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September 2013
Group Project
Title
Group
: B2
Group Members
14892
14736
14995
16059
14802
15521
1.0 SUMMARY
In this project, we managed to prove on how a pressure loop can be controlled by using
three basic feedback control modes which are:
1. Proportional(P) controller
2. Proportional and Integrative(PI) controller
3. Proportional, Integral and Derivative(PID) controller
Starting with the simplest mode, Proportional Controller. Proportional Controller attempts
to stabilize the system and avoid fluctuations from occur by responding the magnitude as
well as the direction of the error. When Proportional Controller is used, large gain is needed
in a way to improve the steady state error since stable systems do not have problems when
large gain is used. By other means, Proportional Controller helps in calculating the amount
of error between the measurement and the set point, amplifies it and positions the final
control element to reduce the error. The measurement of Proportional Controller can
completely eliminate offset at only one load condition since the magnitude of its corrective
action is proportional to the error. However, Proportional Controller only can accommodate
one fixed relationship between input and output in order to obtain a zero error if properly
tuned.
Next is Proportional Integral Controller. Integral control has a negative effect on speed of
the response and overall stability of the system. Plus, it is almost never used alone. Rather it
is combined with Proportional Control. Generally, this combination of PI Controller is used
when no amount of offset can be tolerated. That makes PI Controller as a very often used
controllers in industry since speed of the response is not an issue when we are dealing with
PI Controller. When a process upset occurs, the P Controller will register an error and
respond to it. Meanwhile, the Integral Control mode will detect the offset error in the
proportional mode and tries to eliminate the error.
Besides, Proportional, Integral and Derivative(PID) Controller is also to control the
pressure. PID Control have been the dominant control technique for process control for
many decades. A survey has indicated that large scale continuous process typically have
between 500 and 5,000 feedback controllers for individual process variables such as flow
rate and liquid level. Of these controllers, 97% utilize some form of PID control (Desborough
& Miller, 2001). However, its application should be considered carefully because it has
limitations with some processes. It is hard to tune. Hence, the controlled process which is
stabilized using the Derivative Control helps to reduce the oscillation and offset thereby
producing the same speed of response as with proportional action but without offset.
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2.0 OBJECTIVES
The objectives of this experiment are:
i.
ii.
iii.
iv.
v.
To develop a suitable control system to regulate the reaction based on the identified
variables and suggested models by using SIMULINK software
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3.0 METHODOLOGY
Achieve set-point?
Yes
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No
Control tank
V-302
Assumptions:
1. Negligible temperature change,
2. Constant volume in control tank (
.
),
. Hence, constant in
Since there is no change is volumetric flow rate, hence in order to change the pressure,
there will be change in mass flow rate.
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At steady-state,
Where
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Simulink
The transfer function and block diagram are plotted in SIMULINK as shown in figure below.
From the simulation above, it can be seen that the process have not reached the expected
final value due to the reason that the controller was not installed to control the pressure.
Controller play an important role in making sure that the process reached the desired value
and the set point of the process. For example in a feedback loop of a control system,
feedback loops take the system output into consideration, which enables the system to
adjust its performance to meet a desired output response. Without controller, the desired
process cannot be done and the process will be dangerous as overpressure might cause
explosion.
To test the effectiveness of the process without controller, the process was run using
SIMULINK. As shown in the block diagram in Figure 1, there is no controller (Gc) and also
pressure transmitter (Gm) but the process do have final control element which is valve (Gc).
The process transfer function which is Gp is derived and inserted into the block diagram to
complete the process. After the whole process is completed, source block parameter of step
is adjusted to see the response of the reaction. As shown in Figure 3, the initial value is set
to 0 and the final value is set to 4, after simulation, the graph reached steady state at 2 but
not 4. This is because there is no controller to control and tune the response to desired value
and this caused the ineffectiveness of the process. With the existence of controller at the
tank, the process will be effective and reach desired value. This will be studied at the next
discussion.
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From the description of the equipment in the lab manual, a diagram is drawn:
P1=6 bar
Receiver
tank
V-301
P2=4 bar
PSV-301
Control tank
V-302
PT-302
PT
PIC-302
PC
P3=2 bar
PSV-302
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The suitability of the types of control valve to be used varies on the function or unit process
that the control valve to be installed in.
5. Vortex flow meter (FT-301)
Flow meter is used to measure the flow of fluids
such as liquid or gas into the system. One of the
methods to measure the flow is by placing a body
such as shedder bar in the path of the fluid. As the
fluid passes the bar, there will be a disturbance to
the flow forming vortex. The frequency at which
these vortices alternate sides is essentially
proportional to the flow rate of the fluid.
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3. Design a feedback control system and analyze its stability using various tuning
techniques
P-only, PI, and PID controller was used to test the stability of the feedback pressure control
system that was designed. A major setback was shown when the design was tested using Ponly controller in the feedback pressure control system. Next, when the design was
experimented using PI controller in the feedback pressure control system, it eliminates the
offset though with one disadvantage where it has more oscillatory. Finally the design was
tested using PID controller in the feedback pressure control system, where it does not only
eliminate the offset but also has less oscillatory hence proven to be superior to PI controller.
This shows that, to tune a feedback pressure control system, it is the best and optimum
selection to use PID controller. The attached diagrams contain the all the results. The
feedback pressure control system is stable using PID and PI controller. All the results are
shown in the attached diagram. The stability of using PID controller in the system using
Bode Diagram is shown stable. The stability of using PI controller in the system using Bode
Diagram is also stable. While only the stability of using P-only controller in the system using
Bode Diagram does not show any stability.
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P controller
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PID controller
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Transfer function and gain values that we included in running this Simulink software may
contribute to the errors or deviation from the actual experiment results. This may cause the
delay in the system. Besides that, the inaccurate transfer functions and the assumptions of
ideal system might cause the results to be different from the actual results. Besides that, the
order of the transfer function also plays an important role in producing accurate results. The
transfer functions in the stimulation we assumed to be a simpler system whereby the transfer
functions used are of first order. This may not be true as the system in the actual experiment
is more complex and may have transfer functions of other than first order.
5.0 CONCLUSION
Among the entire controller, PID controller is the best controller as it can eliminate
offset and oscillatory response. Furthermore, it does not overshoot too much thus saving
time in becoming stable faster.
For PI controller, it is less efficient and stable as compared to PID controller. This
kind of controller will produce oscillatory response which then affects the desired value.
Besides that, it overshoot from the desired value hence requires time to achieve steady
desired output.
It takes a very long time or near impossible for P controller to achieve desired value
although the set point had been set earlier. Apart from that, the offset cannot be eliminated
as there is no action of both integral and derivative.
From all these analysis, it is found that PID is the best controller to suit the feedback
pressure control system. The time taken for the respond curve for this method has the
shortest time compared to other methods. Besides that, the responds curves obtained are
less sluggish and more stable compared to other methods. This shows that PID is the best
choice for the saving time and most efficient.
6.0 REFERENCES
Hagglund, Tore, PID Controllers: Theory, Design & Tuning.
Rys, R.A. (1984). Advanced Control Methods, Chemical Engineering.49.
Seborg D.E., Edgar T.F. & MelliechampD.A. (1989). Process Dynamics and Control. John
Wiley and Sons: New York.116-118.
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