FLOW SYSTEM CONTROL

Objective
1. The objective of experiment is to obtain the flow control
system
characteristics (parameters may be considered including
peak
overshoot, rise time, settling time, period and transport
delay),
shown in Figure(l).

2. Write response as a function of time.

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INTRODUCTION
Proportional-Integral-Derivative (PID) controllers are used
in most automatic process control applications in industry
today to regulate flow, temperature, pressure, level, and
many other industrial process variables. They date back to
1939, when the Taylor and Foxboro instrument companies
introduced the first two PID controllers. All present-day
controllers are based on those original proportional,
integral, and derivative modes.

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Electronic analogue PID control loops were often found

within more complex electronic systems, for example, the
head positioning of a disk drive, the power conditioning of
a power supply, or even the movement-detection circuit of
a modem seismometer, toilet bowl float proportioning
valve and the fly-ball governor. PID temperature
controllers are applied in industrial ovens, plastics injection
machinery, hot-stamping machines and packing industry.

Controller: Provides the excitation for the planet ;

Designed to control overall system behaviour
The three-term controller
The transfer function of the PID controller looks like the
following.
Kp = Proportional gain
KI = Integral gain
Kd = Derivative gain

First, let's take a look at how the PID controller works in a

closed-loop system using the schematic shown above. The

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variable (e) represents the tracking error, the difference

between the desired input value (R) and the actual output
(Y). This error signal (e) will be sent to the PID controller, and
the controller computes both the derivative and the integral
of this error signal. The signal (u) just past the controller is
now equal-to the proportional gain (Kp) times the magnitude
of the error plus the integral gain (Ki) times the integral of
the error plus the derivative gain (Kd) times the derivative of
the error.
This signal (u) will be sent to the plant, and the new output
(Y) will be obtained. This new output (Y) will be sent back to
the sensor again to find the new error signal (e). I he
controller takes this new error signal and computes its
derivative and its integral again.This process goes on and on.

The characteristics of P, I, and D controllers

A proportional controller (Kp) will have the effect of reducing
the rise time and will reduce ,but never eliminate, the steady-
state error. An integral control (Ki) will have the effect of
eliminating the steady-state error, but it may make the
transient response worse.

A derivative control (Kd) will have the effect of increasing the

stability of the system, reducing the overshoot, and
improving the transient response. Effects of each of
controllers Kp, Kd, and Ki on a closed-loop system are
summarized in the table shown below.

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Note that these correlations may not be exactly accurate,

because Kp, Ki, and Kd are dependent of each other. In fact,
changing one of these variables can change the effect of the
other two. For this reason, the table should only be used as a
reference when you are determining the values for Ki, Kp and
Kd.

Second-order system

A second-order system response typically contains two first-

order responses, or a first-order response and a sinusoidal
component. A typical sinusoidal second-order response is
shown in Figure 3. Notice that the coefficients of the
differential equation include a damping coefficient and a
natural frequency. These can be used to develop the final
response, given the initial conditions and forcing function.
Notice that the damped frequency of oscillation is the actual
frequency of oscillation . The damped frequency will be lower
than the natural frequency when the damping coefficient is

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between 0 and 1 . if the damping coefficient is greater than

one the damped frequency become negative , and the
system will not oscillate because it’s overdamped.

Transient Responses
Transients are caused by sudden or discontinuous changes in
a variable upon which the measured value depends.
Depending upon the tuning of the controller, the transient
response will be under damped, over damped or critically
damped.

Peak overshoot

is the maximum amount by which the response exceeds the

final steady state value of the process variable. It is
sometimes expressed as a percentage of the final steady
state value.

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Rise time is the time taken for the response to increase from
10% of its final steady state value to 90% of its final steady
state value.

Settling time is the time taken for the response to reach its
final steady state value, within some specified tolerance.

Periodic time (or period ) is the duration of one complete cycle

of oscillation. It can therefore be measured as the interval
between alternate crossings of the final steady state value or
the interval between successive peaks or successive troughs
on the response curve.

Frequency is the reciprocal of the period, i.e. the number of

cycles per second which is expressed in Hertz (Hz).
Sometimes the frequency is expressed in radians per second
and the relationship between the two units is that radians per
second equals 2it times the frequency in Hertz.

PROCEDURE:
To achieve the objectives of this experiment the following
steps are followed:

1. Operate the flow system shown in fig

2. Set square wave as input signal. ^ *
3. Adjust the SP and PG to a magnitude [ such as (SP= (2)
and proportional gain (PG)to (1))]
4. Print the system response from computer