FOXBORO

Open Loop Test

a) Change in manipulated variable of 8% (Started from 12:17:57 until 12:18:50)

Time (s) PV (m3/hr) PV (%) RR (1/s)

1 396.64 49.58
2 396.95 49.62 0.0052
3 397.30 49.66 0.0134
4 398.66 49.83 0.0027
5 397.64 49.71 -0.0089
6 397.52 49.69 0.0037
7 398.11 49.76 0.0130
8 399.19 49.90 0.0171
9 400.30 50.04 0.0015
10 399.38 49.92 0.0056
11 401.02 50.13 0.0259
12 402.69 50.34 0.0294
13 404.78 50.60 0.0260
14 406.02 50.75 0.0199
15 407.33 50.92 0.0259
16 409.33 51.17 0.0333
17 411.59 51.45 0.0259
18 412.64 51.58 0.0262
19 414.94 51.87 0.0286
20 416.30 52.04 0.0237
21 417.97 52.25 0.0273
22 419.80 52.48 0.0198
23 420.50 52.56 0.0200
24 422.36 52.80 0.0300
25 424.34 53.04 0.0319
26 426.44 53.31 0.0252
27 427.56 53.45 0.0241
28 429.53 53.69 0.0247
29 430.72 53.84 0.0221
30 432.36 54.05 0.0304
31 434.61 54.33 0.0314
32 436.38 54.55 0.0217
33 437.39 54.67 0.0222
34 439.22 54.90 0.0241
35 440.48 55.06 0.0205
36 441.84 55.23 0.0284
37 444.11 55.51 0.0327
38 446.03 55.75 0.0263
39 447.48 55.94 0.0237
40 449.06 56.13 0.0205
41 450.11 56.26 0.0205
42 451.69 56.46 0.0239
 43 453.17 56.65 0.0237
44 454.72 56.84 0.0237
45 456.20 57.03 0.0163
46 456.80 57.10 0.0247
47 459.36 57.42 0.0319
48 460.88 57.61 0.0204
49 461.97 57.75 0.0234
50 463.88 57.99 0.0321
51 466.08 58.26 0.0288
52 467.56 58.45 0.0157
53 468.09 58.51

RRmax = 0.0333
51.4549.58
Td = 17 2(1) 51.4550.92
= 9.94
58.5149.58
Tc = 2(1) 51.4550.92
= 33.70
b) Change in manipulated variable of 11% (Started from 12:24:17 until 12:24:39)

Time (s) PV (m3/hr) PV (%) RR (1/s)

1 399.31 49.91
2 399.31 49.91 0.0061
3 400.39 50.05 0.0083
4 400.77 50.10 0.0034
5 400.98 50.12 0.0012
6 400.98 50.12 0.0058
7 402.00 50.25 0.0102
8 402.78 50.35 0.0034
9 402.59 50.32 0.0049
10 403.64 50.46 0.0079
11 403.98 50.50 0.0058
12 404.66 50.58 0.0031
13 404.53 50.57 0.0043
14 405.41 50.68 0.0122
15 406.67 50.83 0.0197
16 408.88 51.11 0.0230
17 410.72 51.34 0.0261
18 413.48 51.69 0.0230
19 414.77 51.85 0.0259
20 418.03 52.25 0.0166
21 419.70 52.46

RRmax = 0.0261
51.6949.91
Td = 18 2(1) 51.6951.11
= 11.86
52.4649.91
Tc = 2(1) 51.6951.11
= 8.79
c) Change in manipulated variable of 15% (Started from 12:30:13 until 12:30:39)

Time (s) PV (m3/hr) PV (%) RR (1/s)

1 386.84 48.36
2 386.84 48.36 -0.0013
3 386.53 48.32 -0.0013
4 386.53 48.32 -0.0012
5 386.25 48.28 -0.0025
6 385.94 48.24 0.0016
7 386.63 48.33 0.0044
8 387.00 48.38 0.0022
9 387.16 48.40 -0.0039
10 386.06 48.26 -0.0046
11 386.06 48.26 -0.0010
12 385.81 48.23 -0.0015
13 385.70 48.21 0.0001
14 385.84 48.23 0.0006
15 385.84 48.23 -0.0010
16 385.61 48.20 0.0015
17 386.19 48.27 0.0014
18 385.94 48.24 -0.0010
19 385.94 48.24 0.0098
20 388.30 48.54 0.0193
21 390.58 48.82 0.0207
22 393.28 49.16 0.0193
23 395.22 49.40 0.0169
24 397.33 49.67 0.0207
25 400.20 50.03 0.0263
26 403.64 50.46 0.0204
27 405.09 50.64

