RATHIKA M S CB.EN.

U4CHE19018
FIRST ORDER AND SECOND ORDER SYSTEM
STUDY OF STEP RESPONSE OF THERMOMETER

Theory

A thermometer bulb is a first-order system, whose response can be described by a first-

order linear differential equation. The dynamic response of first-order type instruments to a
step change can be represented by

Procedure:

• Fill the heating bath with clean water by opening the inlet valve of heating bath.

• Switch on beeper and set beep interval to 3 seconds.

• Ensue that cyclic timer is set to 30 seconds on time and 30 seconds off time. Switch on
Mains to heat the water in heating bath to its boiling point. Switch off the mains.

• The water in heating bath is now near its boiling point. Insert the thermometer in heating
bath suddenly after noting its initial temperature.

• Note the thermometer reading at each beep interval till the temperature reaches at
steady state.

• Switch off beeper and fill up the readings observed in “Observations” below.

Observations:

1) Initial temperature (0C) =29

2) Final temperature (0C) =97

Calculations
RATHIKA M S CB.EN.U4CHE19018
0
1. Step change = Final temp. – Initial temp. =97-29=68 C

2. Value of 63.2% of step = 0.632 x (Final temp. – Initial temp) + Initial temp

=71.976 0C

3. Plot the graph of Actual temperature vs. time and note the value of time at 63.2% of step
change. This value is observed time constant of the thermometer.

4. Calculate theoretically predicated temperature by following equation:

5. Plot the graph of Theoretical temperature vs. time on the same graph plotted above.

Tim
e Actual temperature
(sec) (°C) theoretical temperature (°C)
0 29 29
120 61 62.71951649
240 94 80.46421779
300 97 85.5492889
420 97 91.72328829
RATHIKA M S CB.EN.U4CHE19018

Graph:

Thermometer
120

100

80

60 act. Vs time
responses

theo vs time

40

20

0
0 50 100 150 200 250 300 350 400 450
time(s)
RATHIKA M S CB.EN.U4CHE19018

STUDY OF STEP RESPONSE OF MERCURY MANOMETER

Theory

The dynamic response of a second order system to a step change can be described by a
secondorder differential equation.
RATHIKA M S CB.EN.U4CHE19018
RATHIKA M S CB.EN.U4CHE19018

Procedure

• Ensure that mercury level in manometer is set at ‘0’ on the scale.

• Close vent connection by putting finger on it.

• Adjust the needle valve and vent to raise the mercury level to at 200mm from ‘0’ level.

• Note the mercury level reading and quickly open the vent to apply step change. Note the
top peak and bottom peak readings. Also simultaneously note the period of oscillation.
(This can be noted by measuring time required for 4-5 oscillations and then calculating for
each oscillation)

• Repeat process 2-3 times for different step changes

Constants:

Manometer fluid = Mercury

Dynamic viscosity () = 0.0016Kg/m.s.

Mass density () = 13550Kg/m3.

Column length (L) = 0.760m

Tube diameter (d) = 0.005 meter

Step change (m): 0.2

Period of oscillation (sec): 0.916

RATHIKA M S CB.EN.U4CHE19018

Calculations

1) Natural frequency of oscillations:

ωn=2 π
√ 2g
L
=2 ( 3.14 )
2∗9.8
0.760 √
=31.89 rad / sec

2) Damping coefficient:

¿ ( ρ8gDL μ ) √ 2Lg =( 13550∗9.8∗

2
( 0.005 ) √ 0.760
8∗0.760∗0.0016
) 2∗9.8
=0.014
2

3) Period of oscillations:

( )
2π 2∗3.14
P= = =0.196 sec
ωn∗√ 1−❑ 31.89∗√ (1−0.01 4 )
2 2

4) Decay ratio:

DR=exp
(√−2 π
1−❑ 2 ) (
=exp
−2∗3.14∗0.014
√ 1−( 0.014 ) 2 )
=0.915

5) Overshoot:
a
OC= =√ DR =√ 0.915=0.95
b

6) Frequency of damped oscillations:

( ωn∗ √1−❑
)(
( 31.89∗√1− ( 0.014 ) )
)
2 2

f= = =5 cps
2π 2∗3.14

7) Characteristic equation:

τ= ( 2ωnπ )=( 2∗3.14

31.89 )
=0.196 sec
RATHIKA M S CB.EN.U4CHE19018
8) Theoretical response:

