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Kp-e

Valve 100% open < 250 gallons This is the minimum allowable water, the amount at which the valve begins to close
Valve 0% open > 280 gallons This is the maximum allowable water, the amount at which the valve shuts completely

Prop Range 30 gallons This is the range over which the valve is open
Prop Band 10.7 % This is the %age of the the total range that the controller is making adjustments
Prop Gain 9.3 This is the controller proportional gain
Set Point 275 gallons This is the ideal amount of water in the pool
Set Point-Valve % 16.67 % Valve must stay open this much to remain at SP if start at SP. If the valve is open less water will be lo

Our sensor is in the


Kp 25 gallons-1
pool, reporting the
dt 2 s amount of water
Flow Rate, In 5 gallon/s
Flow Rate, Out 3 gallon/s t (s) PV (gallons) E (gallons) Mo (% open)
0 0.00000 275.00000 100.00000
2 4.00000 271.00000 100.00000
PV (amt of water)

4
Filling 8.00000
Up the Pool 267.00000 100.00000
6 12.00000 263.00000 100.00000
8 16.00000 259.00000 100.00000
285.00000
10 20.00000 255.00000 100.00000
280.00000 12 24.00000 251.00000 100.00000
275.00000 14 28.00000 247.00000 100.00000
270.00000 16 32.00000 243.00000 100.00000
18 36.00000 239.00000 100.00000
265.00000 20 40.00000 235.00000 100.00000
260.00000 22 44.00000 231.00000 100.00000
255.00000 24 48.00000 227.00000 100.00000
26 52.00000 223.00000 100.00000
250.00000
28 56.00000 219.00000 100.00000
245.00000 30 60.00000 215.00000 100.00000
0 10 20 30 32 40 50
64.00000 60 70
211.00000 80
100.00000 90 100
34 time
68.00000 207.00000 100.00000
36 72.00000 203.00000 100.00000
38 76.00000 199.00000 100.00000
40 80.00000 195.00000 100.00000
42 84.00000 191.00000 100.00000
44 88.00000 187.00000 100.00000
46 92.00000 183.00000 100.00000
48 96.00000 179.00000 100.00000
50 100.00000 175.00000 100.00000
52 104.00000 171.00000 100.00000
54 108.00000 167.00000 100.00000
56 112.00000 163.00000 100.00000
58 116.00000 159.00000 100.00000
60 120.00000 155.00000 100.00000
62 124.00000 151.00000 100.00000
64 128.00000 147.00000 100.00000
66 132.00000 143.00000 100.00000

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Kp-e
68 136.00000 139.00000 100.00000
70 140.00000 135.00000 100.00000
72 144.00000 131.00000 100.00000
74 148.00000 127.00000 100.00000
76 152.00000 123.00000 100.00000
78 156.00000 119.00000 100.00000
80 160.00000 115.00000 100.00000
82 164.00000 111.00000 100.00000
84 168.00000 107.00000 100.00000
86 172.00000 103.00000 100.00000
88 176.00000 99.00000 100.00000
90 180.00000 95.00000 100.00000
92 184.00000 91.00000 100.00000
94 188.00000 87.00000 100.00000
96 192.00000 83.00000 100.00000
98 196.00000 79.00000 100.00000
100 200.00000 75.00000 100.00000
102 204.00000 71.00000 100.00000
104 208.00000 67.00000 100.00000
106 212.00000 63.00000 100.00000
108 216.00000 59.00000 100.00000
110 220.00000 55.00000 100.00000
112 224.00000 51.00000 100.00000
114 228.00000 47.00000 100.00000
116 232.00000 43.00000 100.00000
118 236.00000 39.00000 100.00000
120 240.00000 35.00000 100.00000
122 244.00000 31.00000 100.00000
124 248.00000 27.00000 100.00000
126 252.00000 23.00000 100.00000
128 256.00000 19.00000 100.00000
130 260.00000 15.00000 100.00000
132 264.00000 11.00000 100.00000
134 268.00000 7.00000 100.00000
136 272.00000 3.00000 75.00000
138 273.50000 1.50000 37.50000
140 271.25000 3.75000 93.75000
142 274.62500 0.37500 9.37500
144 269.56250 5.43750 100.00000
146 273.56250 1.43750 35.93750
148 271.15625 3.84375 96.09375
150 274.76563 0.23438 5.85938
152 269.35156 5.64844 100.00000
154 273.35156 1.64844 41.21094
156 271.47266 3.52734 88.18359
158 274.29102 0.70898 17.72461
160 270.06348 4.93652 100.00000
162 274.06348 0.93652 23.41309
164 270.40479 4.59521 100.00000

