EXPERIMENT 2.

1: OPEN-LOOP SYSTEM
INTRODUCTION
An open-loop system relies on manual control to maintain a set point variable. Through
observation of the processed signal, the performance and reliability of this control method
can be determined and verified numerically. Since this system is manually controlled, it is
ideal for modelling the transient function of the system response.
THEORY
The plant/process of the Foxboro level control system is the storage tank. This can be seen
represented in the system in Figure .
Figure 1: Blo! "i#gr#$ %or # ge&eri o'e& loo' ()(*e$
As seen in Figure , a set height !S"# is initially determined into the controller. Additionally a
manual voltage !u
c
# is sent to the actuator to assist in controlling and reaching the S". The
actuator then converts this voltage into a flo$ rate !u# $hich results in a pressure being
transmitted out of the tank !y#. This pressure is converted through the measuring element into
a level reading !y
m
# through the use of the density of the fluid in the tank. %ollected data
includes these measured voltages to be converted via their respective sensitivities.
The valve constant of the system is found by the proportionality bet$een the flo$ rate out of
the valve and change in level&
v
q
k
h

Since this is a tank system, the inlet flo$ rate and output level can be modeled as a first order
system. To develop a theoretical model for the transient condition for both input and output
variables of the tank, it must first be recogni'ed that the output flo$ rate is proportional to the
change in height such that&
! # ! #
o v
q t k h t =

$here k is the drain valve constant. (espite being lineari'ed, the ideali'ation of for modeling
the transient condition for a first order system is valid for calculation. )t should be noted that
in reality the relationship is more similar to e*uation .
! # ! #
o v
q t k h t =
From it can be determined that&
! #
! # ! #
i o
dh t
q t q t A
dt
=
+earranging for the initial flo$ rate and replacing $ith &
! #
! # ! #
i v
dh t
q t A k h t
dt
= +
,o$ taking the -aplace transformation of &
!s# ! # ! #
v
Q AsH s k H s = +

! #
! #
!s#
v
H s
G s
Q As k
= =
+

$here .!s# is the transfer function for the plant. /*uation can be seen expressed in Figure 0.
Figure 2: Tr#&(%er %u&*io& %or 'l#&* +*#&!,
/*uation can be re$ritten as the follo$ing by dividing through k&

! #

v
v
k
G s
A
s
k
=
+

The time constant T can no$ be defined as follo$s&
0
v
A
T
k
=

Additionally the time constant is defined as 12.03 of the maximum input variable. ,o$ sub
into &
! #
! #
!s#
T
H s
A
G s
Q Ts
= =
+

,o$ assuming that the flo$ rate into the tank holds the follo$ing&

! # Q S
s
=
can be re$ritten as follo$s&

! #

T
A
H S
s Ts
=
+

4hich is interchangeable $ith &

! #
/
A
H S
s s T
=
+

Therefore the impulse function can be defined&
! / #

! #
T t
H t e
A

=
2
EXPERIMENT-L PROCEDURE
. After ensuring the connection of all components of the system is correct, turn on
po$er.
0. Familiari'e $ith the -abvie$ program. +un the program in manual position, then
stop and prepare for data collection.
2. )dentify all components of the control system, their variables, units and ranges.
Summari'e this information in a block diagram.
5.
a. /nsure that the processed variable !"6# is at a minimum value and that the
controller output is also minimum !06#.
b. Start the file in manual mode, saving data to file.
c. %onfirm number of columns in data file and their respective variable names.
d. %onfirm that the file is running and saving under manual control. Ad7ust
manual controller to a maximum value !16 used# and $ait until "6 is stable.
e. Ad7ust manual controller to minimum value !06# and $ait until "6 is again
stable then stop the program.
8. %opy data file to 9S:.
5
RESULTS -ND C-LCUL-TIONS
A theoretical mathematical model of the tank is able to be initially estimated. The plot of
level vs. flo$ can be seen in Figure 2.
Figure .: Le/el /( %lo0
From Figure 2 a sensitivity is found and used as k
v
&

max min
max min
v
q q
k
h h

-5 0
1.51; < /
v
k m s =
The area of the tank can be found as follo$s&
0
5
A D

=
0
!<.5#
5
A

=
0
<.<82= A m =
,o$ the time constant can be defined from using and &
8
5
<.<82=
1.51; <
T

=

02.> T s =
/*uating values obtained from and into &
5
! #
! #
!s# <.<82= 1.51; <
H s
G s
Q s

= =
+

101.>=
! #
02.>
G s
s
=
+

The ra$ data for the experiment can be seen in Figure 5.
Figure 1: R#0 "#*# %ro$ e2'eri$e&* $e#(ure" i& /ol*#ge
From Figure 5 it can be seen clearly that pressure !in yello$# inhibits a 'ero order
relationship $ith the S", flo$ rate !blue# a first order, and level !green# a non-linear first
order. The order can be represented in Figure 8.
1
Figure 3: Lo#*io& o% "#*# olle*e" i& e2'erie$e&*
)t can be seen in Figure 8 that pressure is used as a variable t$ice in the system. The pressure
recorded ho$ever corresponds to the pressure into the valve as it is only a 'ero order system
!represented by a gain#.
)nitially the sensitivities of each variable $ere able to be determined.
For flo$&
2 2
8
!<.<<<2222 <# / /
>.222 <
!8 #
Q
m s m s
K
V V

= =

For pressure&
!0< <#
8
!8 #
P
kPa kPa
K
V V

= =

For level&
!<.5 <#
<.
!8 #
l
m m
K
V V

= =

.
For the level, the trimmed ra$ data can be seen in Figure 1.
;
Figure 4: R#0 le/el "#*# *ri$$e"
DISCUSSION
>