Exp. No.

Group No.:

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:

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 =
Final Height = ?
t1 = ?
t2 = ?
FOPTD Parameters:

=?
=?
kp = ?
PID Controller Parameters:
Kc=?
I=?
D = ?
RESULTS:
CONCLUSIONS:
REFERENCES:

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

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