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Kp-e
166 274.40479 0.59521 14.88037
168 269.89282 5.10718 100.00000
170 273.89282 1.10718 27.67944
172 270.66077 4.33923 100.00000
174 274.66077 0.33923 8.48083
176 269.50885 5.49115 100.00000
178 273.50885 1.49115 37.27875
180 271.23672 3.76328 94.08188

Page 3
Kp-e

ich the valve begins to close


hich the valve shuts completely

is making adjustments

at SP. If the valve is open less water will be lost

In (gallons)
0
4
4
4
4
4
4
4
4 IF(E84<$B$3;100;IF($B$12*F84>100;100;$B$12*F84))
4
4
4
4
4
4
4
80 90 4 100
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4

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Kp-e
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
1.5
-2.25
3.375
-5.0625
4
-2.40625
3.609375
-5.4140625
4
-1.87890625
2.818359375
-4.22753906
4
-3.65869141

Page 5
Kp-e
4
-4.51196289
4
-3.23205566
4
-5.1519165
4
-2.27212524

Page 6
Kp-e+Ki-integ_e_dt
Examples of P, PI,and PID

Consider an above-ground swimming pool. This pool has a hole in it that has been patched, but the patch isn't perfect.
The hole is along the bottom seam, and it leaks 15 gallons per minute.
A hose, connected to a valve, is draped over the side of the pool and can provide a maximum of 158 gallons per minute.
The valve, controlling the amount of water out of the hose, is controlled by an Aims Controller Ultra 2000
Proportional Control,
Proportional-Integral Control,
Proportional-Derivate Control,
Proportional-Integral-Derivate Control,
Variable time sampling, from 0.5s to 5s, in 0.75s increments
Variable valve opening from 0% to 100%, in 10% increments
and it goes *ping*.
The ideal depth of the water in the pool is 3.50000 ft.
The pool is completely empty at 8:00:00am when the ACU2K™ is activated.
We decide that, if there are less than 250 gallons in the pool, the valve is open 100%; if there are greater than 280 gallons in

Questions
1. What is a borderline appropriate proportional range for water depth? Inother words, what is the smallest proportional band
2. At what time does the pool first hit the ideal depth? At what time does it settle at the ideal depth?

Preparatory Math:
0.8g/m= 0.01333g/s The amount that leaks out from the bottom
43g/m= 0.71667g/s The maximum amount of water that can flow in
10% of Max= 0.07167g/s The minimum amount of water that can flow in while valve is open
3.50000ft= 274.88936 gallons The ideal depth expressed as the ideal number of gallons
The controller controls the hose, and gets feedback from the pool
PV (amt of water)

Filling U

280.00000
Valve 100% open < 250 gallons 279.00000
This is the minimum allowable water, the amount at which the valve begins to close
Valve 0% open > 280 gallons 278.00000
This is the maximum allowable water, the amount at which the valve shuts completely
277.00000
Prop Range 30 gallons This is the range over which the valve is open
276.00000
Prop Band 10.7 % This is the %age of the the total range that the controller is making adjustments
275.00000
Prop Gain 9.3 This is the controller proportional gain
Set Point 275 gallons This is the ideal amount of water in the pool
274.00000
Set Point-Valve % 16.67 % Valve must stay open this much to remain at 273.00000
SP if start at SP. If the valve is open less water will be lo
272.00000
Kp 40 gallons-1 Our sensor is in 271.00000
dt 1.25 s the pool, 270.00000
Flow Rate, In 2.63333 gallon/s reporting the 0 50 100
Flow Rate, Out 0.25 gallon/s amount of water

