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EI2356 - Process Control System Laboratory
INDEX
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
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Specifications:
Precautions:
1. Fully open the inlet valve to tank 1.
2. Partially open the valve between tanks 1&2.
3. Partially open outlet valve from tank2.
4. Keep all other valves closed.
Procedure:
1. Switch on the pump.
2. Set the flow rate of liquid at desired value by adjusting the rotameter and wait till it reaches the
steady state in two tanks.
3. Once the head reaches the steady state, give a small step change of flow rate and observe the
heads h1 & h2 of tanks 1 & 2 till tanks reach another steady state.
4. Plot graph between time & h1, time & h2.
5. Find out time constants using the following relations.
1 = time corresponding to the head of 0.632 (final steady state initial steady state) from graph
1
2 = time corresponding to the head of 0.632 (final steady state initial steady state) from graph
2
6. Calculate the resistance R2 using time constant 2 and area of tank 2.
R2 = 2 / A2
7. Find the overall transfer function, by substituting the above calculated values in following
equation, H2(s) / Q1(s) = R2 / ( 1 2s2 +1( 1 + 2 + A1 R2)s +1 )
Tabulation:
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Model Calculation:
Result:
Thus the response of the interacting system was studied and the transfer function was found.
Inference:
Review questions:
1. What is self regulation?
2. What is interaction factor?
3. What is the significance of interaction factor?
4. Why two interacting capacities have more sluggish response than two equivalent but non-
interacting capacities?
5. Comment about response of interacting capacities?
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Combining the equations (2) and (4) we get the transfer function for tank 1 is
H2(s) / Q2(s) = R2 / ( 2s+1)
Where H2 = h2 h2s, 2 = R2A2
The overall transfer function of non interacting system is
H2(s) / Q1(s) = R2 / ( 2s+1) ( 1s+1)
Where, q1 = Inflow to tank 1 in lph.
A1, A2= the area of tank 1 & 2.
h1, h2= Output variable head of tank1 & 2.
R1, R2 = Resistance of valve in the outlet tank1 & 2.
q2 = Inflow to tank 2 in lph.
q3 - Outflow of tank 2 in lph
1, 2 time constants of tank 1, 2 respectively
Experimental setup: Non-Interacting Tank Specification:
Precautions:
1. Fully open the inlet valve to tank 1.
2. Partially open the valve between tanks 1&2.
3. Partially open outlet valve from tank2
4. Keep all other valve closed.
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Procedure:
1. Switch on the pump.
2. Set the flow rate of liquid at desired value by adjusting the rotameter and wait till it reaches
the steady state in two tanks.
3. Once the head reaches the steady state, give a small step change of flow rate and note down
the heads h1 & h2 of tanks 1 & 2 till tanks reach another steady state.
4. Find out time constants using the following relations.
1 = time corresponding to the head of 0.632 (final steady state initial steady state) from
graph 1
2 = time corresponding to the head of 0.632 (final steady state initial steady state) from
graph 2
5. Calculate the resistance R2 using time constant 2 and area of tank 2.
R2 = 2 / A2
6. Find the overall transfer function, by substituting the above calculated values in following
equation H2(s) / Q1(s) = R2 / ( 2s+1) ( 1s+1)
Tabulation:
S. No Time (t) sec Height of Tank1 (h1 ) cm Height of Tank2 (h2 )cm
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Result:
Thus the response of the non interacting system was studied and the transfer function was
found.
Inference:
Review questions:
1. What is non self regulating process? Give example.
2. Define time constant.
3. What is transfer lag?
4. What is the difference between interacting and non-interacting system?
5. Give the characteristics of multi capacity system.
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Precautions:
1. Check the inlet pressure to the air regulator.
2. Dont operate the motor pump without load.
3. Release the air pressure before conducting the experiment.
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Procedure:
1. Open the appropriate hand valve for ON / OFF control valve and close all other hand
valves.
