COURSE: Process instrumentation

Class: Third 2017 - 2018

Name of Experiment: RT 010

Submitted by: Muhammad Akram ,Muhammad Star, Rebaz Kamil, Nihad sadiq
Experiment No: 2
Date of experiment: 11 /11/2017
Date of submission: 18 /11/2017
----------------------------------------------------------------------------------------------------------

EVALUATION

Activity During Experiment & Procedure

Data & Results

Discussion, Conclusion & Answer to the

Questions

Neat and tidy report writing

Overall Mark
Objective:
 fundamentals of control engineering based on the example of a level control
system with integral control action
 open loop control response
 investigation of a controlled system without feedback
 effects of different controller parameters and methods on the response of the
closed loop system
 recording of step responses
 reference variable
 disturbance variable
 controller optimization
 software-based controlled system simulation
 comparison of different controlled system parameters

Introduction:
Controller design or even simple tuning requires information about the controlled
process. Trial-error tuning method by its iteration is getting such information.
Critical gain and period, step response characteristics (simple dynamics
approximation), transfer functions, state-space models are used often for controller
design]. More sophisticated controller needs more complex process model and but
then special control aims and process features can be considered and solved. Model
Predictive Control is a nice example of such a method – control actions are
calculated as a discrete-time optimization problem, where the process model is
used for the plant behavior prediction and a receding horizon concept is applied to
introduce the feedback. Multivariable processes, non-minimum phase or processes
with dead-times can be easily controlled and knowledge of the future set-point or
process constraints can be directly used in the design procedure. This can lead to a
better control quality which is unreachable by the conventional controllers.
Drawback is that the solution is quite complex – design, debugging, application,
maintenance, modification – experts are needed for such tasks. Simulations and
laboratory experiments are essential in education and training phase GUNT RT
010 Level Control Training System is very interesting laboratory process. It is
shipped together with experiments, software, and simulations. Learning objectives
of the experiments are: investigation of a controlled system without feedback, open
loop control response, closed loop system with different controllers and
parameters.
Nonlinear Process Model:
Nonlinear first-principle process model of the GUNT Level Control Training
System is derived from mathematical-physical analysis by application of law
of energy and mass conservation. Model has two inputs – voltages for the
pump and valve and one output – signal from pressure sensor corresponding
to water level in level-controlled tank, construction parameters and 6
unknown parameters.

Process Model Linearization:

Nonlinear model is linearized and rewritten into deviation form for the
purpose of linear controller design. Nonlinear static characteristic of the
pump is approximated with a line with slope equal to a derivative in
linearization point given by pump voltage.

Apparatus:

 RT 010 GUNT
 Laptop with software
 Procedure and data:

Technical Data:
• Level-controlled tank: capacity 1.2 l
• Storage tank: capacity 3.7 l
• Pump ELEGANT: 12 V, 10-18 W, max. flow rate 8 l/min, 60 kPa
• Electromagnetic valve Burkert 2835: 24 V, 16 W
• Tensometric pressure sensor: 0 – 3 kPa (0 – 300 mm of water level)

Procedure:
1. We connect the device to computer.
2. We will apply the levels that given in the lecture note.
3. And write the result
Calculation:

Z
Y% % X%
10 10 nothing changed
30 15 nothing changed
40 20 increase
45 30 increase
50 35 increase
55 50 increase
60 80 decrease
65 80 decrease

Z%

Y%
Discussion and Conclusion:

First principle nonlinear model describes behavior of the real system very
well - simulated and experimental responses are very similar (practically
identical). The model has only 8 unknown parameters and all of them can be
easily estimated from measured steady-state data. Controller design is not
covered in this paper. The main objective of this paper was to validate the
nonlinear model quality. We have two manipulated variables and only one
controlled variable. Using of terminal constraint will force the controller
output to follow optimal steady state solution. Now which combination will
be at the end of the control experiment depends on used weightings and
constraints. Simulation with the nonlinear model will help to implement the
controller design in real world applications. Typical noise and disturbances
for the process can be added so the simulation is even more realistic and can
serve as a benchmark system.