Liquid Flow Plant FIC21

From the open loop process response obtained, the response rate, dead time and time constant
value is calculated using the tangent method.
PVi = 2.05

MVi = 45.0

PVf = 2.96

MVf = 55.0

PV = PVi - PVf

MV = MVi - MVf

= 2.96 2.05

= 55.0 - 45.0

= 0.91

= 10.0

ti = 10:46:54.8
ti = 10:47:15
t = 2.14
Response rate, RR

= (PV/t) / MV
= (0.91/2.14) / 10.0
= 0.0425

Dead time, td = 54.8 - 44.3

= 1.07 s
Time constant, Tc = t
Tc = 2.14 s
For the P,I and D calculations, fine tuning formula by both Ziegler-Nichols and Cohen-Coon are
used.

Calculations Using Tuning Rules by Ziegler-Nichols

Mode

PI

PID

100 RR Td
P

= 100 (0.0425)(1.07)
= 4.5475

PI

PID

111.1 RR Td

3.33 Td

= 111.1(0.0425)(1.07)

= 3.33 (1.07)

= 5.0523

= 3.5631

83.3 RR Td

2 Td

0.5 Td

= 83.3 (0.0425)(1.07)

= 2 (1.07)

= 0.5 (1.07)

= 3.7881

= 2.14

= 0.535

To obtain Kc, use PI = 100/Kc;

KC = 100/PI
= 100/5.0523 = 19.79
= 19.79 / 4 = 4.9475
= 4.9475 / 4 = 1.237

Calculations Using Tuning Rules by Cohen-Coon

Mode

PI

PID

RR Td
P

(0.0425)(1.07)

= 3.898
3.33[

RR Td
PI

(0.0425)(1.07)

= 4.35

(0.0425)(1.07)

= 3.062

Where = Td/Tc = 1.07/2.14 = 0.5

To obtain Kc, use PI = 100/Kc;

KC = 100 / 4.35 = 22.99

= 22.99 / 4 = 5.75
= 5.75 / 4 = 1.44
= 1.44 / 4 = 0.36

= 3.33[

(1.07)

= 1.774
RR Td

PID

Td

2.5[

Td

=
= 2.5[

(1.07)
= 0.36

= 2.263