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Experiment 7: Pid Controller Tuning of Simulated Gas Mass Flow Process

This document describes an experiment to tune a PID controller for a simulated gas mass flow process using different tuning methods, including Ziegler-Nichols, Cohen-Coon, and Internal Model Control tuning. It provides the procedures to characterize the process, calculate tuning parameters from the characterization, and test the performance of the tuned controllers. The objective is to determine the best tuning method by evaluating and comparing the controller performance for each tuning approach.

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226 views6 pages

Experiment 7: Pid Controller Tuning of Simulated Gas Mass Flow Process

This document describes an experiment to tune a PID controller for a simulated gas mass flow process using different tuning methods, including Ziegler-Nichols, Cohen-Coon, and Internal Model Control tuning. It provides the procedures to characterize the process, calculate tuning parameters from the characterization, and test the performance of the tuned controllers. The objective is to determine the best tuning method by evaluating and comparing the controller performance for each tuning approach.

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Process Control & Instrumentation Laboratory BKF3791

EXPERIMENT 7: PID CONTROLLER TUNING OF SIMULATED GAS MASS


FLOW PROCESS

OBJECTIVE OF THE EXPERIMENT


To perform a loop tuning for single loop gas mass flow process ( FIC-91 ) by using
 Ziegler and Nichols tuning method
 Cohen-Coon tuning method
 Internal Model Control tuning method

SIMULATION TOOL
Process Model : SPC-211
Control Loop : Single Loop Flow Feedback Control ( FIC-91 )
Process Control & Instrumentation Laboratory BKF3791

EXPERIMENTAL PROCEDURE
1. Select the gas mass flow process
2. Call up the controller faceplate FIC-91 and put the controller to Manual Mode
3. Check maximum and minimum value for process variable, PV by setting the MV to
0% ( MVmax ) and let the process stabilize for a few minutes ( see your graph )
4. Complete the table below for process variable, PVmax
5. Repeat step 3-4 for MVmin ( 100% )

MV Setting ( % ) PV Value ( kg/hr )


0 ( MVmax ) PVmax =
100 ( MVmin ) PVmin =

Process Reaction Curve


6. Set the MV to 80%, let the process stabilize for a few minutes and record your PV at
the table below
7. Repeat step 6 for MV to 75%, let the process stabilize for a few minutes and
complete the table below

MV Setting ( % ) PV Value ( kg/hr )


80 ( MV1 ) PV1 =
75 ( MV2 ) PV2 =

8. Print your graph for analysis of process reaction curve


9. From your graph, find the value of time delay, td and time constant, tc
10. Complete the table below for Steady state gain, kp, response rate, RR and lambda, λ
Process Control & Instrumentation Laboratory BKF3791

Process Reaction Curve

MV2

MV1

PV2

63.2%

PV1
td tc

Process Parameter Equation Value

 Output % ( at steady state )


Steady State Gain,Kp Kp 
 Input % ( at steady state )

 PV2  PV1 
 
 PVmin
Kp   
PVmax
 MV2  MV1 
 
 MVmax  MVmin 

Time delay, td -

Time constant, tc -

Kp
Response Rate, RR RR 
tc
Lambda,   tC
 0.8,  
td 10
Process Control & Instrumentation Laboratory BKF3791

11. By using the data from the previous step, calculate the value of gain, K c , reset  I
and rate,  D for Cohen-Coon Tuning Relations, Zeigler and Nichols Tuning Relations
and Internal Model Control Tuning Relations and complete the table below

Cohen-Coon Tuning Relations


Controller Type Gain, K c Reset,  I Rate,  D

1 c  D 
P 1   - -
K p  D  3 c 

 D 
 D 30  3
1 c  D    c 
PI 0.9   -
Kp D  12 c  
9  20 D
c

 D 
 D 32  6 14 D
1  c 16 c3 D    c 
PID   D
K p  D  12 c   11  2
13  8 D c
c

Controller Type Gain, K c Reset,  I Rate,  D


P 0 0
PI 0
PID
Process Control & Instrumentation Laboratory BKF3791

Zeigler and Nichols Tuning Relations


Controller Type Gain, K c Reset,  I Rate,  D
1
P - -
 D  RR
0.9
PI 3.3   D -
 D  RR
1.2
PID 2  D 0.5   D
 D  RR

Controller Type Gain, K c Reset,  I Rate,  D


P 0 0
PI 0
PID
Process Control & Instrumentation Laboratory BKF3791

Internal Model Control Tuning Relations


Controller Type Gain, K c Reset,  I Rate,  D
PI
 
 2 c   1
 0.8 1  D  D
D c -
Kp    2
c 2   1
  D 
10
PID
 
 2 c   1 c
 0.8 1  D  D
D c  
Kp    2 2 c   1
c 2   1  D 
  D 
10

Controller Type Gain, K c Reset,  I Rate,  D


PI 0
PID

Performance Test
12. Put the controller FIC-91 to Manual mode and set the controller setting accordingly
to calculate value for Cohen-Coon Tuning Relations ( P Control ) obtained from
previous step
13. Set the set point, SP to 18kg/Hr and manually adjust the MV so that the PV
fluctuated at the set point. Let the process stabilize for a few minutes
14. Put the controller FIC-91 to Auto Mode and stimulate a set point change by
changing the set point to 25 kg/Hr and let the process stabilize at new set point.
15. Save your graph for discussion
16. Repeat step 12-15 for PI and PID controller setting using Cohen-Coon tuning
method. Save the graph for discussion.
17. Repeat step 12-16 for Zeigler and Nichols and Internal Model Control
18. Discuss your result

QUESTIONS

1. Base on your experiment, which is the best tuning for the process ?
2. How do you clarify the best tuning for the process ?
3. What is the function of doing a performance test in this experiment ?

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