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A presentation for the project
Design and control of conical tank liquid level using

HOPDT approximation
Department of Electronics and Instrumentation Engineering

Supervised By : Presented By :
Mr.K.M.N.Chaitanya Kumar Reddy M. Tech 16121A1068
Assistant Professor 16121A1036
Dept. of EIE. 16121A1067
16121A1046
CONTENTS
 Objective
 Literature Survey - FOPTD
 Why Conical Tank?
 HOPTD
 Reason behind HOPTD
 Block Diagram
 Tuning
 Controlling techniques
 Mathematical Calculations
OBJECTIVE
 In order to develop a Half-Order Approximation to control the level of conical tank
using SIMULINK.
Literature Survey
 A first-order linear system with time delay is a common
empirical description of many stable dynamic processes.
The First Order Plus Dead Time (FOPDT) model is used to
obtain initial controller tuning constants.
 In order to approximate a higher order transfer function into
first-order plus time delay model, we have to convert the
transfer function into

kp
G(S) = Ts1e^-td
WHY Conical Tank?
 Conical tanks are widely used in the process industries because of the
easy drainage of solid mixtures and viscous liquids.
 Due to its Non-Linear Shape & varying Cross-Sectional area.
 Level-Control is a difficult task.

HOPTD
 A Half-Order Plus Time Delay is a simple approximation of the dynamic response
of a process variable under an influence.

Reason for HOPTD
 Till now, First-Order Plus Time Delay approximation is used to control the level in
conical tank. But it cannot be applied to high-level processes.
 To overcome the drawbacks of FOPTD approximation, we assume a new concept
namely, Half-Order Plus Time Delay approximation.

BLOCK DIAGRAM
Plant
Half-
Order Conical
controller Actuator approxi tank
mation
Output
Level
CONTROLLER
 Controller is a device which produce control action.

 It receives the difference between the reference set point and measured output
and generates a control action to make error to zero.
 Different types of Controllers include:
• Proportional controller
• Integral controller
• Derivative controller and their various combinations like PI,PD,PID
ACTUATOR
 Actuator is a device which is used to convert energy into motion.
 The motion can be virtually in any form, such as blocking, clamping etc.
 It can also be used to apply a force.
 Examples include Solenoids, Electric motors and Hydraullic Cylinders.

PLANT
 A plant is often referred to with a transfer function (commonly in the s-domain)
which indicates the relation between an input signal and the output signal of a
system without feedback, commonly determined by physical properties of
the system.
 A conical tank with HOPTD approximation acting upon it is refered as plant in our
project.
FEEDBACK
 A feedback is a system whose output is controlled using its measurement as
a feedback signal. This feedback signal is compared with a reference signal to
generate an error signal which is filtered by a controller to produce the system's
control input.
TUNING
Ziegler-Nichols Method:
 Proposed by Ziegler and Nicholas in 1942.
 It can be used to tune both Open-loop & Closed-loop Systems.

PROCEDURE
 The process dynamics is modelled by a First-order plus time delay model.
 Calculate the PID parameters (kp,Ti,Td)
 After the control parameters have been calculated, enter them into PID Controller
and run the design.

Controlling Techniques
 Fuzzy-logic controller
 Fractional-PID controller
Fuzzy-Logic Controller
 A fuzzy-logic controller works on the principle of fuzzy logic.
 A fuzzy logic system is a mathematical system that analyzes analog input values
in terms of logical variables that take on continuous values between 0 and 1, in
contrast to classical or digital logic, which operates on discrete values of either 1
or 0 (true or false respectively).

FRACTIONAL-PID CONTROLLER
 The fractional-order PID controller is a sum of fractional operators along
with controller gains.
 It can satisfy the following criteria:
• Elimination of steady-state error
• Robustness
• Sensitivity Specifications.
Mathematical Calculations
Design of Conical Tank:
Where,
R=Radius of the tank [Constant]
H=Total height [Constant]
r=radius of the liquid level [Constant]
h=level of the water [variable]
Consider the tank with the angle θ
Tanθ = opp/adj = r/h = R/H
r/h =R/H
r =R*h/H -------->1
Area =πr² -------->2
Sub 1 in 2 and differentiating,
da/dt = π[R/H]²×2h dh/dt -------->3
Volume of cone,V=1/3 πr²h -------->4
Differentiating the above equation
dV/dt = 1/3 [A dh/dt + da/dt ] -------->5
Sub 3 in 5
dV/dt = 1/3 dh/dt[A+2h²π( R/H)² ] -------->6
By Newton’s law:
Fin-Fout= 1/3 dh/dt[A+2h² π(R/H)² ] -------->7
Fout =k√h -------->8
Fin – k√h = 1/3 dh/dt[A+2h² π(R/H)² ]
dh/dt =(Fin − k√h)/(1/3 [A+2h² π(R/H)² ])
Sub Area in above equation,
dh/dt = 3(Fin−k√h)/ (π[R/H]² + 2h²π[R/H]²)
dh/dt =(Fin/πh²[R/H]²) - (k√h/πh²[R/H]²)
The above Mathematical model is analysed in SIMULINK.

