Scribd
Upload
76 views18 pages

Experiment 06: Study of Process Control-I: Mesbah Ahmad Lecturer Department of Chemical Engineering, BUET

Here are the key steps to tune a PID controller using IMC tuning method: 1. Develop a FOPTD model from process step response data to determine Kp, τ, θ values 2. Use the IMC tuning formula to calculate initial PID controller parameters: Kc = (τ/(τc+θ/2)) τI = τ + θ/2 τD = θ/2τ 3. Implement the PID controller in simulation software and tune parameters to minimize error metrics like IAE, settling time. 4. Record best tuned parameter sets for PI and PID controllers from multiple trials in simulation. 5. Analyze and compare closed-loop responses for the

Uploaded by

Md Abid Afridi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
76 views18 pages

Experiment 06: Study of Process Control-I: Mesbah Ahmad Lecturer Department of Chemical Engineering, BUET

Here are the key steps to tune a PID controller using IMC tuning method: 1. Develop a FOPTD model from process step response data to determine Kp, τ, θ values 2. Use the IMC tuning formula to calculate initial PID controller parameters: Kc = (τ/(τc+θ/2)) τI = τ + θ/2 τD = θ/2τ 3. Implement the PID controller in simulation software and tune parameters to minimize error metrics like IAE, settling time. 4. Record best tuned parameter sets for PI and PID controllers from multiple trials in simulation. 5. Analyze and compare closed-loop responses for the

Uploaded by

Md Abid Afridi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 18

CHE 402

Experiment 06: Study Of Process Control-I

Mesbah Ahmad
Lecturer
Department of Chemical Engineering, BUET
Objective:
The objective of the experiment is to learn how to develop a first order plus time delay(FOPTD) model
using step change data and then using the developed model to design and tune Proportional Integral
Derivative(PID) controllers.
First Order Process:
A first order process is a process whose output y(t) is modelled by a first order differential equation.

Liquid Storage System


𝒅 ρ𝑽
= ρ𝒒𝒊 − ρ𝒒
𝒅𝒕

𝒅𝒉 𝒉
𝑨 = 𝒒𝒊 − 𝒒 = 𝐪𝐢 −
𝒅𝒕 𝑹𝒗
𝒅𝒉 𝒉
𝑨 + = 𝒒𝒊
𝒅𝒕 𝑹𝒗
Transfer Function: Transfer function is an algebraic expression for the dynamic relation
between a selected input and output of the process model. It is defined so as to be independent of the
initial conditions.

The transfer function form is easy to interpret and use in calculating output responses for particular
input changes.
It is a function that relates output to input.

𝑌(𝑠)
G(s)=
𝑈(𝑠)
Y= output U(s) Y(s)
U= input G(s)

t is used for time domain, s is used for Laplace domain


First Order Model

𝑲𝒑
G(s)=τ𝒔+𝟏

𝐾𝑝 = 𝑃𝑟𝑜𝑐𝑒𝑠𝑠 𝑔𝑎𝑖𝑛
τ = time constant

Step Input:
Sudden and sustained change in input. For example, a reactor feedstock may be changed from one supply to
another, causing a change in input variable, such as feed concentration and temperature.

Us(t) is defined as a deviation variable


First Order Plus Time Delay Model:

𝑲𝒑 𝒆−θ𝒔
G(s)=
τ𝒔+𝟏

Θ = time delay
𝐾𝑝 = 𝑃𝑟𝑜𝑐𝑒𝑠𝑠 𝑔𝑎𝑖𝑛= Steady state gain is the ratio of the output variable change to an input variable
change when the input is adjusted to a new value and held there, thus allowing the process to reach a
new steady state.
τ = time constant that is indicative of the speed of response of the process. Larger values mean a slow
process response.
∆𝑦 𝑦2−𝑦1 𝐶ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑜𝑢𝑡𝑝𝑢𝑡
𝐾𝑝 = = =
∆𝑢 𝑢2−𝑢1 𝐶ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑖𝑛𝑝𝑢𝑡

τ= time required to reach 63.2% of the final steady state value

Θ= time required for the process to respond to change in input

For FOPTD model, y(t)= KM(1-𝑒 −𝑡/τ )


Example- Change in temperature due to change in feed flowrate.

Step Test:

PRACTICE WORK
Types of variables

1. Controlled variables (CVs): the process variables that are controlled.


2. Manipulated variables (MVs): the process variables that can be adjusted in order to keep the controlled
variables at or near their set points. Typically, they are flow rates.
3. Disturbance variables (DVs): process variables that affect the controlled variables but cannot be
manipulated. They are related to changes in the operating environment of the process, for example, its
feed condition or ambient temperature. Some disturbance variables can be measured online, but many
cannot such as the crude oil composition for a thermal cracking furnace.
Open loop:
Block diagram showing change in output due to change in input without any
control action taken.

Closed loop:
Block diagram showing change in output due to change in input with corrective
control action taken.

Feedback Control: For a flow control loop, flow rate of a process is measured and
transmitted electronically to a flow controller. The controller compares the
measured value to the set Point and takes the appropriate corrective action by
sending an output signal to the current-to-pressure transducer, which in turn,
sends a corresponding pneumatic signal to the control Valve.
Feedback control: Control variable is measured.

Feedforward control: Control variable is not measured. Disturbance is measured.

Basic Control Modes of Feedback Control


1. Proportional Control
2. Integral Control
3. Derivative Control

Feedback Controllers work based on error signal value. The objective is to reduce the error signal to zero.

e(t)= ysp(t) – ym(t)


ysp(t)= set point
ym(t)= measured value of the controlled variable
1. Proportional Control: controller output is proportional to error signal.

2. Integral Control: controller output depends on the error signal over time.

τI = Integral time/ Reset time

3. Derivative Control: control output is proportional to rate of change of error signal with time.

τD = Derivative time
Disadvantage of P control: Offset (occurs after a set point change or a sustained disturbance)
Disadvantage of I control: Reset windup
Disadvantage of D control: same action for same slope.
Commonly used:
PI Controller- eliminates offset.
PID controller

Transfer Functions for feedback Controllers:

P control:

PI control:

PID control:
IMC (internal Model Control) method:

τ
PI Controller: τC =
3

𝜽
𝝉+
𝟐
PID Controller: Kc = 𝜽
𝑲(𝝉𝒄 + )
𝟐
𝜽
τI = 𝝉+
𝟐

τθ
τD =
𝟐τ+θ
Simulink Demonstration
Open Loop
Close loop
Report Writing:

Summary
Simulink Block Diagram (open and closed loop)
given data-
Kp=2,
τ= roll number+12,
θ=10,
step time= 5 sec,
Initial value=0
and final value=2
Open loop Response curve
For closed loop, runtime must be the same for all trials.
Calculate IMC parameters
• initial values of Kc, τI (PI), Kc, τI, τD(PID) by IMC
• IAE
• time to reach set point
• 3 sets of tuned values for reducing IAE (PI)
• 3 sets of tuned values for reducing IAE (PID)
Graphs: (2)
• Close loop curves (PI, PID) (4 plots in each graph)

Result and Discussion should also include


Best tuned values
How all values are obtained (open and closed loop).

You might also like