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Simulation and
Control in LabVIEW
Hans-Petter Halvorsen
Contents
• Control System
• PID Controller
• LabVIEW Control Design and Simulation
Module
• Practical Examples
– 1. Order Process Simulation
– Control System using built-in PID Controller
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Introduction
Hans-Petter Halvorsen Table of Contents
Introduction
• We will use LabVIEW and the
LabVIEW Control Design and
Simulation Module
• We will simulate a 1. Order
Process/Differential Equation
• We will create a basic Control System
using the built-in PID Controller
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Control System
Hans-Petter Halvorsen Table of Contents
Control System
The purpose with a Control System is to Control a Dynamic System, e.g., an industrial
process, an airplane, a self-driven car, etc. (a Control System is “everywhere“).
PID Controller
Reference 𝑟 𝑒 𝑢 𝑦
Value Controller Process
− Control
𝑦 Signal
Control System
Noise/Disturbance
Reference The Controller is 𝑣
Value typically a PID Controller
𝑟 𝑒 𝑢 𝑥
Controller Actuators Process
− Control
𝑦 Signal
Process
Output
Filtering Sensors
Control System
• 𝑟 – Reference Value, SP (Set-point), SV (Set
Value)
• 𝑦 – Measurement Value (MV), Process Value (PV)
• 𝑒 – Error between the reference value and the
measurement value (𝑒 = 𝑟 – 𝑦)
• 𝑣 – Disturbance, makes it more complicated to
control the process
• 𝑢 - Control Signal from the Controller
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PID Controller
Hans-Petter Halvorsen Table of Contents
PID Control
• The PID Controller is the most used
controller today
• It is easy to understand and
implement
• There are few Tuning Parameters
PID Controller
𝐾# &
𝑢 𝑡 = 𝐾# 𝑒 + ( 𝑒𝑑𝜏 + 𝐾# 𝑇' 𝑒̇
𝑇$ %
Where 𝑢 is the controller output and 𝑒 is the Tuning Parameters:
control error:
𝑒 𝑡 = 𝑟 𝑡 − 𝑦(𝑡) 𝐾! Proportional Gain
𝑟 is the Reference Signal or Set-point
𝑇" Integral Time [sec. ]
𝑦 is the Process value, i.e., the Measured value 𝑇# Derivative Time [sec. ]
PID Controller
𝐾# &
𝑢 𝑡 = 𝐾# 𝑒 + ( 𝑒𝑑𝜏 + 𝐾# 𝑇' 𝑒̇
𝑇$ %
P I D
Proportional Gain Integral Time Derivative Time
Tuning Parameters: 𝐾% 𝑇& 𝑇'
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LabVIEW Control Design
and Simulation Module
Hans-Petter Halvorsen Table of Contents
LabVIEW Control Design and Simulation Module
A separate LabVIEW Module
• Design Control Systems
• Simulation of Mathematical Models
• Implementation of Control Systems
• MPC (Model Predictive Control)
• System Identification and Kalman Filter
• etc.
LabVIEW Control Design and Simulation Module
LabVIEW Control Design and Simulation Module
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1. Order Process
Hans-Petter Halvorsen Table of Contents
1. Order System
Differential Equation of a 1. order System:
𝑥̇ = −𝑎𝑥 + 𝑏𝑢
𝑦=𝑥 𝑢 1. Order 𝑦
Process
In order to simulate this model in LabVIEW you can make a discrete version of the
model, or you can implement it as a “Block Diagram” using the features in
LabVIEW Control Design and Simulation Module
1. order Step Response
𝑦(𝑡)
100% 𝐾𝑈
"
!#
𝑦 𝑡 = 𝐾𝑈(1 − 𝑒 )
63%
𝑦(𝑠) 𝐾
𝐻 𝑠 = =
𝑢(𝑠) 𝑇𝑠 + 1
𝑡
𝑇
Model – Block Diagram
The first order differential equation:
𝑥̇ = −𝑎𝑥 + 𝑏𝑢
Can be described with the following block diagram model:
Integrator
Model in LabVIEW
𝑥̇ = −𝑎𝑥 + 𝑏𝑢
Simulation in LabVIEW
Code
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Control System
Hans-Petter Halvorsen Table of Contents
Control System
PID Controller 𝑥̇ = −𝑎𝑥 + 𝑏𝑢
Reference 𝑟 𝑒 𝑢 1. Order 𝑦
Value Controller
− Control Process
𝑦 Signal
Control System in LabVIEW
Control System Code
Hans-Petter Halvorsen
University of South-Eastern Norway
www.usn.no
E-mail: [email protected]
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