2. Vary the pressure using the knob provided in the air regulator.
3. Note down the pressure in gauge and corresponding stem movement and flow rate.
4. Reduce the output pressure to zero using the air regulator knob.
5. Release the air in the control valve using the hand valve.
6. Select another control valve and repeat the same procedure.
7. Draw the graph between input pressures to the control valve and stem movement.
8. Draw the graph for stem movement vs. flow rate.
Tabulation:
Table 1 ON-OFF control valve
S. Input pressure Stem movement Flow rate
No ( psi ) (mm) ( lph)
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Result:
Thus the actuator and control valve characteristics were studied.
Inference:
Review questions:
1. Name some electric actuators.
2. List some pneumatic actuators.
3. Why an equal % valve is called so?
4. What are known as inherent characteristics?
5. Explain on/off valve.
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Precautions:
1. Check the inlet pressure to the air regulator.
2. Release the air pressure before conducting the experiment.
3. Ensure the gauges G3 and G4 are at 20 psi.
Procedure:
1. Switch the power switch to ON position.
2. Set the switch in variable position to vary the current from 4 to 20 mA.
3. Select the bypass mode on the positioner and give 20 mA to I / P converter.
4. Increase the stem movement one by one (0 12.5 mm), for each movement note down the
corresponding current reading.
5. Change the mode to Auto on the positioner and give 20 mA to I / P converter.
6. Increase the stem movement one by one (0 12.5 mm), for each movement note down the
corresponding current reading.
7. Tabulate the values and draw the graph between stem movement and current.
Tabulation:
Input Pressure I/P Current Stem movement I/P Output Pilot Pressure
G2(psi) (mA) (mm) PressureG5(psi) G6(psi)
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Result:
Thus the control valve characteristic with positioner was studied.
Inference:
Review questions:
1. Why does flow lift characteristics of a control valve change after it is installed in a pipeline?
2. What is cavitation and flashing?
3. What is the purpose of valve positioner?
4. What is drawback of oversized and undersized valve?
5. What components are present in a positioned?
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Procedure:
1. Switch on the power supply.
2. Switch on the heater.
3. Select the ON - OFF controller.
4. Note down the time, temperature and controller output.
5. Let the process to reach the steady state.
6. Draw the graph between temperature vs. time and controller output vs. time.
7. View the responses for different set points.
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Model Graph:
Result:
The response of the ON-OFF controller for a thermal process is obtained.
Inference:
Review questions:
1. What do you mean by two position controller?
2. Give some examples for ON-OFF controlled thermal processes.
3. What are the sensors can be used to measure temperature?
4. What are the materials being used in J type thermocouple?
5. Give the range of temperature can be measured using J type thermocouple.
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Procedure:
1. Select ON-OFF controller mode.
2. Enter the controller parameter (set point (SP), differential gap (DG)) in settings.
3. Run the program in simulation mode by properly selecting the input (like sine, triangular,
square).
4. View the response for different set points and control parameters.
5. Plot the graph (PV vs. Time and CO vs. Time) for any one tabular column.
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Tabulation:
a. ON-OFF CONTROLLER
SP= DG=
S. Time (t) Process Controller Output
No sec Variable (CO)(%)
b. SP= DG=
S. Time (t) Process Controller Output
No sec Variable (%)
Result:
Thus the action of ON-OFF controller for a process was studied.
Inference:
Review questions:
1. What is hysteresis in on-off control?
2. Give the significance of on-off control.
3. What is dead band?
4. Give the applications of on-off controller.
5. What other names does on-off controller has?
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2. Equal percentage
3. Quick opening
Linear control valve: Flow is directly proportional to valve lift.
Equal percentage control valve: Flow changes by a constant percentage of its instantaneous value for
each unit of valve lift.
Quick opening control valve: Flow increases rapidly with initial travel reaching near its maximum at a
low lift. The output pressure of I/P converter is given to the control valve which changes the opening
of the control valve and hence changes the flow rate.
