Beruflich Dokumente
Kultur Dokumente
GROUP
MEMBERS
:8
: Mohd Muizzuddin Bin Mohd Pauzi
Nurul Alia Bt Mohamad
15607
15669
15303
17779
Lecturer
Date Submission
1|P ag e
15401
Table of Content
No. Topic
Introduction
1
2
3
4
5
6
7
8
9
Methodology
Result of Experiment
Analysis of Instruments
Dynamic Model
Feedback Controller
Discussion
Conclusion
Reference
2|P ag e
Page
3
4
5
6
11
15
19
20
20
Introduction
In Process Instrumentation and Control Lab, we conducted Temperature Control experiment
among other experiments. In this particular experiment, the objectives are to demonstrate the
characteristic of Proportional Only Control (P), Proportional Band and Integral Action (PI) and
Proportional Band, Integral Action and Derivative Action (PID) on a temperature process control loop.
It is also conducted to demonstrate the loop tuning procedure on a temperature process control loop.
The Air Temperature Control has been designed on how a temperature loop for an exchanger
can be controlled using a microprocessor based controller. The control panel is connected to a
Distributed Control System (DCS), which can remotely control the process plant using supervisory
control mode (SCADA) or direct digital control mode (DDC). A selector with located at the control
panel is used to select between SCADA or DDC mode. In SCADA mode the DCS can monitor and
control the process through the process controller and in DDC mode; the DCS can directly control the
plant through the Field Control Station.
The Air Temperature Control Module is an air process where 6 bar(g) compressed air is
charged into the air receiver tank V-102 and regulated to about 4 bar(g) by the air regulator PCV-102.
Air from V-102 flows through the process line into the air heater K-101 where it is heated up to 150
C and is then discharged to the atmosphere.
3|P ag e
Methodology
Methodology of the Temperature Control Experiment:
First of all, the compressor was started and we will wait for sufficient air pressure to build up in the
receiver tank. After that, the instrument main supply was swich on. Then, the controller was set to the
manual mode with set point of 100 . A step input was introduced and the experiment was started with
Proportional only control to observe the response produced, and then was repeated by replacing the P
Controller with a Proportional-Integral (PI) Control and then lastly to use a Proportional-IntegralDerivative (PID) Control.
4|P ag e
Result of Experiment
200
150
temperature by using
PID
100
50
setpoint temperature
0
0
10
20
Time/min
Temperature/C
100
50
setpoint temperature
0
0
10
20
time/min
Temperature/C
100
50
setpoint temperature
0
0
10
20
30
40
50
60
70
Time/min
5|P ag e
Analysis of Instruments
The following diagram shows a feedback control loop which comprises of the process, the
measurement, the controller and the final control element. When all the various elements are
interconnected with each other and there exists a continuous passing of information around
the loop, then the loop becomes a closed loop control and simultaneously, an automatic
feedback exists.
Receiver
tank
V-301
Control tank
PSV-301
PT-302
PT
PIC-302
PC
V-302
PSV-302
6|P ag e
the success of meeting the objectives. P, I, and D stand for Proportional, which depends
on present error, Integral, which is the accumulation of past errors and Derivative, which
is the prediction of future errors, terms respectively. A simple block diagram of PID
controller is shown below.
Figure 3 PID controller block diagram
PID controller is useful in processes such as those that have rapid and large disturbances.
It must be used only when necessary because the design and tuning process of a PID
controller can initially appear to be conceptually intuitive but prove to be hard in practice.
Nevertheless, this type of control proves itself useful for various processes.
For the experiment, three different types of controller are being used in order to determine
the most suitable controller namely P controller, PI controller and PID controller. When
the P controller is used alone, it results with an offset from the set point of the process
variable. The magnitude of the offset varies depending on the value of the controller gain.
As the value of the controller gain increases, the amount of offset decreases. When used
with I controller, the offset error becomes eliminated and the movement of the process
towards the set point accelerates. However, it is important to note that since the integral
term responds to accumulated errors from the past, it can cause the present value to
overshoot the set point value. This is where the D controller plays its role by predicting
the system behaviour and improving settling time and stability as a result.
