Lab-Report Control Engineering

Real Water tank

Name: Course: Group: Student No.: Date:

Dirk Becker BEng 2 A 9801351 12/May/1999

1. Contents

1. 2. 3. 4. 5.
a) b) c) d) e)

CONTENTS INTRODUCTION THE LIQUID LEVEL SYSTEM THE SENSOR CHARACTERISTICS DIFFERENT CONTROLLERS
Proportional controller Proportional + integral controller ki=10 and kp=10 Proportional + integral controller ki=10 and kp=10 Proportional wit derivative controller PID controller (Proportional + Integral + Differential)

2 3 3 4 5
5 6 7 8 9

6. 7.

COMPARISION CONCLUSION

10 11

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2. Introduction
The first control engineering lab was the simulation of a proportional liquid level system with the aid of matlab. According to this lab the 2nd lab was to perform a control of a real liquid level system. Different controller types could be applied to it and via a digital storage oscilloscope the behaviour of the system was to obtain.

3. The liquid level system

Vin

Pump Voltage u(t)

Error Signal e(t)

Vh

Controller

Pump

Tank

Liquid Level Sensor

The schematic above shows the block diagram of the used liquid level control system. The controller drives the pump which fills the tank with water. The backward signal transfers the water level back to the input. The controller could be changed in its characteristics between proportional. integral. derivative. some of them and all together to change the properties of the control-process.

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4. The sensor characteristics

Water level /cm Sensor voltage / V 10 0.4 20 0.85 40 1.65 60 2.42 80 3.22 100 4 120 4.77 140 5.55 150 6 160 6.35 180 7.19 200 8.03 220 8.81 240 9.59

Sensor Characteristics
10 9 8 Sensor Voltage/V 7 6 5 4 3 2 1 0 10 20 40 60 80 100 120 140 160 180 200 220 240 Water Level/mm

The liquid level sensors works linear A higher liquid level provides a proportional higher output voltage.

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5. Different controllers
a) Proportional controller
Pump Voltage u(t)
Proportional Controlle gain k=10

Vin

Error Signal e(t)

Vh Pump Tank

Liquid Level Sensor

With the proportional control only the difference of the actual liquid-level and the input voltage (error signal) is amplified and directly fed to the pump. Therefore the proportional control doesnt reach the desired setting point of 150mm, because the end value depends very much on the value of k. The following plot from the oscilloscope shows this.

Blue: water level Green: Pump voltage

Figure 1 Transient response plot of the proportional controller with gain k=10

Time constant =10s, settling time ts=25s, e=7 per cent

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b) Proportional + integral controller ki=10 and kp=10

Vin

Proportional + Integral Controlle gains kp + ki

Pump Voltage u(t)

Error Signal e(t)

Vh Pump Tank

Liquid Level Sensor

The combination of the integral and the proportional controller brings an improvement to the system by reducing the final error e. Now the output reaches the desired input (6V==150mm). The integral part brings a short oscillation with over and- under-shots to the system before it settles.

Blue: water level Green: Pump voltage

Figure 2 Transient response plot with ki=10 and kp=10

=16s; e=2per cent, ts=48s

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c) Proportional + integral controller ki=10 and kp=10

Vin

Proportional + Integral Controlle gains kp + ki

Pump Voltage u(t)

Error Signal e(t)

Vh Pump Tank

Liquid Level Sensor

The overall performance of the system increases, when the integral part is reduced and the proportional factor is left constant. This reduces the oscillating and results only in one overshot, after which the outputs settles to its desired value.

Blue: water level Green: Error signal

Figure 3 Transient response with ki=1 and kp=10 =13s, ts=45s, e=0per cent

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d) Proportional wit derivative controller

Vin

Proportional + derivative Controlle gains kp + ki

Pump Voltage u(t)

Error Signal e(t)

Vh Pump Tank

Liquid Level Sensor

Adding a derivative controller to the proportional one brings no big difference. The output never reaches the desired input value and the derivative controller brings no improvement to the time constant or the settling time.

Blue: water level Green: Pump voltage

Figure 4 Proportional and derivative controller with kp=10 and kd=10 =17s, ts=40s, e=7per cent (6V/0.4V)

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e) PID controller (Proportional + Integral + Differential)

Vin

Pump Voltage u(t)

Error Signal e(t)

PID gains kp + ki + kd

Vh Pump Tank

Liquid Level Sensor

From the other parts it should be expected, that a combination of all three controllers brings the best result, but the transient response shows, that the settling time t increases and the systems tends to oscillate.

Blue: water level Green: Pump voltage

Figure 5 Transient respone with kp=10, ki=10 and kp=10 =12s, ts=55s, e=0

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6. Comparision
Part a) b) c) d) e) P 10 10 10 10 10 I 0 10 1 0 10 D 0 0 0 10 10 10 16 13 17 12 ts 25 48 45 40 45 E 7 2 0 7 0

From the above table it can be said, that part c) and e) produce the best result. From the transient response part c) has the best overall performance:-No oscillation - Output value = desired - Reasonable settling-time The following graph shows part c) with the occurring error signal.

Blue: water level Green: Pump voltage Red: Error signal

At the beginning the pump voltage increases to its maximum. Then, when the output reaches its desired value the pump-voltage drops, the output overshoots and due to the negative error signal the output decreases until it has settled down to the end-value of 150mm or 6V. So the PI controller is the best solution for this system.

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7. Conclusion
In difference to the first lab, where only a simulation with a simple proportional controller was to do, in this Lab the difference between a range of controllers could be seen. Also it could be obtained, that not a mixing of all three used controller types results in the best solution. Hence its very important to choose the right type and structure of arrangement the when a control system is to be designed.

Dirk Becker. [email protected]. www.oldradio.home.pages

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