lab 4 - proportional control(wong)

8/10/2019 Lab 4 - Proportional Control(Wong)

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BDA3711 MAKMAL KEJURATERAAN VI PROPORTIONAL CONTROL

1.0 TITLE: PROPORTIONAL CONROL

2.0 OBJECTIVES:

In this experiment st!"ents #i$$ %&&'mp$ish the ('$$'#in)*

1+ Des&ri,e the %&ti'n '( pr'p'rti'n%$ &'ntr'$ %$)'rithm+

-+ De(ine '((set

3+ Des&ri,e the s.stem !sin) L%p$%&e tr%ns('rm%ti'ns

/+ R!n the s.stem #ith pr'p'rti'n%$ &'ntr'$$er+

3.0 SKILLS:

In this experiment st!"ents #i$$ "e0e$'p the ('$$'#in) s i$$s*

1+ Te&hn'$').* %pp$. te&hn'$').

-+ 2.stem* !n"erst%n" s.stem

3+ Res'!r&es* m%n%)e time m%n%)e m%teri%$s %n" (%&i$ities

/+ Interpers'n%$* #'r %s % mem,er '( % te%m+ Pers'n%$* resp'nsi,i$it. se$(4esteem %n" se$(4m%n%)ement

4.0 MATERIALS:

In this experiment st!"ents nee" the ('$$'#in) m%teri%$s*

1+ Pr'&ess Line p%ne$ ('r Le0er C'ntr'$

-+ PC &'mp!ter #ith Pr'&ess M'ti'n 2'(t#%re

5.0 THEORY:

The proportional term '( the &'ntr'$$er pr'"!&es % &'ntr'$ si)n%$ pr'p'rti'n%$ t'

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the err'r in the s.stem s' th%t 5656 t e K t u p= 'r 5656 s E K sU p= + It is simp$. %

('r#%r" p%th )%in+ T.pi&%$$. )i0en % step &h%n)e in set p'int $'# 0%$!es ' p K )i0e

rise t' st%,$e resp'nses ,!t $%r)e ste%".4st%te err'rs+ i)her 0%$!es '( p K )i0e ,%tter

ste%".4st%te per('rm%n&e ,!t #'rse tr%nsient per('rm%n&e+

I( ste%".4st%te err'r is % pr',$em then inste%" '( in&re%sin) p K the &'ntr'$$er8s

integral term is %&ti0%te"+ ere the &'ntr'$ si)n%$ )ener%te" is pr'p'rti'n%$ t' the

inte)r%$ '( the err'r si)n%$+ Th%t is

= dt t e K t u i 5656 'r 5656 s E s

K sU i+

9here i K is the inte)r%$ )%in+

5. 1 Proport o!"# Co!tro# A#$or t%& :

The pr'p'rti'n%$ &'ntr'$ %$)'rithm '!tp!t m is "e(ine" %s*=m

ome Kc +:

9here*m pr'p'rti'n%$ &'ntr'$ %$)'rithm '!tp!t #hi&h is expresse" in terms '(

per&ent inp!t t' the p!mp+

Kc pr'p'rti'n%$ &'ntr'$ %$)'rithm &'nst%nt 6)%in5

e err'r

om &'ntr'$$er ,i%s+ This % (ixe" 0%$!e th%t #i$$ pr'0i"e % &'nst%nt 0%$!e t'

the &'ntr'$ %$)'rithm+ 9hen the err'r is ; m #i$$ ,e e

m #i$$ $ess then om +

Usin) the %!t'm',i$e &r!ise &'ntr'$ %s %n ex%mp$e #hen the &r!ise &'ntr'$ in set t'

mi$es per h'!r %n" the &%r is tr%0e$in) %t mi$es per h'!r the err'r is =er'+

'#e0er the &'ntr'$$er nee"s t' sen" % &'nst%nt %m'!nt '( )%s t' the en)ine t' eep

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the &%r )'in) mph+ This &'nst%nt %m'!nt '( )%s is the m ('r the &r!ise &'ntr'$$er+