Data acquisition system:
This consists of ADC, DAC,I/V,V/I and RS232. This system acquires data from the
process station to the computer and sends the data from the computer to the process loop.
Panel Diagram: Specifications:
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Block Diagram:
Precautions:
1. Check the air inlet pressure to the process station as 50 100 psi.
2. Check whether the I/P converter inlet pressure is 20 psi.
3. Let hand valve HV1 and HV3 be fully opened position.
4. Keep by pass valve HV2 partially opened.
5. Keep the outlet valve HV6 slightly opened.
6. Check whether there is any leakage in air and water path.
7. Check whether the water in the reservoir tank is sufficient to fill the process tank.
8. Dont switch on the motor when control valve is fully closed.
9. Switch off the mains before making the connections.
Procedure:
1. Give connections between the process and controller (Computer).
2. Switch on the power supply.
3. Switch on the motor.
4. Select a suitable controller.
5. Tune the controller parameters.
6. Observe the response. After reaching the steady state give disturbance by suddenly opening
and closing the outlet valve HV6.
7. Let the level of the process tank to reach the steady state.
8. View the response for different set points.
9. Plot the transmitter characteristics, controller characteristics and closed loop response.
Tabulation:
Table 1: Transmitter Characteristics Table 2: I/P Converter
Level in Level transmitter Controller Controller output I/P converter
(cm) output (mA) output (%) ( mA) (psi)
( in % )
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Result:
Thus the closed loop response of level control loop was obtained.
Inference:
Review questions:
1. Write the limitation of on/off control?
2. Define offset.
3. Define proportional band.
4. What is the maximum level that can be controlled in the given process?
5. Name some direct and indirect level measurement device.
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Data acquisition system: This consists of ADC, DAC,I/V,V/I and RS232. This system acquires data
from the process station to the computer and sends the data from the computer to the process loop.
Block Diagram:
Precautions:
1. Check the air inlet pressure to the process station as 100 150 psi.
2. Check whether the I/P converter inlet pressure is 20 psi.
3. Let hand valves HV2, HV4 and HV6 be fully closed position.
4. Keep the hand valves HV1 and HV3 connected tank 1 slightly opened.
5. Keep the outlet valve HV5 of tank 1 slightly opened.
6. Check whether there is any leakage in air path.
7. Switch off the mains before making the connections.
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Procedure:
1. Give connections between the process and controller (Computer).
2. Switch on the power supply.
3. Select a suitable controller.
4. Tune the controller parameters.
5. Observe the response. After reaching the steady state give disturbance by suddenly opening
and closing the hand valve HV5.
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Tabulation:
Table 1: Transmitter Characteristics Table 2: I/P Converter
Pressure Pressure transmitter Controller Controller I/P converter
(psi) output (mA) output (%) output (mA) (psi)
( in % ) ( mA)
Result:
Thus the closed loop response of pressure control loop was obtained.
Inference:
Review questions:
1. What is meant by differential gap?
2. Name the measurement variable and manipulated variable in pressure control loop.
3. What type of final control element is used here?
4. Which control mode is suitable for pressure process? Justify.
5. What is the nature of pressure process?
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Second Order System (With Delay) Second Order System (Without Delay)
Result:
Thus the response of the first order system, second order system with and without
transportation lag for step signal were obtained and the response is compared with MATLAB
simulation.
Inference:
Review questions:
1. What is dead time?
2. What is order of a process?
3. What is the physical meaning of order of the system?
4. Differentiate between system delay and transportation delay.
5. What is the effect of dead time in a process?
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pressure is linear as the feedback within the relays is 100%and therefore the pneumatic amplification
is 1:1
Control valve:
In most of the industrial process control systems control valve is the final control element. The
control valve consists of two major components, 1. Actuator 2.Valve. The actuator is made up of
flexible diaphragm, spring and spring tension adjustments, plate, stem and lock nut, housing. The
valve is made up of body, plug, stem, pressure tight connection.Based on the principle of operation
the control valves can be classified into Linear, Equal percentage and Quick opening.