Table:
act
response(m) theoretical response(m) time(sec)
0.2 0 0
-0.09 0.005033 1
0.07 -0.01928 2
-0.05 0.032241 2.5
0.04 -0.0352 3
-0.03 0.001707 4
0.03 -0.03221 4.5
-0.02 0.056362 5
0.02 0.047056 6
-0.01 -0.03369 7
0.01 0.071286 7.5
-0.01 -0.08693 8
0.005 0.072669 8.5
-0.005 -0.031 9
0.005 0.076726 10
0 0.076726 10

Graph:
RATHIKA M S CB.EN.U4CHE19018
0.25
Mercury
0.2

0.15

0.1
Response(m)

0.05 actual reponse vs t

theoretical response vs t
0
0 2 4 6 8 10 12
-0.05

-0.1

-0.15
time(s)

Result:

The damping coefficient of mercury manometer is 0.014. Therefore, it is an under damped

system.

STUDY OF STEP RESPONSE OF WATER MANOMETER

RATHIKA M S CB.EN.U4CHE19018

Theory

The dynamic response of a second order system to a step change can be described by a
secondorder differential equation.
RATHIKA M S CB.EN.U4CHE19018
RATHIKA M S CB.EN.U4CHE19018

Procedure

• Ensure that mercury level in manometer is set at ‘0’ on the scale.

• Close vent connection by putting finger on it.

• Adjust the needle valve and vent to raise the mercury level to at 200mm from ‘0’ level.

• Note the mercury level reading and quickly open the vent to apply step change. Note the
top peak and bottom peak readings. Also simultaneously note the period of oscillation.
(This can be noted by measuring time required for 4-5 oscillations and then calculating for
each oscillation)

• Repeat process 2-3 times for different step changes

Constants:

Manometer fluid = water

Dynamic viscosity () = 0.001Kg/m.s.

Mass density () = 998Kg/m3

Column length (L) = 1.050m

Tube diameter (d) = 0.022 meter

Step change (m): 0.2

Period of oscillation (sec): 1.45

RATHIKA M S CB.EN.U4CHE19018

Calculations

1) Natural frequency of oscillations:

ωn=2 π
√ 2g
L
=2 ( 3.14 )
√
2∗9.8
1.050
=4.32rad /sec

2) Damping coefficient:

¿ ( ρ8gDL μ ) √ 2Lg =( 998∗9.8∗

2
( 0.022 ) √ 1.050
8∗1.050∗0.001
)
2
2∗9.8
=0.007

3) Period of oscillations:

2π
P= =¿
ωn∗√ 1−❑
2

4) Decay ratio:

DR=exp
(√
−2 π
1−❑
2 ) (
=exp
−2∗3.14∗0.007
√ 1−( 0.007 ) 2 )
=0.956

5) Overshoot:
a
OC= =√ DR =√ 0.956=0.97
b

6) Frequency of damped oscillations:

(
ωn∗√ 1−❑2
)(
( 4.32∗√1−( 0.007 ) )
)
2

f= = =0.68 cps
2π 2∗3.14

7) Characteristic equation:
RATHIKA M S CB.EN.U4CHE19018
τ= ( 2ωnπ )=( 2∗3.14
4.32 )
=1.45 sec

8) Theoretical response:

Table:

act
response( theoretical time(se
m) response(m) c)
20 0 0
-18.5 0.000742 1
144 0.000731 1.5
-14 0.000347 2
10.5 -0.00142 3
-10.5 -0.00358 4
8 -0.0043 4.5
-8.5 -0.00449 5
6.5 -0.00289 6
-7 0.001102 7
5 0.003507 7.5
-5.5 0.005765 8
4 0.008504 9
-4 0.007271 10
3 0.005014 10.5
-3.5 0.001882 11
2 -0.00554 12
-2.5 -0.0114 13
2 -0.01262 13.5
-2.5 -0.01232 14
1.5 -0.00709 15
-2 0.002448 16
1.5 0.007535 16.5
-2 0.011978 17
1 0.016645 18
-1.5 0.013535 19
1 0.003371 20
-1.5 -0.00309 20.5
0.5 -0.00948 21
-1 -0.01887 22
0.5 -0.01982 23
-1 -0.01113 24
0.5 -0.0041 24.5
-0.5 0.003718 25
0.5 0.017914 26
-0.5 0.022482 26.5
0.5 0.024441 27
RATHIKA M S CB.EN.U4CHE19018
-0.5 0.019544 28
0 0.004815 29
-0.5 -0.01323 30
0 -0.02602 31
0 -0.02701 32

Graph:
RATHIKA M S CB.EN.U4CHE19018
160
Water
140

120

100

80
Response(m)

60 actual response vs time

theoretical response vs time

40

20

0
0 5 10 15 20 25 30 35
-20

-40 time(S)

Result:

The damping coefficient of water manometer is 0.007 which is less than 1. Therefore, it is
an under damped system.