2!pp'se th%t the &%r st%rs &$im,in) % hi$$+ Its spee" #i$$ "e&re%se %n" %n err'r

#i$$ "e0e$'p+ The &r!ise &'ntr'$$er #i$$ %"" %n" %m'!nt '( )%s e

&'nst%nt %m'!nt om + As the &%r spee" !p %n" %ppr'%&hes mph the err'r #i$$

"e&re%se %n" the &'ntr'$$er #i$$ "e&re%se the %m'!nt '( )%s sent the en)ine ,%& t'

the om 0%$!e+

This ex%mp$e i$$!str%tes %n imp'rt%nt prin&ip$e '( the pr'p'rti'n%$ &'ntr'$$er+

9hen % $'%" is presente" t' s.stem 'r #hen the re(eren&e 0%$!e &h%n)es %n err'r is

&re%te"+ The pr'p'rti'n%$ &'ntr'$ %$)'rithm '!tp!t m &h%n)es pr'p'rti'n%$$. t' the

err'r e+ The r%ti' ,et#een the &h%n)es in the &'ntr'$ %$)'rithm '!tp!t m %n" the

err'r e is "etermine" ,. the &'ntr'$$er )%in Kc %s expresse" in Kc >em

+ The

,$'& "i%)r%m th%t "es&ri,es the $e0e$ &'ntr'$ s.stem #ith % pr'p'rti'n%$ &'ntr'$

%$)'rithm is %s sh'#n in ' $. 1(1.

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' $)r* 1(1: B$'& "i%)r%m '( Le0e$ C'ntr'$ 2.stem+

9ith the pr'p'rti'n%$ &'ntr'$ %$)'rithm is !se" the '!tp!t m is pr'p'rti'n%$

t' the err'r e %n" th!s ('r % sm%$$ err'r the si)n%$ #i$$ ,e re$%ti0e$. sm%$$ %n" ('r %

$%r)e err'r it #i$$ ,e ,i))er+

5.2 L"p#"+* Tr"!,-or&"t o!, :

T' ex%mine the e((e&t '( &h%n)es in Kc '0er the s.stem #e #i$$ !se L%p$%&e

Tr%ns('rms+ The L%p$%&e Tr%ns('rms is % te&hni

n!m,er 2 ('r t #e tr%ns$%te the e

the s.stem %n" is rep$%&e #ith 2+ the s.stem is n'# s%i" t' ,e in the L%p$%&e %$s'

n'# %s the L%p$%&e p$%ne'r L%p$%&e "'m%in+

5.3 L* *# Co!tro# "!/ It, L"p#"+* Tr"!,-or& :

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The ('$$'#in) is % ,$'& "i%)r%m in ' $ 1(2 "es&ri,es the $e0e$ &'ntr'$

s.stem %n" spe&i(i&%$$. ('r this &%se it is % (irst 'r"er s.stem in the L%p$%&e "'m%in+

' $)r* 1(2: B$'& "i%)r%m '( Le0e$ C'ntr'$ 2.stem in L%p$%&e sp%&e+

5 .4 *r !$ t%* S ,t*& " ! :

The ('!r ,$'& s '( the s.stem sh'#n in - $:1(2 %n" their (!n&ti'ns %re*

i5 C'ntr'$$er ,$'& + The (!n&ti'n in the &'ntr'$$er ,$'& in the time "'m%in is m =

K c*e + m o. The &'ntr'$$er m!$tip$ies the err'r e ,. the &'ntr'$$er )%in & %n" then %""s

the &'nst%nt m ' t' "etermine the pr'p'rti'n%$ %$)'rithm '!tp!t m+ In the L%p$%&e

"'m%in the &'ntr'$$er (!n&ti'n is c K em

=

ii5 T%* ' !"# Co!tro# E#*&*!t +o!tro##*/ p)&p $" ! 5+ The &'ntr'$$er p!mp )%in is

K p+ The ".n%mi& pr'perties '( the p!mp #i$$ ,e i)n're"+ In the L%p$%&e "'m%in the

&'ntr'$$er (!n&ti'n is pin K

m

q=

iii5 T%* T"! + The t%n is % (irst 'r"er s.stem #h'se )%in is K %n" #h'se time

&'nst%nt is ?+ The )%in K %n" time &'nst%nt ? nee" t' ,e "etermine" (irst+ The $%p$%&e

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tr%ns('rm '( the t%n is1

t%n

+=

S K

q

h

in

k

+

i05 T%* L* *# S*!,or + The $e0e$ sens'r )%in is K m+ The $e0e$ sens'r )%in in this

s.stem &%n ,e re)%r"e" %s 1 %n" it #i$$ n't e((e&t the '0er%$$ )%in in the t%n +

'#e0er the sens'r8s in%,i$it. t' me%s!re itse$( $e%"s t' % 0er. si)ni(i&%nt "i((eren&e

