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Abstract
This paper presents result of design auto switch PID on pH neutralization process. Nonlinear
nature of pH neutralization become problem in designing control system. Thus, this research
builds pH control system at neutralization pH based on auto switch PID. Auto switch PID is a
PID controller that works based on pH range setpoint, and then tune in each setpoint region. pH
setpoint region obtained from titration curve acid-base experiment. Acid solution used is a strong
acid HCl 0,1M, while base solution is strong base NaOH 0,1M. Acid solution flow rate is
maintained constant, while the base flow rate is controlled. Dc pump 12 V used to drain solution.
Sensor used pH meter and pH electrode. The software used LabVIEW 2009 with DAQ as
acquisition data. Systems analysis is based on three criteria, maximum overshoot, time settling,
and error steady state. Result of distribution setpoint regions are 2,3-4 for region 1, 4-9,9 for
region 2, and 9,9-11,2 for region 3. Tuning results for each region obtained Kp 1, Ti 1, Td 0.002
for region 1, Kp 1, Ti 1, Td 0.1 for region 2, Kp 2, Ti 2, Td 0.005 for region 3. The lowest maximum
overshoot and the fastest settling time given by region 3 which are 1,90% and 169 seconds. The
smallest error steady state is region 1 by 0,66%. Beside that, system successfully handle load
which is addition of acid solution flow rate, as long as lower than base solution flow rate.
Key words : pH neutralization, auto switch PID, LabVIEW
by applying concept of auto switch PID in real
time process.
1.
Introduction
pH neutralization is a mixing process
between the acid solution and base solution. The
addition of one solution against pH values
resulting in mixing process has nonlinear
properties. It can be seen clearly on the titration
curves of acid and bases established process. The
addition of a little volume of one solution, pH
value can change siginificantly especially on the
way to neutral.
Hendra Cordova (2004), has been done
research on the design of auto switch PID in pH
neutralization process in CSTR (Continuous
Stirred Tank Reactor). In that concept, the
nonlinear titration curves is divided into several
linear regions. These regions are then performed
controller parameter tuning.
Fadloli Luthfi (2011), design an auto switch
PID on CIPM (Continuous Injection Pipe
Mixing). In that study has successfully
demonstrated how auto switch PID able to
handle the process PID control pH. However,
these studies are still limited to simulation.
Therefore, this research purposes to construct a
system of control at pH neutralization process,
2.
pH Theory
The concept of hydrogen ion exponent (pH)
was introduced by Sorrensen (1909) in order to
avoid the hassle of writing the number of
negative factor of 10[2]. The definition of the
concept of pH as in the equation below :
[
(1)
(2)
Base is defined as a substance to dissolve in
water will run into shape with the decoupling of
the hydroxyl ions, such as the ions only negative.
NaOH is an example of an alkaline solution.
NaOH is a basis because the water that can
release ion hydroxyl (OH)-according to the
reaction :
(8)
(3)
Preparation of acidic or alkaline solution
with the State of the Molarity (concentration)
can be done by mixing an acid or base with
aquades water distilled. He began to mix with
knowing the Molarity of the acid or base value
(
) with specific concentration levels
(
) and relative mass (
) by equation
below :
(4)
After that, use the similarity between the
volume of acid or base should be diluted (V1) is
multiplied by the molarity (M1) by the volume
of solution the desired acid or base (V2) with
molarity (M2) as below:
pH
(5)
Salt on the basis of the definition of
substance is the result of the reaction between
the acid and base neutralization reaction or the
substance of a solution of acid and alkaline
solutions are equivalent. The salt has no
distinctive features of an acid or alkaline.
14
12
10
8
6
4
2
0
1
10
25
(6)
4.
pH Setpoint
CSTR
pHT
DAQ
pHC
Pump
mv
CSTR
pH Output
PC
pHT
Motor
Driver
u(t ) K p .e(t )
Kp
Ti
e(t )dt K T
0
p d
de(t )
(9)
dt
Unit
11 L
13,8 L
13,8 L
0,047 L/min
0-0,2 L/min
0,1M
13 11 -
Model3, PID3
Model2, PID2
7-
0,1M
Model1, PID1
21-
7.
Sensor Reading
Data retrieval for sensor readings
performed at 3 pH values pH 4, pH 7 and pH 10.
Solutions used to obtain a pH value of each pH
using a buffer solution.
Figure 7 is a result of sensor readings at a
pH of 4 is displayed on the LabVIEW software.
