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15 views3 pages

CLL Exp1

Uploaded by

ASHISH “2” SINGH
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CLL 361: Instrumentation & Automation Lab

Experiment PC 1: Temperature Control


OBJECTIVE: To study the tuning of the PID controller by the Open Loop method and the Closed
Loop method using (a) Cohen and Coon (C-C) and (b) Ziegler-Nichols (Z-N) tuning rules.
APPARATUS: Process tank having temperature controlling unit.
THEORY: The open-loop method of tuning in which the control action is removed from the
controller by placing it in manual mode and an open-loop transient is induced by a step-
change in the signal. Fig.1 shows a typical control loop in which the control action is removed
and the loop opened to introduce a step-change (M/S). The step response is recorded at the
output of the measuring element. The step change to the valve is conveniently provided by
the output from the controller, which is in manual mode. The response of the system is called
the process reaction curve.

Fig: 1. Block Diagram of a Control Loop for Measurement of Process Reaction Curve.

A typical process curve exhibits an S- shape as shown in Fig: 2. It is represented by equation


(1).

G(s)K
e− L s (1)
1 Ts

Zeigler and Nichols suggested setting the values of Kc, Ti, and Td according to the formula
shown in Table 1. Refer to Fig. 2 for the symbol meaning for tuning the controller via Z-N
settings.
Table 1. Z-N Settings for Tuning Different Controllers

Type of Controller Kc Ti Td
Proportional (P) T/L
Proportional - Integral (PI) 0.9T/L L/0.3
Proportional - Integral – Derivative (PID) 1.2T/L 2L 0.5L
Fig: 2. Typical Process Reaction Curve (First Order with Transportation lag)

Similarly, Cohen and Coon suggested controller parameters as given in Table 2.

Table 2. C-C Settings for Tuning Different Controllers

Types of Control Parameter Settings


Proportional (P) Kc = (T/(Kp*L) ) * ( 1+L/3T)

Proportional - Integral (PI) Kc = (T/(Kp*L)) * (0.9 + L/12T)


Ti = L * (30 + 3L/T) / (9 +20L/T)

Proportional - Integral – Derivative (PID) Kc = (T/(Kp*L)) * (1.33 + L/4T)


Ti = L*(32 + 6L/T) / ( 13 +8L/T)
Td = 4L / (11 + 2L/T)

The value of Kp can be found using Kp = Bu / M, where Bu is the ultimate value of B at large
time t. (Refer to Fig. 1).

PROCEDURE:

1. Process Tank filled with water is made available. Temperature Control Trainer is
active.
2. Log in the system and select the “INTERFACE” mode for experimentation.
3. Turn on the water supply and maintain the inlet flow rate of water to the process tank
through a rotameter maintained at 20-30 LPH. Please verify it.
4. Due to some external disturbances, the liquid flow rate may show some significant
change in its value. Please keep an eye on the rotameter reading to dampen such
changes by careful adjustment of the rotameter itself. Please note that a change in
mass flow rate is not desired in the undertaken experiment.
5. Run the process as directed below:
 Select the MANUAL MODE with an output of 0 %.
 Wait till a steady state is reached for the process value.
 Log on to a file for saving transient data.
 Give a STEP RESPONSE to the output. Change it from 0% to 100%.
 Wait till a steady state is reached. Please do not rush.
 Log Off from the data-saving procedure.
 Make the output 0%.
6. With the help of the saved data file, draw the Process Reaction Curve between process
value and time.
7. Find the control setting parameters from Cohen-Coon (C-C) & Ziegler-Nichols (Z-N)
rules.
8. Tabulate the control setting parameters for each type of controlling mode e.g. P-
mode, PI-mode, PID-mode; obtained from both the rules, C-C & Z-N.
9. Run the process with the suggested controlling parameters for each type of control
mode, obtained from both methods. Please follow the instructions directed below
carefully.
 Select the MANUAL MODE with an output of 0%.
 Set P / PI / PID parameters as obtained from Z-N rules. For the first time, set for P-
mode. You will have the opportunity of tuning PI & PID modes in the next RUN
sequences.
 Wait till a steady state is reached.
 Once a steady state is reached, make the set point equal to the process value. 
 LOG on to a file for saving the transient response of the system. It is advised to
save the data file with a name explaining: the group name, controller mode, etc.
 Give a STEP change of 10 units to the set point.
 Select AUTO MODE.
 Wait till a steady state is reached. Please do not rush.
 Log Off from the data saving procedure.
 Put on the manual mode.
10. Repeat the procedure for obtaining the process transient response for different
control mode e.g. PI and PID.
11. Repeat for controlling parameters as obtained previously from C-C rules.
12. Draw the excel plots for all the above sets of transient responses. Plot process value
and the set point of the process on the same graph against time.
13. Report the best possible controlling mode for the step-change made. Justify your
decision on both, qualitative and quantitative scale.

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