Department of Petrochemical Engineering

College Of Technical Engineering

University Of Polytechnic-Duhok

Subject: process control

Report Number: 2

Group number : B

Title: closed loop

Reporter Name: Walid Adnan Taher

Date Of Submits: 15/10/2019

Objective
To study the basic close loop control system.
To Compare response of the controller at different point.
The objective for this experiment was to observe the effect of proportional
integral derivative control and to minimize the error using PID control.
Introduction
A Closed-loop Control System, also known as a feedback control system is a
control system which uses the concept of an open loop system as its forward path
but has one or more feedback loops (hence its name) or paths between its output
and its input. The reference to “feedback”, simply means that some portion of the
output is returned “back” to the input to form part of the systems excitation.

Closed-loop systems are designed to automatically achieve and maintain the

desired output condition by comparing it with the actual condition. It does this by
generating an error signal which is the difference between the output and the
reference input. In other words, a “closed-loop system” is a fully automatic
control system in which its control action being dependent on the output in some
way.

Advantages:
 Closed loop control systems are more accurate even in the presence of
non-linearities.
 The sensitivity of the system may be made small to make the system more
stable
 The closed loop systems are less affected by noise.
Disadvantages:
 Closed loop control systems are costlier and complex
 The feedback in the closed loop system may lead to oscillatory response
 The feedback reduces the overall gain of the system
 Stability is the major problem in the closed loop system and more care is
needed to design a stable closed loop system.

Continuous Controllers
the main feature of continuous controllers is that the controlled
variable (also known as the manipulated variable) can have any
value within the range of controller’s output.
The tuning parameters essentiallydetermine:
How much correction should bemade?
The Magnitudeof the correction (change in controller output) is
determinedbythe Proportional mode of thecontroller.
How long should the correction beapplied?
The Durationof the adjustment to the controller output is
determined bytheIntegral mode of thecontroller
How fast should the correction beapplied?
The Speedat which a correction is made is determined by the
Derivativemodeof the controller.ContinuousControllers
Controllers are tuned in an effort to match the characteristics of
the control equipment totheprocess so that two goals
areachieved:
 The system responds quickly toerrors.
 The system remains stable (PV does not oscillate around
theSP).
The important uses of the controllers are written below
1. Controllers improve steady state accuracy by decreasing the steady state
errors.
2. As the steady state accuracy improves, the stability also improves.
3. They also help in reducing the offsets produced in the system.
4. Maximum overshoot of the system can be controlled using these
controllers.
5. They also help in reducing the noise signals produced in the system.
6. Slow response of the over damped system can be made faster with the
help of these controllers.

Types of Controllers
1. Proportional controllers.
2. Integral controllers.
3. Derivative controllers.
Combinations of these three controllers are written below:

Proportional and integral controllers.

Proportional and derivative controllers.

Proportional control (p), in engineering and process control, is a type of linear

feedback control system in which a correction is applied to the controlled variable
which is proportional to the difference between the desired value (set point, SP)
and the measured value (process value, PV).
e=w-x
y=kp(w-x)
kp=100%/Xp
We cannot use this types of controllers at anywhere and with each type
controller, there are certain conditions that must be fulfilled. With proportional
controllers there are two conditions and these are written below:
1. Deviation should not be large; it means there should be less deviation
between the input and output.
2. Deviation should not be sudden.

Experiment continuous control

Parameter
No kp Tns Tv Z% W cm Not
1 10 0 0 40 10 X=5.3 Y=47
2 25 0 0 40 10 X=8.1 Y=48
3 40 0 0 40 10 X=8.8 Y=49
4 50 0 0 40 10 X=9 Y=50
5 100 0 0 40 10 X=9.5 Y55

We see clearly if we increase control gain kp the in flow into tank

increase, kp=100, kp increase the flow into tank.
the level is too high and we have an over flow.
Proportional /Integral Controller
As the name suggests it is a combination of proportional and an integral controller
the output (also called the actuating signal) is equal to the summation of
proportional and integral of the error signal.
Duration of Error and Integral Mode -Another component of error is the
durationofthe
error, i.e., how long has the errorexisted?
The controller output from the integral or resetmode
is a function of the duration of theerror.
Closed Loop With Reset -Adding reset to the controller adds one more gain
component to the loop.