Errors resulting from a superficial reading of the
pH of the solution is as follows:
SETPOINT
RANGE 1
SETPOINT
+
-
PID 1
SETPOINT
RANGE 2
PID 2
SETPOINT
RANGE 3
= 4-4 = 0
PID 3
(10)
Error Reading
0
10
10
12
10
PID 3
PID 2
PID 1
59.4
54.9
52.9
47.9
42.9
41.4
38.4
35.4
33.4
32.4
31.4
30.9
30.4
29.9
29.4
28.9
28.4
27.9
25.6
25.2
25
23
20
15
10
pH
4.5
4
3.5
pH
3
2.5
2
pH Setpoint
1.5
pH Output
Controller
P
PI
PID
0.5
0
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29
Time (s)
Fig. 7. pH 4 reading
7
6
pH
5
pH Setpoint
pH Output
Reset
0.83 Tu
0.50 Tu
Rate
0.125 Tu
PB
2 PBu
2.22 PBu
1.67 PBu
1
0
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29
Time (s)
8
7
Fig. 8. pH 7 reading
pH
12
5
4
pH Setpoint
10
pH Output
2
1
1
9
17
25
33
41
49
57
65
73
81
89
97
105
113
121
129
pH
8
pH Setpoint
pH Output
Time (s)
0
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29
Time (s)
Fig. 9. pH 10 reading
8.
1. Maximum Overshoot
1%
8
7
pH Setpoint
pH
pH
pH Output
5
4
pH Setpoint
pH Output
0
1
52
103
154
205
256
307
358
409
460
511
562
613
664
715
766
817
0
1
14
27
40
53
66
79
92
105
118
131
144
157
170
183
196
Waktu (s)
Time (s)
Ti =1, Td =0,002.
1. Maximum Overshoot
32,67%
3. Settling Time
163 seconds
3. Settling Time
202 seconds
2. pH 3 to pH 11
a. Maximum Overshoot
0,81%
b. Error Steady State
-0,09%
c. Settling Time
125 seconds
3. Settling Time
141 seconds
Based on data from the previous
explanation of the value of each parameter for
each PID setpoint can be grouped in regions as
in Table 4 the value of the PID parameters.
Tabel 4 PID parameters values[13]
No
Setpoint
PID Parameter
Regions
Kp
Ti
Td
1
0,002
4,0-9,9
0,1
9,9-11,2
0,005
6
pH Setpoint
4
pH Output
2
0
1
27
53
79
105
131
157
183
209
235
261
287
313
339
365
391
2,3-4,0
10
pH
12
Time (s)
pH
8
6
Setpoint pH
4
Output pH
2
1
23
45
67
89
111
133
155
177
199
221
243
265
287
309
331
0
Waktu (s)
2. pH 11 to 9
a. Maximum Overshoot
5,3%
b. Error Steady State
-0,1%
c. Settling Time
163 seconds
2. pH 7 to pH 11
a. Maximum Overshoot
1,6%
b. Error Steady State
-0,09%
c. Settling Time
103 seconds
12
10
pH
8
6
Setpoint pH
4
Output pH
12
10
0
pH
1
20
39
58
77
96
115
134
153
172
191
210
229
248
267
286
Waktu (s)
6
pH Setpoint
pH Output
1
36
71
106
141
176
211
246
281
316
351
386
421
456
491
526
Time (s)
Fig. 19. Load test for acid flow rate 0,095 L/min
12. Recommendation
There are a few suggestions that can be
given for subsequent pH control research are:
1. Titrate the solution can be varied in the
titration of strong acid to weak base or
strong acid titrated with a weak base.
2. Build level control system for each
tank, thus mini plant robuster than
previous.
REFERENCES
12
10
pH
8
6
pH Setpoint
4
pH Output
1
33
65
97
129
161
193
225
257
289
321
353
385
417
449
481
0
Time (s)
Fig. 20. Load test for acid flow rate 0,7 L/min
Figure 20 is a system response for load test
with acid flow rate 0,7 L/min, which is larger 3x
than base flow rate. Addition of acid flow rate
was done when system reach steady state for 69
seconds. The system began to respond due to
addition of acid flow rate after 62 seconds. Yet,
due to acid flow rate is larger than base flow
rate, system can not bring back to previous
condition. Even, pH value down until pH 2,06.
This caused by, the characteristic of titration
process that need acid flow rate smaller than
base flow rate. Thus, the problem in this research
was limited that, acid flow rate must not exceed
than base flow rate.
11. Conclusion
After doing research on the implementation
of auto switch PID in real time, it can be
concluded that auto switch PID have been
successfully implemented and integrated with NI
LabVIEW software. The results of performance
tests as a whole, the lowest maximum overshoot
and the fastest settling time given by the tuning
of the region 3, and the smallest steady state
error is given by region 1. Beside that, the
system is able to respond to the addition of a
specific flow rate of acid during the acid level is
lower than base flow rate.
10