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Control Experiment
1:Pressure Control
Date of experiment : 9/4/2015
Group number
Lecturer
Date of submission
: 31
: Dr Ong Sze Pheng
: 28/4/2015
CONTENT
1. Summary
4-8
3. Conclusion
4. Notations
10
5. References
6. Appendix
11
SUMMARY
This pressure control experiment is carried out mainly to study the
behaviour and response of open-loop process. Besides that, by using the
2
Disturbanc
e, Z
Control Output, Y
Set Point, W
Actuator
Processor, M
Output,
X
Loop Gain, K
/a
Optimum Settings
Proportional
Integral Action
Gain
Time
K/Kn
Derivative
Time
-
P+I
0.9 /a
K/Kn
a/0.26
P+I+D
1.2 /a
K/Kn
2.3a
a/1.74
Loop Gain, K
7.593
6.837
Optimum Settings
Proportional
Integral Action
Gain
Time
949.125
854.213
2.315
Derivative
Time
5
P+I+D
9.112
1138.935
1.385
0.346
has significant fluctuations, this shows that the derivative factor, D in the
control system causes instability in the actuation signal.
For PI Controller:
Refer to graph CTR1-8:
Referring to the graph, PI control system is able to correct the disturbance
introduced into the system. This can be seen in the slight drop of the
pressure X, (red-line) and then immediately regained back steadiness on
the set-point, W (yellow line). The PI system successfully eliminates the
off-set that derives from the disturbance introduced.
For PID Controller:
Refer to graph CTR1-10:
The graph shows that PID control system is able to correct the disturbance
introduced into the system. This can be seen in the slight drop of the
pressure X, (red-line) and then immediately regained back steadiness on
the set-point, W (yellow line). Moreover, the response time to correct the
pressure, X is faster compared to PI control system. This proves that PID
control system has a quicker response time in relation to changes in the
pressure of the system, X and also encountering disturbances. The
efficiency of the compressor, Y (green-line) spikes up when the
disturbance variable is encountered so that it can compensate with the
pressure lost in order to maintain at the set-point, W (yellow-line)
pressure. However, significant fluctuations can be observed in the
8
Set
points, W
Set Point
error
Computer
(PC)
Feedback
Control
Output, Y
PID
Controller
Feedback
Transmitters
Output, X
Compressor
Motor (M)
Sensor Outputs
Pres
sure
Tank
Pressure
Sensors
CONCLUSION
To sum up the entire experiment, three main objectives have been
achieved, one of which is that the behaviour of open-loop process is
determined. Besides being able to evaluate the performances of P, PI and
PID controller, the last objective of determining the controller settings by
using Ziegler Nicholas Open Loop Method was also successfully carried
out. For processes that are uncontrolled and have step responses, the
Zeigler Nicholas Open Loop Method is the best the way to determine the
controller settings.
As for the performances of the P, PI and PID controllers, large gain is
needed to balance the steady state error while P Controller is being
tested. In cases such as acceptable constant steady state error, P
Controller is good option. When PI Controller is in use, the speed of the
response will not definitely increase, therefore a more suitable option
would be introducing derivative mode. Meanwhile when PID Controller is
used, a more stable process system can be obtained due to the derivative
mode that will increase the gain K value and decrease the integral time
constant.
Based on the graph and results obtained, it can be seen that the
values of the result do not go along with the theoretical results. Such
cases could due to random errors while the experiment is being
conducted. A good example could be that the disturbance is not set
correctly before steady-state is reached.
NOTATION
Symbols
Meaning Represented
Kn / K s
a / Tu
/ Ta
Kp / Kcrit
Proportional gain
Tp
Tn
Tv
Derivative time
10
Set-Point
Disturbance signal
REFERENCES
Coulson, John M, and Raymond K Sinnott. Chemical Engineering. Amsterdam:
Elsevier, 2005. Print.
APPENDIX
CTR 1 Task 2
Example: Controller P+I+D
Process gain, Kn
Delay Time, a
Time constant,
0.008
0.602 s
4.571 s
Loop Gain, K
= 1.2
/a
11
= 1.2 (0.602/4.571)
= 9.112
Proportional Gain
= K/Kn
= 9.112/0.008
= 1138.953
Integral Action Time
= 2.3a
= 2.3(0.602)
= 1.385
Derivative Time
= a/1.74
=0.602/1.74
=0.346
12