FLOW PROCESS CONTROL

RATHIKA M S CB.EN.U4CHE19018

AIM:

To compare flow control with P controller and ON/OFF controller for step change of 20% in set point.
Analyze the effect of changes in proportional band on the response of the system and find the optimum
values of the controller setting by process reaction curve method.

THEORY:

Flow process controller is used to perform the control action on Flow process. In this unit flow is
the process variable and is sensed and given to controller. This control signal is given to the I/P Converter
which operates the control valve. Control valves act here as the final control element which controls the flow
of the fluid in pipe line by varying stem position of the control valve.

Types of controller

1. ON/OFF Control: - Two position control is a position type of controller action in which the manipulated
variable is quickly changed to either a maximum or minimum value depending on whether the control
variable is greater than or less than the set point.

2. Proportional Control: - It is a controller action in which there is a continuous linear relationship between
the value of the controlled variable and position of the final control element within the proportional band

3. Proportional +Integral(P+I): - The proportional control mode provides a stabilizing influence while the
integral mode will help to overcome OFFSET. Integral controller will provide corrective action as long as
there is a deviation in the controlled variable from the set point value. This lagging feature of reset will
result in a slow response and oscillation will come into picture.

4. Proportional + Derivative(P+D): - Derivative control action combined with proportional gives a

controller which is good on process containing appreciable lag. A proportional plus derivative controller
properly fitted and adjusted to a process acts to prevent the controlled variable from deviating excessively
and reduces the time required to stabilize

5. Proportional +Integral Derivative(P+I+D): - A three mode controller contains the “stability” of

proportional control and the ability to eliminate the offset. Because of reset control and the ability to
provide an immediate correction for the magnitude of disturbance because of rate control.

PROCEDURE:
RATHIKA M S CB.EN.U4CHE19018
P Controller

1. Select COM Port and Select P Mode

2. Keep the set point to 50% and Proportional band to 200% and allow the process to stabilize.

3. Start running the software and apply a step change of 20% for Proportional band 200%.

4. Switch the controller to Auto mode. Adjust the proportional band to 200%.

5. Notice all the changes happening and wait till it gets steady state.

6. Now change the set point as 50% and decrease proportional band by half for number of times till the
value where PV does not reach steady state and increase step change of 20%.

7. Now keep the set point and proportional band as 0 and observe the graph reaching a steady state. These
values are the actual optimum values of the control process.

8. Record and export all data and plot a graph of PV%, SP%, OP% vs. time.

ON/OFF controller

1. Select COM Port and Select On / Off Control.

2. Change Hysteresis value to 5%. (Range 1-10%).

3. Change the values of the set point to 70% and observe the On-Off control operation.

4. Record and export all data and plot a graph of PV%, SP%, OP% vs time.

Observation
RATHIKA M S CB.EN.U4CHE19018
1) Proportional Band 200%:

PB 200
80
70
60
PV%, OP%, SP%

50
40
30
20
10
0
0 20 40 60 80 100 120
Time (S)
PV% OP% SP%

2) Proportional Band 150%:

PB 150
80
70
60
PV%, OP%, SP%

50
40
30
20
10
0
0 10 20 30 40 50 60 70 80 90 100
Time (s)
PV% OP% SP%

3) Proportional Band 100%:

RATHIKA M S CB.EN.U4CHE19018

PB 100
80
70
60
PV%, OP%, SP%

50
40
30
20
10
0
0 20 40 60 80 100 120 140
Time (S)
PV% OP% SP%

4) Proportional Band 50%:

PB 50
120

100

80
PV%, OP%, SP%

60

40

20

0
0 20 40 60 80 100 120 140 160 180 200
Time (S)
PV% OP% SP%

5) ON/OFF Controller:
RATHIKA M S CB.EN.U4CHE19018

ON/OFF Controller
120

100
PV%, OP%, SP%

80

60

40

20

0
0 10 20 30 40 50 60 70 80 90 100
Time (S)
PV% OP% SP%

PROCESS REACTION CURVE

PV%-Time
30

25

20

15

10

0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

Series1

Slope = (20.9-4.5)/(28-24) =4.1

Inference:

1) While comparing the P and ON/OFF controller, at proportional band 50% the P controller behaves
like ON/OFF controller.
2) At very low proportional band values the system was in oscillation mode.
3) From these above plots, the steady state error decreases as proportional band decreases.

