Abstract— A PID controller can be used to control level, temperature, flow, pressure, and

other process variables. The experiment's main objective is to perform open loop and closed
loop test to verify the optimal condition for the process control loop method. DCS FOXBORO
and DCS DELTA-V Emerson are two research systems. FOXBORO and EMERSON flow control
system, both demonstrate somewhat nonlinear process response relationship and variable
manipulation. A reduction in the Controller gain, the Kc value, slows down the process
response, pv, and moves the process response curve to the right. An rise in PB value, slows
process response, photovoltaics and shifts process response curve to right. An rise in I would
result in a slower response to the procedure, with PV moving the response curve to the
right. Compared to the Tangent method and the Reformulated Tangent method, numerical
method yields the most accurate data which corresponds to the tuning rules.
OBJECTIVE V:
Based on the Open loop: numerical method referring to the data given by our lecturer Dr.
Fuzieah Subari. The data being used are for the group 4. Our task is to determine the
process control characteristic using tangent method:
1. Response rate, RR
2. Dead Time, Td
3. Time constant, Tc based on 3 methods:
a) tangent method
b) tangent-and-point method
c) 2-point method
THEORY
In this experiment, the dead time, time constant, and response rate are calculated
numerically for process response that is in numerical (discrete) form. The formulation of
response rate (RR) is based on three-point central differences technique, while the dead
time and time constant are based on equal triangle method.

PROCEDURES
1. Calculate the response rate based on data given
RR=(PV1-PV_1)/(2ΔhΔMV))

2. Calculate the Td
Td=t1-2Δh((PV1-PVi)/(PV1-PV-1))
3. Calculate Tc (Tangent method)
Tc=2Δh((PVf-PVi)/(PV1-PV-1))

4. Calculate Tc based on 2-point method

Tc=1.5(T63.2%-T28.3%)

5. Calculate Tc based on (Tangent and point method)

Tc=T63.2%-Td
RESULTS
Process Flow
MVi, % 40
MVf, % 58.1
Time, s PV, %
0 57.2
1 57.2
2 57.7
3 61.8
4 65.1
5 67.8
6 69.6
7 71.1
8 72.5
9 73.2
10 73.9
11 74.5
12 74.9
13 75.1
14 75.3
15 75.6
16 75.7
17 75.8
18 76.1
19 76.0
20 76.1
21 76.2
22 76.2
Δh= 1 s

ΔMV= MVf, % - MVi, %

= 18.1%

PVi, %=57.2

PVf, %=76.2

RR=¿ ΔhΔMV))

Time, s PV, % RR(1/s)

0 57.2
1 57.2 0.01381215
2 57.7 0.12707182
3 61.8 0.20441989
4 65.1 0.16574586
5 67.8 0.12430939
6 69.6 0.09116022
7 71.1 0.0801105
8 72.5 0.05801105
9 73.2 0.03867403
10 73.9 0.0359116
11 74.5 0.02762431
12 74.9 0.01657459
13 75.1 0.01104972
14 75.3 0.01381215
15 75.6 0.01104972
16 75.7 0.00552486
17 75.8 0.01104972
18 76.1 0.00552486
19 76 0
20 76.1 0.00552486
21 76.2 0.00276243
22 76.2

Calculation of RR Stopped at time=5s, since maximum RR (i.e RR3) has been found t time=3s
Calculation of Td at maximum RR set to=3s

PV 1−PVi
Td=t 1−2 Δh( )
PV 1−PV −1

65.1−57.2
Td=4−2(1)( )
65.1−57.7
Td=¿ 1.86s
Calculation of Tc (Tangent method) at maximum RR set to=3s

PVf −PVi
Tc=2 Δh ( )
PV 1−PV −1
76.2−57.2
Tc=2(1)( )
65.1−57.7
Tc=¿5.13s
Calculate PV% 63.2

PV 63.2=PVi+ 0.632 ( PVf −PVi )

¿ 57.2+0.632 (76.2−57.2 )
¿ 69.208
No. Time(s) PV(%)
n 5 67.8
T 63.2(unknown) PV 63.2=69.208
n+1 6 69.6

69.208−67.8
T 63.2 %=5+(6−5)( )
69.6−67.8
T 63.2=5.78 s

Calculate PV% 28.3

PV (%) 28.3=PVi+0.632 ( PVf −PVi )

¿ 57.2+0.283 ( 76.2−57.2 )
¿ 62.577
No. Time(s) PV(%)
n 3 61.8
T 63.2(unknown) PV 28.3%=62.577
n+1 4 65.1
 62.577−61.8
T 28.3 %=3+(4−3)( )
65.1−61.8
T 28.3 %=3.235 s

Calculate Tc based on 2-point method

Tc=1.5(T 63.2 %−T 28.3 %)

¿ 1.5 ( 5.78 s−3.24 s )
¿ 3.81 s

Calculate Tc based on (Tangent and point method)

Tc=T 63.2 %−Td

¿ 5.78 s−1.86 s
¿ 3.92 s
DISCUSSION

Table above shows an open loop process response for a flow control system when the manipulated
variable was change from 40% to 58.1%. The calculated response rate being listed on the table.
Calculation of response rate stopped at Time=3s since maximum RR is at RR3. Calculation of Td at
maximum RR set to=3s gave a value of Td=1.86s. There are several method to find time constant, Tc.
The first one is Definition by (Ziegler-Nichols): by applying Tangent method. That is being defined as
A period between the cross-section of old S.S. baseline and tangent line and the cross-section of new
S.S. baseline and tangent line. Calculation of Tc (Tangent method) at maximum RR set to=3s gave
value of Tc=5.13s. Definition 2: Tangent and point. A period between the TPV@62.3% and the time
at cross-section of old S.S. baseline and tangent line. Calculated Tc based on (Tangent and point
method) gave a value Tc=3.92s. The last method is the 2-point method. Time constant is 1 .5 times
the difference between T (PV@63.2%) and T (PV@28.3%). Calculated Tc based on 2-point method
are 3.81s. Definition by Dr. Cecil Smith does not depend on tangent line.

CONCLUSION

From the data given we can conclude that the dead time, time constant, and response rate are
calculated numerically for process response that is in numerical (discrete) form. The dead time and
time constant are based on equal triangle method. There are three methods to calculate the time
constant as stated. The methods are tangent, tangent and point and 2-point method. All methods
given different value of time constant due to different parameter used to calculate it. The largest
Time constant is from Tangent method and the least one is based on 2-point method developed by
Dr. Cecil Smith.
RECOMMENDATION

The change of Manipulated variable maybe adjust to a significant number value that may gave a
more stable result to the process variable and the calculated parameter

OBJECTIVE 6: Closed loop : Optimum controller setting based on objective 5

Flow(PV%) vs Time(s)
90
80
70
60
50
PV(%)

40
30
20
10
0
0 5 10 15 20 25
Time(s)

To determine the optimum controller setting based on Ziegler-Nichols method using process control
characteristic you calculated above.

Selection for mode of control

Table 2.1-6: Mode of Control for various processes

Mode: PI (Flow, pressure & Liquid level)

Proportional Band

PB ( % ) =100× RR× Td
PB ( % ) =100× ¿0.20441989¿ s ¿ ×1.86 s
PB ( % ) =38.02%
I (Time)

I =3.33 ×Td
I =3.33 ×1.86 s
I =6.1938 s