12
12
I.
INTRODUCTION
57
:
:
:
:
:
:
80 cm
33.5 litres
7.62cm
36.62 cm
10deg
Stainless Steel
2.1 Process
The control parameter chosen here is the level.
Capacitance sensor and level transmitter arrangement
senses the level from the process and converts into
electrical signal. Then electrical signal is fed to the I/V
converter which in turn produces propotional voltage
signal to the computer.
58
6.
Compute
7.
Note down t2
8.
9.
Therefore
Where
constant,
Rt hs
is the time
2
IV. PI CONTROLLER
2.
3.
4.
u ( t ) K P e p K i e ( t ) dt
5.
59
u ( t ) controlleroutput
K p propotional g ain
K i int egral g ain
The propotional term makes a change in the
controller output propotional to the current error value.
If the propotional gain value is high it results in a large
change in the controller output for given error. Very
large values for propotional term make the system
unstable. The contribution of integral term will be
propotional to the error and also the time. Since the
integral term takes into account the past values of the
error to give the current controller output. So the error
accumulated over time will be multiplied by the integral
gain and added to the controller output.
60
Tracking error:
Cost function:
MIT Rule says that the time rate of change of is
proportional to negative gradient of J.
That is
Controller law:
Fig. 8: Response of Plant with MRAC for setpoint 30cm.
Update rule:
Tuning parameter is
Adjustable parameter is
uc,
Where e denotes the model error and is the controller
PI
MRAC
189
115
.95
111
128
.41
ISE
11397.2
IAE
7967.8
MRAC
2463.7
1729.8
Anandarajan.R,
M.Chidambaram,
T.Jayasingh,
Limitations Of A PI controller for a first order
nonlinear
process
with
dead
time,ISA
Trancastions,Vol.45.No.2,pp 185-199,2006
[2]
61
[4]
J
Satheesh
Kumar
,
P
Poongodi
and
K.Rajasekaran:Modelling and Implementation of
Labview Based Non-linear PI Controller for a Conical
Tank. Journal of Control & Instrumentation Volume 1,
Issue 1, November, 2010, Page 1-9.
62