Ki Hz t (s) PV (gallons) E (gallons) Mo (% open)


0.00 0.00000 275.00000 100.00000
1.25 2.97917 272.02083 100.00000

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Kp-e+Ki-integ_e_dt
2.50 5.95833 269.04167 100.00000
3.75 8.93750 266.06250 100.00000
5.00 11.91667 263.08333 100.00000
6.25 14.89583 260.10417 100.00000
7.50 17.87500 257.12500 100.00000
8.75 20.85417 254.14583 100.00000
10.00 23.83333 251.16667 100.00000
11.25 26.81250 248.18750 100.00000
12.50 29.79167 245.20833 100.00000
13.75 32.77083 242.22917 100.00000
15.00 35.75000 239.25000 100.00000
16.25 38.72917 236.27083 100.00000
17.50 41.70833 233.29167 100.00000
18.75 44.68750 230.31250 100.00000
20.00 47.66667 227.33333 100.00000
21.25 50.64583 224.35417 100.00000
22.50 53.62500 221.37500 100.00000
23.75 56.60417 218.39583 100.00000
25.00 59.58333 215.41667 100.00000
26.25 62.56250 212.43750 100.00000
27.50 65.54167 209.45833 100.00000
28.75 68.52083 206.47917 100.00000
30.00 71.50000 203.50000 100.00000
31.25 74.47917 200.52083 100.00000
32.50 77.45833 197.54167 100.00000
33.75 80.43750 194.56250 100.00000
35.00 83.41667 191.58333 100.00000
36.25 86.39583 188.60417 100.00000
37.50 89.37500 185.62500 100.00000
38.75 92.35417 182.64583 100.00000
40.00 95.33333 179.66667 100.00000
41.25 98.31250 176.68750 100.00000
42.50 101.29167 173.70833 100.00000
43.75 104.27083 170.72917 100.00000
45.00 107.25000 167.75000 100.00000
46.25 110.22917 164.77083 100.00000
47.50 113.20833 161.79167 100.00000
48.75 116.18750 158.81250 100.00000
50.00 119.16667 155.83333 100.00000
51.25 122.14583 152.85417 100.00000
52.50 125.12500 149.87500 100.00000
53.75 128.10417 146.89583 100.00000
55.00 131.08333 143.91667 100.00000
56.25 134.06250 140.93750 100.00000
57.50 137.04167 137.95833 100.00000
58.75 140.02083 134.97917 100.00000
60.00 143.00000 132.00000 100.00000
61.25 145.97917 129.02083 100.00000
62.50 148.95833 126.04167 100.00000