RRmax = 0.0263
50.4648.36
Td = 26 2(1) 50.4649.67
= 20.62
50.6448.36
Tc = 2(1) 50.4549.67
= 5.85
Closed Loop Test (Using change in MV of 11%)
1) Ziegler-Nicole (PI controller)

P = 111.1 RR Td
= 111.1 (0.0261) (11.86)
= 34.39 %

I = 3.33 Td
= 3.33 (11.86)
= 39.49s
= 0.66 min

Tuning Test, Load Disturbance Test and Set Point Test

2) Cohen-coon (PI controller)
11.89
= Td/Tc = 8.79
= 1.3527
100
P =
1+
11
100
= 1.3527 (0.0261)(11.89)
1+
11
= 27.6346%

1+
11
I = 3.33 [ 11 ]

1+
5
1.3527
1+
11
= 3.33[ 11(1.3527) ](11.89)
1+
5
= 11.18 s

Tuning Test, Load Disturbance Test and Set Point Test

3) Takashi (PI controller)

P = 110 RR Td
= 110 (0.0261) (11.86)
= 34.05 %

I = 3.3 Td
= 3.3 (11.86)
= 39.14 s
= 0.65 min

Tuning Test, Load Disturbance Test and Set Point Test

EMERSON
Open Loop Test

a) Change in manipulated variable of 5%

MVi = 51%, MVf = 56%

10%
= = 0.5882 %/
17
15
= = 1.3043 /
11.5

= 2 1.3043 = 2.61


= 13 1.3043 = 16.96

14.5
13 0.5882 0.1006
= =
(56 51) 1.3043
b) Change in manipulated variable of 10%

MVi = 51%, MVf = 61%

10%
= = 0.5882 %/
17
60
= = 1.3333 /
45

= 66

= 3 1.3333 = 3.99


= 12 1.3333 = 16.00

1 0.5882 0.00991
= (tan 66) =
10 1.333
c) Change in manipulated variable of 15%

MVi = 51%, MVf = 61%

10%
= = 0.5882 %/
17
60
= = 1.3333 /
45

= 66

= 3 1.3333 = 3.99


= 13 1.3333 = 17.33

1 0.5882 0.1015
= (tan 66.5) =
10 1.333
Closed Loop Test (Using change in MV of 5%)

1) Ziegler-Nicole (PI controller)

P = 111.1 RR Td
= 111.1 (0.1006) (2.6086)
= 29.1554 %

I = 3.33 Td
= 3.33 (2.6086)
= 6.69 s

Tuning of PI controller

Gain is tuned by dividing it by 16. Final gain value is 1.82.

Load Disturbance Test

MV is changed from MVi =58 % to MVf = 68%

Set Point Test

Set point is changed from SPi = 12.5% to SPf = 15% (10% from its process value)
2) Cohen-coon (PI controller)
2.6086
= Td/Tc = 16.96
= 0.1538
100
P =
1+
11
100
= 0.1538 (0.1006)(2.6086)
1+
11
= 25.92 %

1+
11
I = 3.33 [ 11 ]
1+
5
0.1538
1+
11
= 3.33[ 11(0.1538) ](2.6086)
1+
5
= 6.58 s

Tuning of PI controller

Gain is tuned by dividing it by 16. Final gain value is 1.62

Load Disturbance Test

MV is changed from MVi =53.5 % to MVf = 63.5%

Set Point Test

Set point is changed from SPi = 11% to SPf = 13.5% (10% from its process value)
3) Takashi

P = 110 RR Td
= 110 (0.1006) (2.6086)
= 28.87 %

I = 3.3 Td
= 3.3 (2.6086)
= 8.6083 s

Tuning of PI controller

Gain is tuned by dividing it by 16. Final gain value is 1.80

Load Disturbance Test

MV is changed from MVi =55.5 % to MVf = 65.5%

Set Point Test

Set point is changed from SPi = 11% to SPf = 13.5% (10% from its process value)