t Td

Time

Tangent Line

THEORY
Graphical Tangent Method
MVf
MV

This method is used in the calculation

to find RR and graphically find Td. RR and Td is found
MVi
on a process curve graph.

PVf

Figure 1: Graphical Tangent Method

Dead time (Td) is the time between the beginnings of the open loop test to the foot of the
triangle. The dead time is measured directly on the graph (using ruler).
For Tangent Method, t is equal to Tc which is the time constant of the process. It is from the
front foot of the triangle (after the end of Td) towards the end of the triangle as shown on
Figure 2.1. Like Td, Tc is measured the same way on the graph.

The response rate, RR is calculated by:

RR = (PV/t)/ MV

Time

b
Where,
PV = PVf PVi
MV = MVf MVi

Reformulated Tangent Method

Figure 2: Reformulated Tangent Method

Reformulated Tangent Method is an alternative to tangent method and is quite similar.

Instead of calculating the RR using distance by a ruler, reformulated tangent method allows
the calculation in forms of trigonometric functions.
Based on figure 2.2, there are angles and and on the both of the axis there are b and a.
b and are scaling factors to be used in the calculation of RR.
Dead time, Td is calculated by,
Td(time) = Td(length by ruler) x b
Where,

b = (increment of time on the axis scale)/(length of each interval)

The response rate, RR is,
RR= ((tan )/MV)(a/b)
Time constant, Tc is,
Tc(time) = Tc(length) x b

Discrete Tangent Method

(Td , PVi)

PVf
PV1
Tangent Line

PVo
PV-1
(Td , PVi)
h
PVi

t-1

t-o

t1

Time

Figure 3: Discrete Tangent Method

Some data are in the forms of numerical and tables. In discrete tangent method, calculation
of response rate RR, dead time Td and time constant Tc to be calculated for numerical data.
This numerical method requires no measuring on graphs but requires numerical calculation
from the data tables obtained from the process. Figure 2.3 shows what the graph looks like if
plotted from the data tables.
To calculate response rate,
RR = (PV1 PV-1)/2hMV
The time constant, Tc,
Tc = 2h [(PVf PVi)/(PV1-PV-1)]
The dead time Td,
Td = t1 2h [(PV1 PVi)/ (PV1-PV-1)]
Ziegler-Nichols Tuning rules
In Ziegler-Nichols tuning rules, only requires values of RR and Td. These values are the
ones calculated from tangent, reformulated tangent or discrete tangent method.
Performance tests are in terms of set point and load disturbance.
Below is a table for calculating respective values of P,I and D.
Mode
P
PI
PID

P
3.33RRTd
111.1RRTd
83.3RRTd

I
3.33Td
2Td
Table 1: PID tunes

D
0.5Td

Cohen-Coon Tuning Rules

Another Tuning rule is Cohen-Coon Tuning rules. For this tuning rules require values of RR,
Td and Tc. Performance test is in terms of load disturbance variable.
Mode
P
PI
PID

P
I
[100/(1+/3)]RRTd
[100/(1+/11)]RRTd
3.33[(1+/11)/(1+11/5)]Td
[100/1.35(1+/5)]RRTd 2.5[(1+/5)/(1+3/5)]Td
Table 2: PID tunes

D
0.37Td/(1+/5)

PROCEDURE
DCS Delta-V Emerson (FLOW)
Liquid Flow Plant
Open Loop Test for FIC21
1. The Liquid Flow Plant, FIC21 was selected.
2. After the overall diagram of the plant has opened, the controller of FIC21 was double clicked
3.
4.
5.
6.

to open the faceplate.

The Process History View was clicked to see the trend of the process.
The process need to be stabilized in manual.
The initial value of MV was recorded and the step change of 10% was taken.
After the response has reached the steady state, the response graph was printed and

calculation for obtaining the RR, td and tc.

7. The calculated value of PI controller was obtained by using Ziegler-Nichols and Cohen-Coon
method.
Closed Loop Test for FIC21
1.
2.
3.
4.

The controller was set to auto mode.

The detail icon was clicked at the faceplate in order to set the controller setting.
The calculated value of Gain, Kc and Reset, I was entered in the detail.
After the response has reached the steady state, the value of the optimum PI controller was

recorded.
5. Load disturbance test was done by turn the process into Manual mode and make a step change
of MV by 10% for three second and change into Auto mode again.
6. After the process has stabilized, the process response after changed the MV was observed.
7. The set point test was done by adding the previous set point with 10% from total value which
is 0.6m3/h.
8. After the process response has reached the steady state, the response was observed.
9. Both graph for load disturbance test and set point test was printed.

Gas Pressure Control Plant

Open Loop Test for PIC92
1. The Liquid Flow Plant, PIC92 was selected.
2. After the overall diagram of the plant has opened, the controller of PIC92 was double clicked
to open the faceplate.
3. The Process History View was clicked to see the trend of the process.
4. The process need to be stabilized in manual.
5. The initial value of MV was recorded and the step change of 10% was taken.

6. After the response has reached the steady state, the response graph was printed and
calculation for obtaining the RR, td and tc.
7. The calculated value of PI controller was obtained by using Ziegler-Nichols and Cohen-Coon
method.
Closed Loop Test for FIC21
1.
2.
3.
4.

The controller was set to auto mode.

The detail icon was clicked at the faceplate in order to set the controller setting.
The calculated value of Gain, Kc and Reset, I was entered in the detail.
After the response has reached the steady state, the value of the optimum PI controller was

recorded.
5. Load disturbance test was done by turn the process into Manual mode and make a step change
of MV by 10% for three second and change into Auto mode again.
6. After the process has stabilized, the process response after changed the MV was observed.
7. The set point test was done by adding the previous set point with 10% from total value which
is 2.5 psig
8. After the process response has reached the steady state, the response was observed.
9. Both graph for load disturbance test and set point test was printed.
DCS FOXBORO
Open Loop Test for LIC31
1. The Level Control Plant, (WLF922) was selected.
2. LIC31 was selected for the control loops.
3. For viewing the trending, the step are by clicking the File>Additional FoxView>Change
Env(The environment was change to operator).
4. Double clicked at the controller at the new windows of WLF922, then trend button was
clicked.
5. The process response was stabilized by setting the process in Auto mode.
6. The initial value of MV was recorded.
7. The process was changed to manual mode and step change of 10% of MV from the initial was
done.
8. After the slope can be calculated, the process was changed to Auto mode again.
9. The data for the process was printed by selecting the AIM Historian Data Display and desired
data was tagged which are SP, PV and MV.
10. Numerical analysis was done to obtain the data of RR, t d and tc.
11. The determination of PI controller setting was calculated using the Ziegler-Nichols method.
Closed Loop Test for LIC31
1. After the calculated value of PI was done, the value then were inserted into the controller
setting of PB and I.
2. After the response has reached the steady state, the optimum controller setting were recorded.
3. The load disturbance test was done by changing the process response into Manual mode and
change 10% of the current value was done for three seconds and set to Auto again.
4. The response was observed until it stabilized.

5. The set point test was done by adding the previous value set point with 10% of total value
which is 80m3/h.
6. The response was observed until it stabilized.
7. The process response than was printed by following the step START>Program>HyperSnapDX>HyperSnap-DX>Capture>Active Window.
8. The trending active window was selected and then the image was inverted to black and white.
The process response than was printed.