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Dynamics and Control of Chemical Processes Prof. Davide Manca Report of Lab 3 "Design of The Control System"

1) The document describes a system of two interconnected tanks and the goal of controlling the level of the second tank using proportional (P) and proportional-integral (PI) control. 2) To model the system, the document derives differential equations describing the dynamics of each tank and calculates steady state values. It then determines the system gain and time constants. 3) Using Cohen-Coon tuning, the document calculates controller parameters for P and PI control and derives closed-loop models. 4) Results show PI control enabling the level to reach the new setpoint more quickly than P control in response to disturbances or a changed setpoint.

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77 views5 pages

Dynamics and Control of Chemical Processes Prof. Davide Manca Report of Lab 3 "Design of The Control System"

1) The document describes a system of two interconnected tanks and the goal of controlling the level of the second tank using proportional (P) and proportional-integral (PI) control. 2) To model the system, the document derives differential equations describing the dynamics of each tank and calculates steady state values. It then determines the system gain and time constants. 3) Using Cohen-Coon tuning, the document calculates controller parameters for P and PI control and derives closed-loop models. 4) Results show PI control enabling the level to reach the new setpoint more quickly than P control in response to disturbances or a changed setpoint.

Uploaded by

TuralMamedov
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Dynamics and Control of Chemical Processes

Prof. Davide Manca


Report of Lab 3
“Design of the control system”
Exercise 1.
There are two similar interacting tanks as those of previous lab with the following geometric
characteristics:
• Tank 1: 𝐴1 = 30𝑚2 𝑟1 = 1.2 𝑠/𝑚2
• Tank 2: 𝐴2 = 50𝑚2
• Inlet flowrate: 𝐹𝑖 = 9.4 𝑚3 /𝑠
The system is in steady state conditions. In case of disturbances on the input flow rate, the flow
exiting F0 varies linearly with the height of liquid in the second tank according to the functional
law: 𝐹𝑜 = 1.43ℎ2 .
The output of the second tank is regulated by a level controller with a set point of 6.6 m at
stationary conditions i.e. in absence of disturbances. There is a step disturbance on the input
flow rate to the first tank such that it doubles. It is requested to model and compute the
dynamics of the two tanks when the controller is a proportional one tuned according to the
Cohen‐Coon method.

System Representation

Solution
In our system we have one controlled variable which is level of the second tank and one
manipulated variable that is the outlet flow rate of second tank. The aim of the control system
is to keep constant the level in the second tank in the case of perturbation. We will assume
that the system is in steady state when the step disturbance occurs.
First step in this problem is to evaluate system’s characteristic parameters by defining open
loop dynamics of the controlled variable (liquid level in the second tank). Then, we can find the
time delay, gain of the system and characteristic time to reach the new steady state.
Dynamic of the open loop: (Without Controller)
𝑑ℎ1 ℎ1 −ℎ2 ℎ1 (𝑠)−ℎ2 (𝑠)
1) 𝐴1 = 𝐹𝑖 − 1) 0 = 𝐹𝑖 (𝑠) −
𝑑𝑡 𝑟1 𝑟1
𝑑ℎ2 ℎ1 −ℎ2 @Steady state ℎ1 (𝑠)−ℎ2 (𝑠)
2) 𝐴2 = − 𝐹𝑜 2) 0 = − 𝐹𝑜 (𝑠)
𝑑𝑡 𝑟1 𝑟1

We can easily evaluate the values of height in each tank at steady state condition.

• ℎ2 (𝑠) = 6.6 𝑚
• ℎ1 (𝑠) = 𝐹𝑖 ∗ 𝑟1 + ℎ2 (𝑠) = 17.88 𝑚
Flowrate after step disturbance will be:

𝐹𝑖𝑛𝑒𝑤 = 2 ∗ 𝐹𝑖𝑜𝑙𝑑 = 18.8 𝑚3 /𝑠


By integrating the differential equation of the model the height profile of second tank can be
evaluated.