Advantages
1. Desired value can be achieved accurately.
2. Ease to apply for fast response processes as well as processes in which load
change is large and frequent.
3. Removes steady state error.

Disadvantages
1. The speed of response of system becomes sluggish due to the addition of
integral term.
2. During start-up of a batch process, the integral action causes an overshoot.
 3. Since PI controller doesn’t have the ability to predict the future errors of
the system, therefore it cannot eliminate steady state oscillations and
reduces settling time. Hence, overall stability system is comparatively low.

Experiments Continuous Control

PI Control
N kp Tns Tv Z% Wcm Not
o
1 25 10 0 50 8 X=8.8 Y=51%
2 25 10 0 50 12 X=11.6 Y=52%
3 25 5 0 50 8 X=8.1 Y=50%
4 25 5 0 50 12 X=12.2 Y=52%
5 35 5 0 50 8 X=8 Y=50%
6 35 5 0 50 12 X=12 Y=53%

Parameter 1, kp=25, Tn=10, Z=50, W=8

The inflow into tank increase beacause because we increase kp
Parameter 2, X and Y increase because we increase the set point from 8 to 12 and
the Tns decrased to 5
Final parameter 6, X and Y increase more than any parameter because we
increase the kp from 25 to 35 and the sep point W from 8 to 12.
A proportional–integral–derivative controller (PID controller. or three-term
controller) is a control loop mechanism employing feedback that is widely used in
industrial control systems and a variety of other applications requiring
continuously modulated control. A PID controller continuously calculates an error
value e(t) as the difference between a desired setpoint (SP) and a measured
process variable (PV) and applies a correction based on proportional, integral, and
derivative terms.
Block diagram of PID
control
Experiments ContinuousControl
PID Control of disturbance variable
N kp Tns Tv Z% Wcm Not (steady state)
o
1 28 9 0.5 10 12 X=12.5 Y=4%
2 28 9 0.5 80 12 X=11.5 Y=50%
3 28 9 1 80 12 X=11.9 Y=61%

Parameter 1, liquid level tank increase because kp is 28

Parameter 2, liquid level tank decrease because the disturbance variable Z
increase from 10 to 80
Parameter 3, liquid level tank increase because the Tv increase from 0.5 to 1 .
Discussion
1. What is a proportional gain?
The Proportional Gain is the most important tuning parameter. It affects the
responsiveness of the system. A low gain makes the system sluggish and
unresponsive. ... Each gain of the axis contributes to the Control Output. The
contribution from the Proportional Gain is called the Proportional Output Term.
2. What does a PI controller do?
A P.I Controller is a feedback control loop that calculates an error signal by taking
the difference between the output of a system, which in this case is the power
being drawn from the battery, and the set point.
3. What is controller tuning?
Controller tuning refers to the selection of tuning parameters to ensure the best
response of the controller. Choose tuning that is too slow, and the response will
be sluggish…the controller will not handle upsets, and it will take too long to
reach setpoint.
4. How does PID controller work?
PID controller consists of three terms, namely proportional, integral and
derivative control. The combined operation of these
three controllers gives control strategy for process control. PID
controller manipulates the process variables like pressure, speed, temperature,
flow, etc.
5. What is proportional gain in PID?
The proportional gain (Kc) determines the ratio of output response to the error
signal. 
What is the comparison between the type of controller?
Proportional: simple, stable if it well tuned, simple for tuning, offset in steady
state.
Proportional and integral: no offset, better dynamic response, possible
occurrence of instability.
PID: most complexto tune, fast response, no offset, best control if it is well tuned.