2. Recorder (PR-302)
This instrument has a pair of pen chart recorder which
continuously records the response of the process
instrument of the input and output by the means of a
graph.
This instrument is crucial for this experiment because it
enables one to study and investigate the system
responses in various tuning methods.
7|P ag e
8|P ag e
9|P ag e
10 | P a g e
Dynamic Model
Mass balance
Energy balance
11 | P a g e
Let
and
At steady-state
Laplace Transform:
Parameter values:
Air temperature
Based on density tables,
12 | P a g e
While
Hence,
Characteristic Equation
13 | P a g e
Lowest limit
Therefore
The range of
14 | P a g e
is
Feedback Controller
For P Controller
Block Diagram of the process with P Controller to control the output of temperature.
15 | P a g e
For PI-Controller
Block Diagram
16 | P a g e
17 | P a g e
18 | P a g e
Discussion
As the figures shown previously, the output of 3 types of controller, namely, P controller, PI controller
and PID controller were compared and the results can be observed from simulink done.
No
1
2
3
Type of Controller
P-controller
PI-controller
PID-controller
Overshoot (%)
24.9
6.26
8.58
72.3
108
73.6
Yes
No
No
From the above observations, it is clear that PI controller gives the best result compared to other type
of controller. The use of P-only controller which not only give more overshoot and longer settling
time, but also steady-state error for the system, hence is not selected. We decided to choose PI
controller to control for our process over PID control because of the less overshoot percentage and
also easier to be tuned compared to PID controller.
Begin with PID controller, the outcome of simulink has given us a hint that the time taken to reach the
new set point is shorter as compared to the actual experiment result.
As for PI controller, the simulated result gives a better outcome as comparison to the result obtained
from the experiment conducted, offset is eliminated. However, for this controller, it takes lengthier
duration to reach the desired value as the order of the system increase that produce sluggish outcome.
19 | P a g e
Finally, for P controller, in the conducted experiment, the graph obtained has shown an offset while
reaching the set point value. By comparison to the graphs as simulated, an expected of sluggish
response is common as it takes a long period of time to respond. Both graphs have indicated that the
desired set point value will not be achieved by using P controller alone as it is very sluggish.
Transfer function and gain values included Simulink software may contribute to the errors or deviation
from the actual experiment results. This may cause the delay in the system. Besides, the inaccurate
transfer functions and the assumptions of ideal system might cause the results vary from the actual
results. The order of the transfer function plays an important role in producing accurate outcome. The
transfer function used is first order. This may not be true as the system in the actual experiment is
more complex and may have transfer function other than first order.
Conclusion
Based on the temperature control experiment done for the Process, Instrumentation & Control Lab, a
dynamic model for the physical appendage scheme was developed using the data obtained from the
experiment. An analysis on the basic instrumentation used for the summons arrangement was also
done. Finally, a feedback controller arrangement was designed to fit the process system referring to the
possible parameters that needed to be controlled using different tuning method. Based on the results
obtained and figuring, the best controller system for this process is the PI-controller because of the less
overshoot percentage and also it is easier to be tuned.
Reference
P.Sivakumar, D.Prabhakaran & T.Kannadasan. (2012). Temperature control of shell and tube
heat exchanger by using intelligent controllers. International journal of computational engineering
research, 2(8).
Seborg D.E., T.F. Edgar and D.A. Melliechamp, Process Dynamics and Control, John Wiley
and Sons, New York, 1989, pp 116-118.
The Controller. (n.d.). Retrieved 7 1, 2014, from Control Actions:
http://www.see.ed.ac.uk/~jwp/control06/controlcourse/restricted/course/second/course/lecture5.html
What is an Integral Control System? . (n.d.). Retrieved 7 1, 2014, from Integral Control
Systems: http://www.facstaff.bucknell.edu/mastascu/econtrolhtml/intro/intro3.html
20 | P a g e