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Control
Laboratory Manual
1. P Control (http://ml-iitb.vlabs.ac.in/exp4/index.html)
2. Frequency response (http://ml-
iitb.vlabs.ac.in/exp5/index.html)
3. PD Control (http://ml-
iitb.vlabs.ac.in/exp6/index.html)
4. PID Control (http://ml-
iitb.vlabs.ac.in/exp8/index.html)
3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
MERCURY IN GLASS-THERMOMETER
Objective:After this experiment student will able to understand how to determine the response
of step, impulse & sinusoidal input for Mercury in glass - thermometer.
Theory:
Assumptions
Derive transfer function for mercury in glass thermometer
Derive equation for response of unit step change, Impulse & Sinusoidal.
Procedure:
1. Take 100 ml of water in a glass beaker and heat it up to 80 oC temperature.
2. Now insert thermometer in water and get the steady state temperature.
3. Take the thermometer out of the beaker and immediately and immerse in
room temperature water and start the stopwatch.
4. Note down the temp per each 5 sec time.
5. Repeat the same experiment for step change positive.
6. Do necessary calculations and determine time constant.
Obsrvations:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Sr.
TIME (SEC) TEMP. 0C y(t) Y(t)= y(t) - ys Y(t)/A
No.
1
2
3
4
5
6
7
8
9
10
Sr.
TIME (SEC) TEMP. 0C y(t) Y(t)= y(t) - ys Y(t)/A
No.
1
2
3
4
5
6
7
8
9
10
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Graph:
( ) ( )
Where,
A = magnitude of step change
τ= time constant
Conclusion:
Quiz:
1. What is First Order System?
2. Define: Transfer function.
3. What is study state behavior of first order system?
4. What is important characteristics of step response of first order system?
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to understand how to determine the step
response of first order liquid level system.
Theory: Derive the transfer function for the first order liquid level system.
Experiment Setup
Procedure:
Start up the set up.
A flexible pipe is provided at the rotameter outlet. Insert the pipe in to the cover of the
top Tank 1. Keep the outlet valves (R1 & R2) of the Tank 1 & Tank 2 slightly closed.
Switch on the pump. Adjust rotameter flow rates in steps of 10 LPH from 50 to 100 LPH
and note steady state levels for Tank 1 against each flow rate.
From the data obtained select a suitable band for experimentation. (Say 90-100 LPH in
which we are getting more readings of tank level).
Adjust the flow rate at lower value of the band selected (say 90 LPH) and allow the level
of the Tank 1 to reach the steady state and record the flow and level at steady state.
Apply the step change by increasing the rotameter flow by @ 10 LPH.
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Immediately start recording the level of the Tank 1 at the interval of 15 sec, until the level
reaches at steady state.
Carry out the calculations as mentioned in calculation part and compare the predicted and
observed values of the tank level.
Repeat the experiment by throttling outlet valve (R1) to change resistance.
Observation:
Observation table:
( ) ( )
Graph:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Result:
1. Theoretical value of time constant :
2. Practical value of time constant (from graph):
Conclusion:
Quiz:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to understand how to determine the step
response of liquid level in two tank non-interacting system.
Theory:
Define non-interacting system
Derive transfer function for non-interacting system.
Derive expression for the step input.
Procedure:
Observations:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
Calculation:
Predicted value ( ) [ [ ]]
τ1= A1 x R1
τ2= A2 x R2
Where,
A = magnitude of step change
τ1= A1 x R1
τ2= A2 x R2
τ1 = time constant of tank 1
τ2= time constant of tank 2
A1= cross section area of tank 1
A2= cross section area of tank 2
R1 = dH1/dQ and R2 = dH2/dQ
Graph:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Result:
Conclusion:
Quiz:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to understand how to determine the impulse
response of liquid level in two tank non-interacting system.
Theory:
Define non-interacting system
Derive transfer function for non-interacting system.
Derive expression for the step input.
Procedure:
Start up the set up.
A flexible pipe is provided at the rotameter outlet. Insert the pipe in to the cover of the
top tank (T1). Keep the outlet valves (R1 & R2) of both Tank1 & Tank2 slightly closed.
Ensure that the valve (R3) between two bottom tanks T2 and T3 is fully closed.
Switch on the pump and adjust the flow to @90 LPH. Allow the level of both Tank1 and
Tank 2, to reach the steady state and record the initial flow and steady state levels of both
tanks.
Apply impulse input by adding 0.5 lit of water in Tank 1.