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Kp-e+Ki-integ_e_dt
63.75 151.93750 123.06250 100.00000
65.00 154.91667 120.08333 100.00000
66.25 157.89583 117.10417 100.00000
67.50 160.87500 114.12500 100.00000
68.75 163.85417 111.14583 100.00000
70.00 166.83333 108.16667 100.00000
71.25 169.81250 105.18750 100.00000
72.50 172.79167 102.20833 100.00000
73.75 175.77083 99.22917 100.00000
75.00 178.75000 96.25000 100.00000
76.25 181.72917 93.27083 100.00000
77.50 184.70833 90.29167 100.00000
78.75 187.68750 87.31250 100.00000
80.00 190.66667 84.33333 100.00000
81.25 193.64583 81.35417 100.00000
82.50 196.62500 78.37500 100.00000
83.75 199.60417 75.39583 100.00000
85.00 202.58333 72.41667 100.00000
86.25 205.56250 69.43750 100.00000
87.50 208.54167 66.45833 100.00000
88.75 211.52083 63.47917 100.00000
90.00 214.50000 60.50000 100.00000
91.25 217.47917 57.52083 100.00000
92.50 220.45833 54.54167 100.00000
93.75 223.43750 51.56250 100.00000
95.00 226.41667 48.58333 100.00000
96.25 229.39583 45.60417 100.00000
97.50 232.37500 42.62500 100.00000
98.75 235.35417 39.64583 100.00000
100.00 238.33333 36.66667 100.00000
101.25 241.31250 33.68750 100.00000
102.50 244.29167 30.70833 100.00000
103.75 247.27083 27.72917 100.00000
105.00 250.25000 24.75000 100.00000
106.25 253.22917 21.77083 100.00000
107.50 256.20833 18.79167 100.00000
108.75 259.18750 15.81250 100.00000
110.00 262.16667 12.83333 100.00000
111.25 265.14583 9.85417 100.00000
112.50 268.12500 6.87500 100.00000
113.75 271.10417 3.89583 100.00000
115.00 274.08333 0.91667 36.66667
116.25 274.97778 0.02222 0.88889
117.50 274.69454 0.30546 12.21852
118.75 274.78423 0.21577 8.63080
120.00 274.75583 0.24417 9.76691
121.25 274.76482 0.23518 9.40714
122.50 274.76197 0.23803 9.52107
123.75 274.76288 0.23712 9.48499

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Kp-e+Ki-integ_e_dt
125.00 274.76259 0.23741 9.49642
126.25 274.76268 0.23732 9.49280
127.50 274.76265 0.23735 9.49395
128.75 274.76266 0.23734 9.49358
130.00 274.76266 0.23734 9.49370
131.25 274.76266 0.23734 9.49366
132.50 274.76266 0.23734 9.49367
133.75 274.76266 0.23734 9.49367
135.00 274.76266 0.23734 9.49367
136.25 274.76266 0.23734 9.49367
137.50 274.76266 0.23734 9.49367
138.75 274.76266 0.23734 9.49367
140.00 274.76266 0.23734 9.49367
141.25 274.76266 0.23734 9.49367
142.50 274.76266 0.23734 9.49367
143.75 274.76266 0.23734 9.49367
145.00 274.76266 0.23734 9.49367
146.25 274.76266 0.23734 9.49367
147.50 274.76266 0.23734 9.49367
148.75 274.76266 0.23734 9.49367
150.00 274.76266 0.23734 9.49367
151.25 274.76266 0.23734 9.49367
152.50 274.76266 0.23734 9.49367
153.75 274.76266 0.23734 9.49367
155.00 274.76266 0.23734 9.49367
156.25 274.76266 0.23734 9.49367
157.50 274.76266 0.23734 9.49367
158.75 274.76266 0.23734 9.49367
160.00 274.76266 0.23734 9.49367
161.25 274.76266 0.23734 9.49367
162.50 274.76266 0.23734 9.49367
163.75 274.76266 0.23734 9.49367
165.00 274.76266 0.23734 9.49367
166.25 274.76266 0.23734 9.49367
167.50 274.76266 0.23734 9.49367
168.75 274.76266 0.23734 9.49367
170.00 274.76266 0.23734 9.49367
171.25 274.76266 0.23734 9.49367
172.50 274.76266 0.23734 9.49367
173.75 274.76266 0.23734 9.49367
175.00 274.76266 0.23734 9.49367
176.25 274.76266 0.23734 9.49367
177.50 274.76266 0.23734 9.49367
178.75 274.76266 0.23734 9.49367
180.00 274.76266 0.23734 9.49367
181.25 274.76266 0.23734 9.49367
182.50 274.76266 0.23734 9.49367
183.75 274.76266 0.23734 9.49367
185.00 274.76266 0.23734 9.49367

