it is not possible
to use a bi-polar, two position controller, since this would lead to unlimited and continuous
pumping back and forth (and thus oscillations). In such cases, only the three position controller
is of help. Its manipulated variable not only allows for the operating states +/- y0 but also the
zero state, meaning that the pump can also be disabled. The controller is comprised of a
symmetrical three-point element with switchover points x0 and x0 and the operating points y0
and y0 and a hysteresis element with a hysteresis range of x. The controller characteristic
has the following shape:
Equipment
1
1
1
1
1
1
1
1
1
1
2
2
734 02
734 300
524 016S
775 690EN
734 482
500 59
726 86
500 641
500 642
500 644
Reference variable generator

PC with Windows 7/8
Frame

Output Y
Not used
Output X
Output of the manipulated variable y
Input A
Measurement of the reference variable w
Input B
Measurement of the controlled variable x (tilting)
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60
T 8.2.1.7
Load the WinFACT example 3PointList.bsy.
Click on
Reference variable generator

Toggle switch downward. Set a reference variable w of approx. 0 V using the
potentiometer.
If necessary, optimise the settings of the controller.
Initiate strong oscillations to the ship's hull by giving it a push with your hand. Modify the
setpoint reference variable.
Explain schematically the function of the blocks in the WinFACT three-position controller.
Slide the load magnets around.
Explain the response of the three-position controller
Variations
Use your own ideas to modify the controller parameters.
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61
T 8.2.1.7
Result
Block circuit diagram of the three-position controller
Block
Function
Controller
Three-position controller
Reference
Plot the reference variable in the plotter
Listing
Plot the controlled variable in the plotter
Reference Meter
Display the setpoint value
Listing Meter
Display the actual value
Multiplot 2
Plot of the reference variable, controlled variable and manipulated

variable
CASSY OUT, X
CASSY IN, A
Profi-CASSY input for the measurement of the external reference

variable
CASSY IN, B
Profi-CASSY input for the measurement of heel controlled system,

controlled variable
Red:
Black:

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62
y ->
T 8.2.1.7
15
Reference
Listing
Controller
10
-5
-10
-15
0
10
15
20
25
30
35
40
45
t ->
50
Blue: Setpoint variable (Reference) w

Red: Controlled variable (heeling) x
Green: Manipulated variable at the output of the three-position controller y
Interpretation
Joint display of the automatic reference variable and disturbance variable control.
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by LD DIDACTIC GmbH
63

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T 8.2.

Setting accuracy of the operating points (potentiometer, rotary position transducers)

3rd party equipment

by LD DIDACTIC GmbH Leyboldstrae 1 D-50354 Hrth www.ld-didactic.com

BORIS 100 blocks

COM3LAB/CASSY Edition BORIS 15 blocks

Drivers and Installation

Experiment procedure ............................................................................................................... 53

Concepts and Symbols

Process whose output variable is controlled

Components in the control loop responsible for

Output variable of the control loop

Definite value of the controlled variable

Definite value of the reference input value

Error signal, deviation from input variable of the

External factors affecting the controlled system

Block circuit diagram of an open control chain (1): Control unit

(3): Controlled system

Block circuit diagram of a closed control loop

Selecting the controller

Absolute dead time

PT2 element with small dead time

System with delay time of a higher order

+: Suitable controller type

Empirically designed controllers

All controller parameters are set to uncritical: Kp minimal, Ti maximal, Td minimal.

CHR optimisation rules for systems without compensation

Automatic heeling control

Controlled systems: the container ship

Step responses of the controlled system

Heel controlled system

Profi-CASSY assumes the following functions in this experiment:

Output of the manipulated variable UY

Measurement of the listing of the container ship (voltage UA)

Set up the experiment as shown in the figure.

Step responses for positive manipulated variables

Step responses for negative manipulated variables

Step responses of the heel controlled system

Evaluation of the step response example for Y = +1 V

Evaluation using the matching function (fit function)

Step responses for negative manipulated variables

Controlled systems without compensation (integral-action systems) respond to a step

CHR optimisation for reference control

Within limits of the PID digital controller

Overshoot at the output of the PID digital controller.

Overshoot at both input and output of the PID digital controller.

PID digital controller

Output of the reference variable (operating the pump)

Measurement of the controlled variable (tilting of the ship)

Measuring the control error

Set up the experiment as shown in the figure.

CHR reference, overshoot 20%

Set the digital controller: Kp = 1.6, Ti = oFF, Td = 0.65.

Load the CASSY Lab example List_CL_Ref.labs.

CHR reference, overshoot 20%

PD-controller, CHR overshoot 20%

Step change from w = -3 V w = +3 V

P-controller, empirical setting

Step change from w = -3 V w = +3 V

Reference setpoint variable w (from Profi-CASSY output X)

PD-controller, empirical setting

Step change from w = -3 V w = +3 V

Disturbance response of the closed control loop

PID digital controller