(𝑠,𝑛𝑒𝑤) (𝑠,𝑜𝑙𝑑)
ℎ2 −ℎ1
Gain of the system calculated by: 𝐾= (𝑛𝑒𝑤) (𝑜𝑙𝑑) = 0.696 𝑠/𝑚2 where time delay
𝐹𝑖 −𝐹𝑖
and characteristic time to reach new steady state are equal to 𝑡𝑑 = 8.8 𝑠 and 𝜏 = 115.6 𝑠.
Now, by using Cohen-Coon controller tuning method it is possible to estimate the system
parameters of proportional control.
1 𝜏 𝑡𝑑
𝐾𝑐 = (1 + ) = 19.35
𝐾 𝑡𝑑 3𝜏
The general form of the model of the proportional control is: 𝑐 = 𝑐𝑠 + 𝐾𝑐 (ℎ − ℎ𝑠𝑝 )
Where is the bias 𝑐𝑠 , i.e. the value of the manipulated variable when the controlled variable is
at the set-point. In this case a valve on the inlet flowrate is manipulated and the net result is
the modification of the second tank outlet flowrate.
Assuming a linear relationship between the valve opening degree and the outlet flowrate, the
controller model can be re-written as:
𝐹 = 𝐹0𝑠 + 𝐾𝑐 (ℎ − ℎ𝑠𝑝 )

So, the model of the system becomes:


𝑑ℎ1 ℎ1 − ℎ2
1) 𝐴1 = 𝐹𝑖 −
𝑑𝑡 𝑟1
𝑑ℎ2 ℎ1 − ℎ2
2) 𝐴2 = − [𝐹0𝑠 + 𝐾𝑐 (ℎ − ℎ𝑠𝑝 )]
𝑑𝑡 𝑟1
As a result, the following graph obtained for Proportional control action.

Exercise 2.
Again, it is requested to model and compute the dynamics of the same system, but with PI
controller.
Solution
By using Cohen-Coon controller tuning method it is possible to estimate the system parameters
of proportional-integral control.
1 𝜏 𝑡𝑑
𝐾𝑐 = ∗ ∗ ( 0.9 + ) = 17.11
𝐾 𝑡𝑑 12𝜏
3𝑡
𝑡𝑑 ∗ (30 + 𝜏𝑑 )
𝜏𝐼 = = 25.28 𝑠
20𝑡𝑑
(9 + 𝜏 )

The general form of the model of the proportional-integral control is:


𝐾𝑐 𝑡
𝑐 = 𝑐𝑠 + 𝐾𝑐 (ℎ − ℎ𝑠𝑝 ) + ∫ (ℎ(𝑡) − ℎ𝑠𝑝 )𝑑𝑡
𝜏𝐼 0

Assuming a linear relationship between the valve opening degree and the outlet flowrate, the
controller model can be re-written as:
𝐾𝑐 𝑡
𝐹 = 𝐹0𝑠 + 𝐾𝑐 (ℎ − ℎ𝑠𝑝 ) + ∫ (ℎ(𝑡) − ℎ𝑠𝑝 )𝑑𝑡
𝜏𝐼 0
So, the model of the system becomes:
𝑑ℎ1 ℎ1 − ℎ2
1) 𝐴1
= 𝐹𝑖 −
𝑑𝑡 𝑟1
𝑑ℎ2 ℎ1 − ℎ2 𝐾𝑐 𝑡
2) 𝐴2 = − [𝐹0𝑠 + 𝐾𝑐 (ℎ − ℎ𝑠𝑝 ) + ∫ (ℎ(𝑡) − ℎ𝑠𝑝 )𝑑𝑡]
𝑑𝑡 𝑟1 𝜏𝐼 0
As a result, the following graph obtained for PI controller.
Exercise 3.
It is asked to solve the previous problem with a setpoint change in the height of the second to
8.6 m.

The response of each P and PI control action due to the set point change illustrated above.
Again the plots have the same structure in comparison with plot of old set point, where PI
control action affect level to reach the steady state more quickly.

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