Level Control
AIM:
RATHIKA M S CB.EN.U4CHE19018
Study and compare the performance of ON/OFF, P, PI, PD and PID controller in level control for a step
change of magnitude 30% in set point. Also compare the response in the PD control mode of the system for
change in derivative time of the controller for 30% change in set point.

THEORY:

The level control setup consists of a process tank fitted with a level transmitter and necessary drain valve
arrangements. The inlet flow to the tank is controlled by a control valve which operates on a 3 to 15 psi
pressure signal. A current to pressure (I/P) converter is used to convert the output of the controller (4-20mA)
to the signal pressure. The process parameter is controlled by a digital indicating controller. These units
along with necessary piping are fitted on the support frame. The setup is designed for tabletop placement
and access.

The controller is connected to computer through USB for monitoring and controlling the process.

Types of controller

1) ON/OFF Control: - Two position control is a position type of controller action in which the
manipulated variable is quickly changed to either a maximum or minimum value depending on
whether the control variable is greater than or less than the set point.

2) Proportional Control: - It is a controller action in which there is a continuous linear relationship

between the value of the controlled variable and position of the final control element within the
proportional band

3) Proportional +Integral (P+I): - The proportional control mode provides a stabilizing influence while
the integral mode will help to overcome OFFSET. Integral controller will provide corrective action
as long as there is a deviation in the controlled variable from the set point value. This lagging feature
of reset will result in a slow response and oscillation will come into picture.

4) Proportional + Derivative (P+D): - Derivative control action combined with proportional gives a
controller which is good on process containing appreciable lag. A proportional plus derivative
controller properly fitted and adjusted to a process acts to prevent the controlled variable from
deviating excessively and reduces the time required to stabilize

5) Proportional +Integral Derivative (P+I+D): - A three mode controller contains the “stability” of
proportional control and the ability to eliminate the offset. Because of reset control and the ability to
provide an immediate correction for the magnitude of disturbance because of rate control.

PROCEDURE:

1) Select COM Port and Select P Mode

RATHIKA M S CB.EN.U4CHE19018

2) Keep the set point to 50% and allow the process to stabilize.

3) Start running the software and apply a step change of 30%.

4) Notice all the changes happening and wait till it gets steady state.

5) Record and export all data and plot a graph of PV%, SP%, OP% vs. time.

6) Repeat the same for PI mode, PD mode, PID mode and ON/OFF control.

7) Record and export the data and compare the performance of the controllers.

Observation

1) ON/OFF controller:

120
ON/OFF

100

80
%PV,%SP%OP

60

40

20

0
0 50 100 150 200 250
Time (S)
%PV %SP %OP

2) P controller:
RATHIKA M S CB.EN.U4CHE19018

P Mode
90
80
70
60
%SP,%PV,%OP

50
40
30
20
10
0
0 50 100 150 200 250 300
Time(s)
%SP %PV %OP

3) PD controller:

PD Mode
90
80
70
60
%SP,%PV,%OP

50
40
30
20
10
0
0 50 100 150 200 250
Time(s)
%SP %PV %OP

4) PI controller:
RATHIKA M S CB.EN.U4CHE19018

PI Mode
90
80
70
60
%SP,%PV,%OP

50
40
30
20
10
0
0 50 100 150 200 250
Time(s)
%SP %PV %OP

5) PID Controller:

PID Mode
90
80
70
60
%SP,%PV,%OP

50
40
30
20
10
0
0 50 100 150 200 250 300
Time(s)
%SP %PV %OP

6) Comparing the Process variable of ON/OFF, P, PD, PI, PID controller vs. Time
RATHIKA M S CB.EN.U4CHE19018

ON/OFF,P,PD,PI,PID VS TIME
90
80
ON/OFF,P,PD,PI,PID,%SP

70
60
50
40
30
20
10
0
0 50 100 150 200 250
Time (S)
ON/OFF P PD
PI PID %SP

INFERENCE:
RATHIKA M S CB.EN.U4CHE19018

Compare the response in the PD control mode of the system for change in derivative time
of the controller for 30% change in set point

PROCEDURE

1) Select COM Port and Select PD mode

2) Keep the set point to 50%. Allow the process to stabilize.

3) Increase the derivative time by 1 sec.

4)   Apply step change to set point 30% and observe the response.

5)   Increase the derivative time gradually and observe the process response for step change.

6) Plot %PV vs. Time (s) and infer.

OBSERVATION

74.8
Derivative time
74.6
74.4
74.2
74
PV%

73.8
73.6
73.4
73.2
73
0 20 40 60 80 100 120 140 160 180
Time(S)
DT_5 DT_15
RATHIKA M S CB.EN.U4CHE19018

INFERENCE