Linear control valve: Flow is directly proportional to valve lift.
Equal percentage control valve: Flow changes by a constant percentage of its instantaneous value
for each unit of valve lift.
Quick opening control valve: Flow increases rapidly with initial travel reaching near its maximum at
a low lift. The output pressure of I/P converter is given to the control valve which changes the
opening of the control valve and hence changes the flow rate.
Data acquisition system:
This consists of ADC, DAC,I/V,V/I and RS232. This system acquires data from the
process station to the computer and sends the data from the computer to the process loop.
Block diagram:
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Precautions:
1. Check the air inlet pressure to the process station as 50 100 psi.
2. Check whether I/P converter inlet pressure is 20 psi.
3. Let hand valve HV1 and HV3 be fully opened position.
4. Keep by pass valve HV2 partially opened.
5. Check whether there is any leakage in air and water path.
6. Check whether the water in the reservoir tank is sufficient to fill the process tank.
7. Dont switch on the motor when control valve is fully closed.
8. Switch off the mains before making the connections.
Procedure:
1. Give connections between the process and controller (Computer).
2. Switch on the power supply and the motor.
3. Select a suitable controller.
4. Tune the controller parameters.
5. Observe the response. After reaching the steady state give disturbance by suddenly opening
and closing the hand valve HV2.
6. Let the process to reach the steady state.
7. View the response for different set points and plot the response.
8. Plot the transmitter characteristics, controller characteristics and closed loop response.
Tabulation:
Table 1: Transmitter Characteristics Table 2: Control Valve Characteristics
Flow(lph) Flow transmitter Controller output Controller output Output
output (mA) (%) ( mA) (psi)
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Result:
Thus the closed loop response of flow control loop was obtained.
Inference:
Review questions:
1. Explain the function of pneumatic transmission line.
2. Why differential control cannot be used alone?
3. What is FCE?
4. How offset can be minimized?
5. Why derivative control is not recommended for noisy process?
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Block diagram:
Procedure:
1. Give connections between the process and controller (Computer).
2. Switch on the power supply and the heater.
3. Select a suitable controller and tune the controller parameters.
4. Observe the response. After reaching the steady state give disturbance by changing the blower
speed.
5. Let the process reach the steady state.
6. View the response for different set points.
7. Plot the transmitter characteristics, controller characteristics and closed loop response.
Tabulation:
Table 1: Transmitter Characteristics Table 2: Final control element (SCR)
Characteristics
Temperature Temperature transmitter Controller Controller SCR
in C output (mA) output ( % ) output (mA) output (V)
Volts
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Result:
Thus the closed loop response of temperature control loop was obtained.
Inference:
Review Questions:
1. What are the major components of process control system?
2. What is ZOH?
3. What final control element is used in temperature control loop?
4. What control action is preferred for slow process?
5. What are the sensors can be used to measure temperature?
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Panel Diagram:
Procedure:
1. Give the connections in the front panel to obtain the response for different controllers.
2. Set the process fast/slow switch (SW4) in fast position.
3. Keep the set value pot to zero and apply a square wave signal of to Vpp at around 50 Hz.
P Controller
5. Keep the proportional band knob at 20%.
6. Repeat all the above steps with the percentage proportional band 50% and 40%.
7. Observe the response and find the peak overshoot (M p), Rise time (tr), Peak time (tp),
Damping ratio and settling time (ts) and also tabulate the readings
PI Controller
8. Adjust the proportional band control until the system settles with 2 to 3 overshoots.
9. Connect the integral section.
10. Slowly reduce the integral action time until the deviation falls to zero.
11. Observe the response and calculate the proportional band (PB), Integral time, peak
overshoot (Mp), Rise time (tr), settling time (ts) and also tabulate the readings.
PID Controller
12. Set the process fast/slow switch (SW4) and controller fast/slow switch (SW3) in fast
position.