Record the level of the Tank 2 at the interval of 30 sec, until the level reaches to steady
state.
Record final steady state level of Tank1
Carry out the calculations as mentioned in calculation part and compare the predicted and
observed values of the tank level.
Observations:
Diameter of tanks: ID 92mm
Initial flow rate (LPH):
Initial steady state tank 1 level (mm):
Initial steady state tank 2 level (mm):
Volume added (lit.):
Final steady state tank 1 level (mm):
Final steady state tank 2 level (mm):
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
Calculation:
Predicted value ( ) [ ]
τ1= A1 x R1
τ2= A2 x R2
Where,
V = Volume of liquid added as impulse input
τ1= A1 x R1
τ2= A2 x R2
τ1 = time constant of tank 1
τ2= time constant of tank 2
A1= cross section area of tank 1
A2= cross section area of tank 2
R1 = dH1/dQ and R2 = dH2/dQ
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Graph:
Result:
Conclusion:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to understand how to determine the step
response of liquid level in two tank interacting system.
Theory:
Define interacting system
Derive transfer function for interacting system.
Derive expression for the step input.
Procedure:
Start up the set up.
A flexible pipe is provided at the rotameter outlet. Insert the pipe in to the cover of the
Tank 3. Keep the outlet valve (R2) of Tank 2 slightly closed. Ensure that the valve (R3)
between Tank 2 and Tank 3 is also slightly closed.
Switch on the pump and adjust the flow to @90 LPH. Allow the level of both Tank 2 and
Tank 3, to reach the steady state and record the initial flow and steady state levels of both
tanks.
Apply the step change with increasing the rotameter flow by @ 10 LPH.
Record the level of the Tank 2 at the interval of 30 sec, until the level reaches at steady
state.
Record final steady state flow and level of Tank 3
Carry out the calculations as mentioned in calculation part and compare the predicted and
observed values of the tank level.
Repeat the experiment by throttling outlet valve (R1) to change resistance.
Observations:
1. Cross sectional area of the bottle-1, A1 =
2. Cross sectional area of the bottle-2 A2 =
3. Initial steady state height in bottle-1, hsi1=
4. Final steady state height in bottle-1, hsf1=
5. Change in height in bottle-1, hsf1 – hsi1 =
6. Initial steady state height in bottle-2 hsi2=
7. Final steady state height in bottle-2 hsf2=
8. Change in height in bottle-2, hsi2 – hif2 =
9. Initial steady state flow rate, qs1=
10. Final steady state flow rate, qs2=
11. Change in flow rate qs2 – qs1=
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
Calculation:
Predicted value ( ) [ ]
τ1= A1 x R1
τ2= A2 x R2
( ) √[( ) ( )]
( ) √[( ) ( )]
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Where
A = magnitude of step change
τ1= A1 x R1
τ2= A2 x R2
τ1 = time constant of tank 1
τ2= time constant of tank 2
A1= cross section area of tank 1
A2= cross section area of tank 2
R1 = dH1/dQ and R2 = dH2/dQ
Graph:
Result:
Conclusion:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to understand how to determine the impulse
response of liquid level in two tank interacting system.
Theory:
Define interacting system
Derive transfer function for interacting system.
Derive expression for the step input.
Procedure:
Observations:
12. Cross sectional area of the bottle-1, A1 =
13. Cross sectional area of the bottle-2 A2 =
14. Initial steady state height in bottle-1, hsi1=
15. Final steady state height in bottle-1, hsf1=
16. Change in height in bottle-1, hsf1 – hsi1 =
17. Initial steady state height in bottle-2 hsi2=
18. Final steady state height in bottle-2 hsf2=
19. Change in height in bottle-2, hsi2 – hif2 =
20. Initial steady state flow rate, qs1=
21. Final steady state flow rate, qs2=
22. Change in flow rate qs2 – qs1=
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
Calculation:
Predicted value ( ) ( )
τ τ ( )
τ1= A1 x R1
τ2= A2 x R2
( ) √[( ) ( )]
( ) √[( ) ( )]
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Where
A = magnitude of step change
τ1= A1 x R1
τ2= A2 x R2
τ1 = time constant of tank 1
τ2= time constant of tank 2
A1= cross section area of tank 1
A2= cross section area of tank 2
R1 = dH1/dQ and R2 = dH2/dQ
Graph:
Result:
Conclusion:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to study the response of u-tube manometer and
to find the value of time lag and damping coefficient for the system.
- Overshoot
- Decay ratio
- Rise time
- Response time
- Period of oscillation
- Natural of period of oscillation.
