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Part 2 - Controller Tuning

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NGỌC LÊ THỊ THU
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15 views4 pages

Part 2 - Controller Tuning

Uploaded by

NGỌC LÊ THỊ THU
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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Part 2.

Controller tuning
1. Objective
Part 2 aims to apply open – loop tuning method to a liquid tank model.

2. Content
Open loop tuning method (Cohen – Coon).

3. Theoretical bases

Open loop nethod (Cohen – Coon) Performance criteria

The C-C method requires the use of an open-loop step response (process
reaction curve). Such method can be summarized in the following steps:

1. After the process reaches steady state at the normal level of operation,
switch the controller to manual mode.

2. With the controller in manual, introduce a small step change in the controller
output that goes to the valve and record the transient.

3. Draw a straight-line tangent to the curve at the point of inflection.

4. Using available equations to calculate controller parameters.

Step test for tuning.


Cohen – Coon controller settings.

Step test for tuning.


4. Equipment
Single liquid tank experiment model

Process flow diagram.

No. Name Quantity Specifications

1 Liquid column 1 Height: 60cm

2 Centrifugal pump 1 9V or 12V

3 Liquid tank 1

4 Manual valve 1

5 Level element 1 HC – SR04

6 Arduino nano 1

7 L298N 1
5. Experiments
Tune the controller chosen in Part 1, conduct a performance analysis.

Table 1. Controllers given.

No. Kc τI [s] τD [s]

1 25 200 0.20

2 30 210 0.15

3 26 220 0.14

4 29 230 0.16

5 28 240 0.17

6 27 250 0.18

7 22 215 0.12

8 21 225 0.09

9 31 230 0.08

10 24 260 0.13

Table 2. Comparison between the orginal and tuned controllers.

Rise time Time to first Settling time Overshoot


tr [s] peak tp [s] [s] [%]

Original

Tuned

Difference

What can be concluded from the result?

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