Exercise 10

Figure 46 shows a closed loop process response upon a change in set point from SP
1
to SP
2
of
a water level control. The controller gain is set at 1.67, while the integral time is set at 12 s. In
relative to Figure 46, draw the closed loop process response, if the controller gain was 3.33
instead of 1.67. The integral time remains fixed at 12 s.



Kc = 3.33 Kc = 1.67


















Figure 50 - Closed loop process response upon a change in set point.



Gain = Kc =

Since the integral time is fixed, I = constant. An increase in the value of P will slower down
the controller action, which in turn slows down the process response.

Kc = 1.67; P = 59.88%
Kc = 3.33; P = 30.03%

If P decreases, the process response will become faster.
PV
Time
SP
2

SP
1

Exercise 11


Figure 47 shows a temperature response curve when a change in set point is made from SP
1

to SP
2
using K
c
= 8, I = 400 s and D = 100 s.

Draw the expected process response when the change in set point is made from SP
1
to SP
2

using the following parameters: K
c
= 12, I = 400 s and D = 100 s.




Kc = 12 Kc = 8













Figure 51 - Process response upon a change in set point.



Gain = Kc =

Since I and D are kept constant at 400s and 100s respectively, an increase in the value of P
will slower down the controller action, which in turn slows down the process response.

Kc = 8; P = 12.5%
Kc = 12; P = 8.33%

If P decreases, the process response will become faster.



PV
Time
SP
1

SP
2

Exercise 12


Figure 48 shows two flow response curves. Response A is the result of a change in set point
from 50 to 60%, and response B is the result of a change in set point from 50 to 70%. Both
responses utilize similar P and I settings: PB = 30% and I = 6 s.

Provide an explanation why response B reaches PV = 60% faster than response A.





















Figure 52 Controllability of a process at two different set points.



Since both responses A and B utilize the same P and I settings: PB = 30% and I = 6 s,
the consequence of response B reaching PV = 60% first before response A can be
justified through the effect of derivative time of a P+I+D controller.

MV

MV

When MV and/or PV increase, PB decreases. Therefore, PB is inversely proportional to MV
and PV.

Similarly, when I and PB increase, MV decreases.

In this case, the PV for response B is greater than that of response As. Thus, the PB is lower,
making the process response faster.
70%
B
PV, %
A
60%
50%
Time, s
6 8 0 2 4
Exercise 13


Figure 49 shows water level response after a change in set point from 40 to 50% is made
using PB = 20% and I = 6.66 s as calculated from Ziegler-Nichols tuning rule. At time = 7 s,
the controller is switch to manual mode.

Draw the change in process response when a 20% step change (MV) is made to the
manipulated variable.
























Figure 53 Water level response after a change in set point is made.

Since both responses A and B utilize the same P and I settings: PB = 30% and I = 6 s,
the consequence of response B reaching PV = 60% first before response A can be
justified through the effect of derivative time of a P+I+D controller.
MV

MV

When MV and/or PV increase, PB decreases. Therefore, PB is inversely proportional to MV
and PV.
Similarly, when I and PB increase, MV decreases.
In this case, the PV for response B is greater than that of response As. Thus, the PB is lower,
making the process response faster.
PV, %
50%
40%
Time, s
6 0 4 2
60%