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Liquid Level Control Example PDF
Liquid Level Control Example PDF
hC
Float Level
Sensor
PU Rf QU
TANK
PUMP
ρgh C − PU dh C
QM − QU − = AT Conservation
Rf dt of
Rf 1 R Mass
( τps + 1) h C = ρg
QM +
ρg
PU − f Q U
ρg
AT R f
τp = process time constant
ρg
B (Unavoidable Friction)
Buoyant
Force F B
h x Wf FB = Wf + A f ρg ( h − x )
Tank
1 1
K C2
tau1.s+1 tau2.s+1
Step Input System 2
1 1
K C3
tau1.s+1 tau2.s+1
Step Input
System 3
1
tau3.s+1
0.4
0.35
C2
C1
response: C1 C2 C3
0.3
0.25
0.2
0.15
0.1
0.05
0
0 0.5 1 1.5 2 2.5 3
time (sec)
0.9
C3
0.8
0.7
C2
response: C1 C2 C3
0.6
C1
0.5
0.4
0.3
0.2
0.1
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time (sec)
Sensors & Actuators in Mechatronics K. Craig
Liquid Level Control 17
Response for K = 10
1.4
1.2
C3
1
response: C1 C2 C3
0.8
C2
0.6
C1
0.4
0.2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time (sec)
0.9
0.8
0.7
K=10
0.6
response: C1
K=5
0.5
0.4
0.3
0.2
0.1
K=1
0
0 0.5 1 1.5 2 2.5
time (sec)
1.2
K=10
1
response: C2
0.8
K=5
0.6
0.4
0.2
K=1
0
0 0.5 1 1.5 2 2.5
time (sec)
1.2
K=10
1
response: C3
0.8
0.6
K=5
0.4
K=1
0.2
0
0 0.5 1 1.5 2 2.5
time (sec)
C3
1.5
response: C1 C2 C3
C2
1
0.5
C1
0
-0.5
0 0.5 1 1.5
time (sec)
K
( τ1s + 1)( τ2s + 1)( τ3s + 1)
K
=
τ1τ2 τ3s3 + ( τ1τ2 + τ 2 τ3 + τ1τ3 ) s 2 + ( τ1 + τ 2 + τ3 ) s + 1
K
=
0.005s3 + 0.155s 2 + 1.15s + 1
K = 34.65
10
Imag Axis
-10
Open-Loop Poles:
-20 -20, -10, -1
-30
-25 -20 -15 -10 -5 0 5
Real Axis
20
15
K = 34.65
10
Imaginary Axis
ω = -∞
5
ω = 0-
To: Y(1)
ω = 0+
ω = +∞
-5
-10
-15
-20
-25
-5 0 5 10 15 20 25 30 35
Real Axis
2
K = 10
Imaginary Axis
To: Y(1)
-0.289
-2
Gain Margin = 1/.289 = 3.46
-4
-6
-2 0 2 4 6 8 10
Real Axis
0
Phase (deg); Magnitude (dB)
-20
GM = 10.8 dB
-40 PM = 40.5 deg
-60
-100
-200
-300
10-1 100 101 102
Frequency (rad/sec)
M1
M2
1
K C2
s+1
Step Input Saturation
Upper Limit: +1
Lower Limit: -1
0.45
0.4
0.35
C1 and C2 responses are identical.
response: C1 C2
0.3
0.25
0.2
0.15
0.1
0.05
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time (sec)
0.9
0.8
C1
0.7
response: C1 C2
0.6
C2
0.5
0.4
Speed of response is
0.3
affected, but steady-state
0.2
error is not.
0.1
0
0 0.5 1 1.5 2 2.5 3 3.5 4
time (sec)
1.2
C1
1
response: C1 C2
0.8
C2
0.6
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time (sec)
ζ ≥ 0.6 (1 − M p ) 0 ≤ ζ ≤ 0.6
1 Rf
( τp D + D + K ) h E = − ( τp D + D ) h V + ρg DPU − ρg DQU
2 2
K h K I K p K x K v R f loop system
K= gain h E = h V − h C error
ρg
Sensors & Actuators in Mechatronics K. Craig
Liquid Level Control 42
– Note the following:
– Step changes (constant values) of hV, PU, and/or QU
give zero steady-state errors.
– For ramp inputs, we now have constant, nonzero
steady-state errors whose magnitudes can be reduced
by increasing K.
– The characteristic equation is second order, so define:
K 1
ωn = ζ=
τp 2 Kτp
Proportional Integral
Control Control
Root
Loci
x x x
1 1
− −
τp τp
-1 -1
Nyquist
Plots
Sensors & Actuators in Mechatronics K. Craig
Liquid Level Control 45
• What if we change the controlled process by
closing off the pipe on the left side of the tank.
This not only deletes PU as a disturbance but also
causes a significant change in process dynamics.
• Take Rf = ∞. The from Conservation of Mass we
have: 1
hC = ( QM − QU )
ATs
• The original tank process had self-regulation.
– If one changes QM and/or QU the tank will itself in time
find a new equilibrium level since the flow through Rf
varies with level.