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Two Tank Non-Interacting Liquid Level System

This document describes an experiment on identifying and designing a PID controller for a two tank non-interacting liquid level system. The objectives are to identify a first-order plus time delay (FOPTD) model for the system using process reaction curve analysis and tune a PID controller using Ziegler-Nichols tuning rules. Open and closed loop responses are recorded and the FOPTD parameters, PID settings, and system performance are reported. The conclusions are that any process can be approximated by a first-order model using the Sundaresan-Krishnaswamy method and the controller can then be tuned using Ziegler-Nichols rules, resulting in the system reaching steady state with some initial oscillations.

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Himanshu Jat
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90 views

Two Tank Non-Interacting Liquid Level System

This document describes an experiment on identifying and designing a PID controller for a two tank non-interacting liquid level system. The objectives are to identify a first-order plus time delay (FOPTD) model for the system using process reaction curve analysis and tune a PID controller using Ziegler-Nichols tuning rules. Open and closed loop responses are recorded and the FOPTD parameters, PID settings, and system performance are reported. The conclusions are that any process can be approximated by a first-order model using the Sundaresan-Krishnaswamy method and the controller can then be tuned using Ziegler-Nichols rules, resulting in the system reaching steady state with some initial oscillations.

Uploaded by

Himanshu Jat
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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You are on page 1/ 9

Exp. No.

: 3

Group No.: T1

TWO TANK NON-INTERACTING LIQUID LEVEL


SYSTEM: Identification and PID controller design
Roll No.

Name

CH12B024

E. Aswin Jayan

CH12B025

E. Sai Krishna Koushik

CH09B068

Kaniganti Prudhvi Vamsy Krishna

CH08B009

A Chakravarthy Thalluri

Date of experiment:

15/10/2015

Date of submission:
Signature of TA:
Name of TA:

Process Control Laboratory


Department of Chemical Engineering
Indian Institute of Technology
Chennai 600 036

Signature

EXPERIMENTAL SETUP:
CASCADE CONTROL TRAINER

Description of the diagram


Power ON/OFF Switch
Pump Speed knob
Pump Indicator
E1 - E2
L1 - L2
L3 - L4
HV1
HV2
HV4
HV5

- It is used to ON/OFF the unit.


- It is used to vary the speed of the pump.
- To indicate the pump status.
- I/P converter input terminals.
- Level transmitter 1 I/O terminals.
- Level transmitter 2 I/O terminals.

- Bypass valve to reservoir tank/Bypass valve for pump.


- Rotameter output, without delay to process tank/Input of without delay.
- Outlet of the Process tank 1.
- Outlet of the process tank 2.

Figure Showing the Simulink block diagram of the setup


BLOCK DIAGRAM:

EXPERIMENT
Objective:

Identification of FOPTD (first order plus time delay) model

PID controller tuning for the identified FOPTD model.

THEORY:
Non-Interacting System:
A process with several input and output variables is said to be non-interacting, if:

Each input influences only one of the outputs

A change in one input doesnt affect outputs other than the one it is supposed to

In this experiment, a system of two liquid storage tanks is used to study the behaviour of noninteracting systems.

We proceed to derivation of the transfer functions connecting the input flows, water levels,
and output flows for each of the tanks shown above.

Mass Balance:

= 1

Valve Relation:

1 = 1

(1)

(2)

Substituting equation (2) in (1), and equating the RHS to zero gives us equation connecting
the values of the input flow and steady state water level:
= 1 =

1 1

Rewriting equation (1) in terms of the deviation variables and applying Fourier Transform,
we obtain the transfer function connecting the transformed water level and input flow
variables:

(3)
And also the transfer function connecting the water level and outflow:

(4)
Similar equations may be obtained for tank 2:

(5)

(6)
PID Controller:
A proportional-integral-derivative controller (PID controller) is a control loop feedback
mechanism (controller) widely used in industrial control systems. A PID controller calculates
an error value which is the difference between a measured variable and a desired set-point. The
controller attempts to minimize the error by adjusting the process through a manipulated
variable.
The PID controller composes of three separate constant parameters: the proportional, the
integral and derivative values, denoted P, I, and D. These values can be interpreted in terms of
time: P depends on the present error, I on the accumulation of past errors, and D is a prediction
of future errors, based on current rate of change. The weighted sum of these three actions is
used to adjust the process via a control element.
Ziegler-Nichols Tuning Method:
The ZieglerNichols tuning method is a heuristic method of tuning a PID controller. It was
developed by John G. Ziegler and Nathaniel B. Nichols. It is performed by setting the I
(integral) and D (derivative) gains to zero. The "P" (proportional) gain, KP is then increased
(from zero) until it reaches the ultimate gain Ku, at which the output of the control loop
oscillates with a constant amplitude. Ku and the oscillation period Tu are used to set the P, I,
and D gains depending on the type of controller used.
PROCEDURE:
Here, the identification of a first order plus time delay model (FOPTD) is achieved using
process reaction curve method. From the open loop step response curve, using the Sundaresan
and Krishnaswamy method (1978), the three parameters of the FOPTD model (process time
constant(), time delay () and process gain (kp)) are estimated using the following procedure.

PROCEDURE: Open Loop


1. Switch on the level control trainer.
2. Invoke the MATLAB Level control software in PC and select OPEN LOOP by clicking AUTO
SWITCH on MATLAB Simulink Window
3. START the program. Enter the percentage of valve opening(0-12.5, i.e., 0% to 50%) , observe
level of the both tanks, until it gets steady state.
4. After reaching steady state, again give step input, from 50% of valve open to 60% (i.e., 12.515) of valve open; observe level of the both tanks, until it gets steady state.
5. Record both tank data from the PC.
6. After reaching steady state, stop the experiment.
7. From the recorded data of Lower tank, identify the FOPTD model.

Identification Procedure:
1. Obtain the open loop response data
2. Obtain the time t1 and t2 when the fractional response are y1=0.353 and y2=0.853
respectively.
3. Using the following formulae, FOPTD parameters are found out:
a. Process time delay, =1.3t1-0.29t2
b. Process time constant, =0.67(t2-t1)
c. Process Gain, kp=y/u
Controller design:
Using the controller settings so obtained, design a PID controller for the experimental setup
using the following PID settings (ZN tuning rules, 1942, 1943)
Kc=1.2(kp)
I=2.0
D=0.5

PROCEDURE: Closed Loop

1. Switch on the level control trainer.


2. Invoke the MATLAB Level control software in PC and select CLOSED LOOP by clicking
AUTO SWITCH on MATLAB Simulink Window
3. Enter the controller settings in PID controller block. START the program. Observe level of the
lower tank, until it gets steady state.

CALCULATIONS AND RESULTS


Initial Height = 1.246
Final Height = 9.801
t1 = 36.4
t2 = 158.6

FOPTD Parameters:
= 0.1326
= 8.1874
kp = 17.11

PID Controller Parameters:


Kc = 1.8043
I = 8.1874
D = 0

RESULTS:

Figure: Open loop response of the non-interacting tanks in series

Figure: Closed loop response of the non-interacting tanks in series

CONCLUSIONS:

Any process can be approximated as a First Order process by the SundaresanKrishnaswamy approximation. Using the values obtained from open loop response, the
controller can be tuned using Ziegler Nichols tuning rules.
Initially the system oscillates, which is as expected for a second order system.
But the oscillations die out with time and the system reaches a steady state value
of 10 (desired output).

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