13. Apply a square wave signal of to 2Vpp at around 50 Hz.
14. Now patch I and I and adjust the integral time until the steady state deviation is zero.
15. Now note down the number of overshoots before the system settles.
16. Now connect D and D and slowly increase the derivative time and note down the effect
of this system responses.
17. Observe the response and calculate the proportional band (PB), Integral time, peak
overshoot (Mp), Rise time (tr), settling time (ts) and also tabulate the readings.
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Tabular column:
P Controller
Sl.No %Proportional Peak Peak time Damping settling
Band(PB) overshoot(Mp), (tp) Ratio time(ts)
PI Controller
Sl.No Proportional Integral Peak Rise time settling
Band(PB) Time (Ti) overshoot(Mp), (tr) time(ts)
PID Controller
Sl.No %Proportional Integral Rise time(tr) Peak Settling Peak
Band(PB) time(Ti) time(tp) time(ts) overshoot(Mp)
Result:
Thus the time response of closed loop second order process with proportional control, PI
control and PID control was studied.
Inference:
Review Questions:
1. Design an electric PI controller for kp=5 and TR=10 sec.
2. Design a P controller with PB=50%.
3. Why is integral action (only I) recommended for zero or low order process?
4. What will be the controller response, if the error is constant?
5. What is reset windup?
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Procedure:
1. Fill the tank with water; open the air pressure to 20 psi by regulator.
2. Switch on the water circulation pump. Keep the rotameter valve full open.
3. Select the LEVEL + FLOW CASCADE controller in the system.
4. Keep the output indicator in the auto mode.
5. Enter the controller parameters and obtain the closed loop response.
6. Exit from the software by pressing ESC KEY.
7. Draw the graph between level vs time, flow vs time and CO vs time.
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Tabulation: SP = Flow: KP = Ki =
Level: KP = Ki = Kd =
Time in Process Variable (Primary Process Variable Controller
Sec Loop-Level) in cm (Secondary Loop- Output
Flow) in lph in percentage
Result:
Thus the characteristic of cascade controller for level and flow process was obtained.
Inference:
Review Questions:
1. How many measurement variable and manipulated variable are present in cascade control
loop?
2. What is multi loop control?
3. Write the advantages and disadvantages of cascade loop.
4. What is procedure to tune cascade controller?
5. What is multi loop control?
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Advantages:
1. Used for systems with time delay.
2. Quicker closed loop response time.
Disadvantages:
1. Can only be used for first order models including large process delays.
2. Offline method
3. Approximations for the Kc, Ti, and Td values might not be entirely accurate for different
systems.
Diagram:
Fig 1: Zeigler - Nichols Method
Fig 2: Cohen Coon Method opened control loop Process reaction curve:
Procedure:
1. Open a new m-file in MATLAB.
2. Enter the transfer function of the given system and obtain its bode plot.
3. Note down the values of ultimate gain and period of oscillation.
4. Open a new simulink window.
5. Draw the corresponding block diagram with the above calculated values of P, PI, PID
controllers using Z -N and C-C formulae and obtain the responses on the scope.
Tabulation:
Ziegler Nichols tuning Method:
Type of control Gc(s) Kc / Kp I KI D KD
Proportional (P) Kc 0.5Ku - - - - - -
Proportional Integral Pu /
Kc( 1 + 1 / s) 0.45Ku - - -
(PI) 1.2
Proportional Integral Pu /
Kc ( 1 + 1 / I s +Ds ) 0.6Ku Pu / 2
Derivative (PID) 8
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Type of
Gc(s) Kc I KI D KD
control
(P) Kc - - - -
(PI) Kc( 1 + 1 / s) - -
(PID) Kc ( 1 + 1 / I s +Ds )
Result:
Thus the controller parameter was obtained using Ziegler Nichols tuning and cohen coon
method and the response for different controller modes are compared using MATLAB package.
Inference:
Review Questions:
1. Give some tuning procedures.
2. What is tuning?
3. What is load variable?
4. Define Servo and Regulation operation.
5. What is meant by two degree of freedom controller?
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