Procedure:
Keep the manometer under steady state condition and note down the
height of the liquid column.
Apply the force in the form of blown air to ensure the step input in one of
the lags of manometer so that liquid level in the other lag will rise.
Now release the pressure and allow it to reach steady state again and note
down the time for each oscillation.
Do necessary calculations and plot the graph of Ho(t)/A v/s t(time).
Observations:
Fluid :
Viscosity :
Inner diameter of tube :
Fluid height :
Density of fluid :
Initial steady state heighths :
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
Sr. HEIGHT
TIME, t (sec) Ho (t)= h(t) – hs Ho(t)/A
No. (cm), h(t)
1
2
3
4
5
6
7
8
9
Results:
- Time constant
-Damping coefficient
-Overshoot
- Decay ratio
- Rise time
- Response time
- Period of oscillation
- Natural of period of oscillation
Conclusion:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able toestablish the response curve for first order
mixing process to step input and to determine time constant practically and theoretically.
Apparatus: Vessel with overflow connection, Titration set, Stopwatch, Measuring cylinder
Theory:Derive the transfer function for the first order mixing process
Procedure:
Observations:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
Burette Normality
Sr. Time, Concentration Y(t) =
reading N1 = Y(t)/A
No. sec y(t) = N1*40 y(t)-yis(t)
(V2) (N2*V2/V1)
1
2
3
4
5
6
7
8
9
10
Graph:
( ) ( )
Where,
A = magnitude of step change
τ= time constant
Result:
Conclusion:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
PROPORTIONAL CONTROLLER
Objective:After this experiment student will able to study the graph for proportional controller
and to study the control for a step input on a simulated system.
Apparatus: P-controller.
Procedure:
The p-controller was switched on and set value was set to zero.
The value of proportional band was set to a particular point.
The measured value was changed for several times and accordingly the output value was
noted down.
This procedure was repeated for another value of proportional band.
Graph of P v/s ‘ e’ was plotted and slope of the graph was found out.
Observations:
The value of gain =
The value of ps =
Observation Table:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Results:
Set value of gain:
Graphical value of gain:
Conclusion:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to study the graph for proportional integral
controller and to study the control for a step input on a simulated system.
Apparatus: PI-controller.
Theory:
Procedure:
The PI-controller was switched on and set value was set to zero.
The value of proportional band and the value of integral action were set to a particular
point.
The measured value was changed for several times and accordingly the output value was
noted down.
This procedure was repeated for another value of proportional band.
Graph of P v/s t and e v/s t were plotted and slope of the graph was found out.
Observations:
The value of gain=
The value of ps =
Error introduced=
Value of integral time=
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
SR NO. TIME t P
Results:
Theoratical value of integral time:
Graphical value of integral time:
Conclusion:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to study the graph for proportional derivative
controller and to study the control for a step input on a simulated system.
Apparatus: PD-controller.
Theory:
Discuss about Proportional derivative control.
Procedure:
The PD-controller was switched on and set value was set to zero.
The value of proportional band and the value of derivative action were set to a particular
point .
The measured value was changed for several times and accordingly the output value was
noted down.
This procedure was repeated for another value of proportional band.
Graph of P v/s t and e v/s t were plotted and slope of the graph was found out.
Observations:
The value of gain=
The value of ps =
Value of derivative time=
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
Results:
Theoretical value of derivative time:
Graphical value of derivative time:
Conclusions:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to measure the change in the level of liquid in
a simple tank using air purge method.
Procedure:
Observations:
Density of water :
Value of g :
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
Calculations:
Conclusion:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to study the Open Loop(Manual Mode)
Control.
Procedure:
Precaution:
Shut down the equipment as mentioned in the shutdown procedure.
While conducting this experiment the process variable value should not exceed the value
of 70 oC in each experiments, as it may damage the Heater tank/temperature sensor
transmitter.
Observations:
Water Flowrate:_______________LPH
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Observation Table:
Conclusion:
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Objective:After this experiment student will able to study the Close Loop(Auto Mode) Control
(ON/OFF Control).
Procedure:
Precaution:
Shut down the equipment as mentioned in the shutdown procedure.
While conducting this experiment the process variable value should not exceed the value
of 70 oC in each experiments, as it may damage the Heater tank/temperature sensor
transmitter.
Observations:
Water Flowrate:_______________LPH
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3150504 – Instrumentation & Process Control
Chemical Engineering Department
VGEC, Chandkheda
Conclusion:
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