Conical Tank Measurments
S.NO Parameter Value
1 Height(Max) 31 cm
2 Height(Min) 15cm
3 Radius(Max) 10cm
4 Radius(Min) 5cm
Determining the transfer function:
Let, α = 1/πh²[R/H]² , β=kα

dh/dt =(αFinĥ−2 )- (βĥ−3/2)-------->9
From Taylor Series expansions,
For linearising Fĥ-2 And ĥ−3/2 in -------->9
F(h,Fin) = F(hs,Fins) – 2Fin hŝ−3(h - hs)+ hŝ-2(F-Fins) ---->10
dh/dt= ĥ-3/2 [Initially]
ĥ-3/2 = (hŝ-3/2)−3/2 (hŝ-5/2) (h – hs) -------->11
Sub 11 and 10 in 9
dh/dt = α[F(hs , Fins) – 2Fin hŝ-3(h - hs) + hŝ-2(F - Fins)] –β [hŝ-3/2- 1.5×hŝ-5/2 (h -
hs) --------12
At initial and steady state condition,
d(h-hs)/dt = α [-2Fins hs-3 (h - hs) + hs-2 (F - Fins) + hs-5/2 (h – hs)] +(3/2)βhs-
5/2(h-hs)] ------->13
Let y=(h - hs) and u = F - Fins sub in equ -----13
dy/dt=-2α Fins-3y+α hs-2u+ (3/2)βhs-5/2y -------->14
[2/β hs^-2]dy/dt+ y = αhs^-2 U[2/β hs^5/2] -----15
Τ dy/dt +y =cU-------->16
Comparing 15 and 16, τ= 2/β hs^5/2 C= 2α/β hs^1/2
Applying laplace transform for equ----->16
Τs Y(S) +Y(S) =CU(S)
Y(S)/U(S) = C/τs+1
(Contd.)
 The transfer function for different height of the
tank:
S.NO Height Transfer Function
1 10 Y(s)/U(s)= 3.16/62.08s+1
2 15 Y(s)/U(s)=3.87/170.66s+1
3 20 Y(s)/U(s)=4.47/350.44s+1
SIMULINK DESIGN
Output before placing Controller
Output after placing Controller
REFERENCES
1. Nithya.S, Abhay Singh.G, Radhakrishnan.T.K, Balasubramanian. T and

Anantharaman. N, “Design of intelligent controller for non-linear process”,
Asian Journal of applied Science, 2008; 1: 33-45.
2. N. S Bhuvaneshwari, G. Uma, T. R. Rangaswamy, Adaptive and optimal control of
an nonlinear process using intelligent controllers, Applied soft computing, 2009; 9:
182-190
3. G. Pandimadevi M. E. and Dr. V. Selvakumar N, "Design of PI Controller for a
Conical tank system, World Journal of Engineering Research & Technology.
4. Jietae Lee, Yongjeh Lee and Dae Ryook Yang and Thomas F. Edgar N, "Half Order
Plus Time Delay (HOPTD) Models to Tune PI Controllers" , Published online in
Wiley Online Library (wileyonlinelibrary.com).
5. Dr.G.Saravanakumar , Dinesh.S2 , Preteep.S3 , Sridhar.P4 and Suresh.M5 ,
"Controller Tuning Method for Non-Linear Conical Tank System", Asian Journal of
Applied Science and Technology (AJAST).

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A presentation for the project

Design and control of conical tank liquid level using

Department of Electronics and Instrumentation Engineering

 In order to develop a Half-Order Approximation to control the level of conical tank

 A first-order linear system with time delay is a common

empirical description of many stable dynamic processes.

The First Order Plus Dead Time (FOPDT) model is used to

obtain initial controller tuning constants.

 In order to approximate a higher order transfer function into

first-order plus time delay model, we have to convert the

transfer function into

easy drainage of solid mixtures and viscous liquids.

 Due to its Non-Linear Shape & varying Cross-Sectional area.

 Level-Control is a difficult task.

 A Half-Order Plus Time Delay is a simple approximation of the dynamic response

of a process variable under an influence.

conical tank. But it cannot be applied to high-level processes.

 To overcome the drawbacks of FOPTD approximation, we assume a new concept

namely, Half-Order Plus Time Delay approximation.

 Controller is a device which produce control action.

 Actuator is a device which is used to convert energy into motion.

 It can also be used to apply a force.

 Examples include Solenoids, Electric motors and Hydraullic Cylinders.

 A plant is often referred to with a transfer function (commonly in the s-domain)

system without feedback, commonly determined by physical properties of

 A feedback is a system whose output is controlled using its measurement as

a feedback signal. This feedback signal is compared with a reference signal to

generate an error signal which is filtered by a controller to produce the system's

 Proposed by Ziegler and Nicholas in 1942.

 It can be used to tune both Open-loop & Closed-loop Systems.

 The process dynamics is modelled by a First-order plus time delay model.

 Calculate the PID parameters (kp,Ti,Td)

and run the design.

 A fuzzy-logic controller works on the principle of fuzzy logic.

in terms of logical variables that take on continuous values between 0 and 1, in

contrast to classical or digital logic, which operates on discrete values of either 1

or 0 (true or false respectively).

 The fractional-order PID controller is a sum of fractional operators along

 It can satisfy the following criteria:

• Elimination of steady-state error

The above Mathematical model is analysed in SIMULINK.

S.NO Parameter Value

Let, α = 1/πh²[R/H]² , β=kα

1. Nithya.S, Abhay Singh.G, Radhakrishnan.T.K, Balasubramanian. T and

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