Page 10
Kp-e+Ki-integ_e_dt
186.25 274.76266 0.23734 9.49367
187.50 274.76266 0.23734 9.49367
188.75 274.76266 0.23734 9.49367
190.00 274.76266 0.23734 9.49367
191.25 274.76266 0.23734 9.49367
192.50 274.76266 0.23734 9.49367
193.75 274.76266 0.23734 9.49367
195.00 274.76266 0.23734 9.49367
196.25 274.76266 0.23734 9.49367
197.50 274.76266 0.23734 9.49367
198.75 274.76266 0.23734 9.49367
200.00 274.76266 0.23734 9.49367
201.25 274.76266 0.23734 9.49367
202.50 274.76266 0.23734 9.49367
203.75 274.76266 0.23734 9.49367
205.00 274.76266 0.23734 9.49367
206.25 274.76266 0.23734 9.49367
207.50 274.76266 0.23734 9.49367
208.75 274.76266 0.23734 9.49367
210.00 274.76266 0.23734 9.49367
211.25 274.76266 0.23734 9.49367
212.50 274.76266 0.23734 9.49367
213.75 274.76266 0.23734 9.49367
215.00 274.76266 0.23734 9.49367
216.25 274.76266 0.23734 9.49367
217.50 274.76266 0.23734 9.49367
218.75 274.76266 0.23734 9.49367
220.00 274.76266 0.23734 9.49367
221.25 274.76266 0.23734 9.49367
222.50 274.76266 0.23734 9.49367
223.75 274.76266 0.23734 9.49367
225.00 274.76266 0.23734 9.49367
226.25 274.76266 0.23734 9.49367
227.50 274.76266 0.23734 9.49367
228.75 274.76266 0.23734 9.49367
230.00 274.76266 0.23734 9.49367
231.25 274.76266 0.23734 9.49367
232.50 274.76266 0.23734 9.49367
233.75 274.76266 0.23734 9.49367
235.00 274.76266 0.23734 9.49367
236.25 274.76266 0.23734 9.49367
237.50 274.76266 0.23734 9.49367
238.75 274.76266 0.23734 9.49367
240.00 274.76266 0.23734 9.49367
241.25 274.76266 0.23734 9.49367
242.50 274.76266 0.23734 9.49367
243.75 274.76266 0.23734 9.49367
245.00 274.76266 0.23734 9.49367
246.25 274.76266 0.23734 9.49367

Page 11
Kp-e+Ki-integ_e_dt
247.50 274.76266 0.23734 9.49367
248.75 274.76266 0.23734 9.49367
250.00 274.76266 0.23734 9.49367

Page 12
Kp-e+Ki-integ_e_dt

ed, but the patch isn't perfect.

mum of 158 gallons per minute.


oller Ultra 2000 ™ that offers settings for:

here are greater than 280 gallons in the pool the valve is open 0%.

at is the smallest proportional band that staill allows for a stable system?

Filling Up the Pool

00
00
ich the valve begins to close
00 the valve shuts completely
hich
00
00
is making adjustments
00
00
00
at SP. If the valve is open less water will be lost
00
00
00
0 50 100 150 200 250
time

In (gallons)
0 Final Water Depth 3.49839 ft
2.979166667 Valve % Open 9.49 %

Page 13
Kp-e+Ki-integ_e_dt
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667

Page 14
Kp-e+Ki-integ_e_dt
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
2.979166667
0.894444444
-0.28324074
0.089692901
-0.02840275
0.008994205
-0.00284816
0.000901919

Page 15
Kp-e+Ki-integ_e_dt
-0.00028561
9.04424E-05
-2.864E-05
9.06936E-06
-2.872E-06
9.09456E-07
-2.8799E-07
9.11982E-08
-2.8879E-08
9.14512E-09
-2.896E-09
9.17092E-10
-2.9044E-10
9.19385E-11
-2.9084E-11
9.23615E-12
-2.8886E-12
9.28424E-13
-2.6909E-13
1.05194E-13
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14

Page 16
Kp-e+Ki-integ_e_dt
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14
-4.4548E-14
3.0323E-14

Page 17
Kp-e+Ki-integ_e_dt
-4.4548E-14
3.0323E-14
-4.4548E-14

Page 18

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