,et#een the %&t!%$ s.stem '!tp!t %n" the re(eren&e '!tp!t+ This "i((eren&e is &%$$

offset error + The re$%ti'n ship ,et#een the $e0e$ in the t%n %n" the re(eren&e 0%$!e is

1:1

1::

t%n

+++

+=

S K

K K

S K

K K

h

h

pc

pc

ref

k

9e sh'!$" n'te here th%t re(eren&e 0%$!e is %$#%.s )'in) t' ,e s$i)ht$. $%r)er th%n

press!re+ This #i$$ &%!se % &'n"iti'n &%$$e" %n '((set err'r+ In %&t!%$ this me%n th%t %

pr'p'rti'n%$ &'ntr'$$er &%n ne0er re%$$. "ire&t the s.stem %$$ the #%. !p t' the tr!e

re(eren&e 0%$!e %n" the s.stem '!tp!t #i$$ %$#%.s s$i)ht$. $'#er th%n the re(eren&e+

9e #i$$ ',ser0e the '((set #hen #e r!n the s.stem+ 2imp$i(.in) e

1t%n

+=

S

K

h

h

system

system

ref

k

#here@

1::

::+

=

K K K

K K K K

pc

pc system %n" 1:: +

=

K K K pc system

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Initial referenc

e value

(e=0)

Reference value

(after

step

input)

Percentag e of step

Error

Controller output,

m

Total respons

e time, t

(saat)

Error / referenc

e value

(%)

Output ( )

1; 1; ; ; 1 ; ; 1;

1; 137+ 3; - -/ 1+/ 13

1; 1/ +/ /; 3 - 1 -+;- 1/

1; 1 +; ; 3 - 71 1+ 11; /+ 4-; - 1 -3 -+3 7

1; 7/+- 43; ; 1 -; ; 73

1; 3+ 4/; 1 11 ; 1+ 7 -

.0 ATA SHEET:

T", 3: 6, !$ Proport o!"# Co!tro#:

T%,$e 1* 9'r sheet

T", 4: V"r t%* !c V"#)*:

1+ 9hen Kc 7 1;; initi%$ re(eren&e 0%$!e > 1; *

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-+ 9h

en Kc > 1;; initi%$ re(eren&e 0%$!e > 137+ *

3+ 9hen Kc > 1;; initi%$ re(eren&e 0%$!e > 137+ 0%$0e A 'pen 0%$0e B &$'se*

/+ 9h

en Kc > 1;; initi%$ re(eren&e 0%$!e > 137+ 0%$0e A %n" 0%$0e B 'pen*

+ 9h

en Kc > 1;; initi%$ re(eren&e 0%$!e > 1; 0%$0e A &$'se*

Error Controller output, m

Total response time, t (saat)

Error / reference value

(%)- 1 3; 1+

Error Controller output, m

Total response time, t (saat)

Error / reference value

(%)4- 1 1 1+/

Error Controller output, m

Total response time, t (saat)

Error / reference value

(%); 33 73 ;

Error Controller output, m

Total response time, t (saat)

Error / reference value

(%); 3/ ;

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BDA3711 MAKMAL KEJURATERAAN VI PROPORTIONAL CONTROL

+ 9hen Kc > 1 initi%$ re(eren&e 0%$!e > 137+ *

8.0 CALC6LATION:

N'te* T% in) re(eren&e 0%$!e 6%(ter step inp!t5 > 137+ +

1+ '# t' &%$&!$%tereference value (after step input *

Fi0en initi%$ re(eren&e 0%$!e* 1;

Per&ent%)e '( step* 3;

G Re(eren&e 0%$!e > 1;AB1;;B3;

1;A + !

Error Controller output, m

Total response time, t (saat)

Error / reference value

(%)4- 1 3- 1+

Error Controller output, m

Total response time, t (saat)

Error / reference value

(%)-/ - 7 17+/

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> D+137

-+ '# t' &%$&!$%te percentage of offset error (" *

Fi0en err'r* -

Re(eren&e 0%$!e 6%(ter step inp!t5* 137+

G O((set err'r > B1;; !valuereferenceerror

> B1;;D+137-

!

> /3+1

9.0 EKSPERIMENT OBSERVATION :

In r!nnin) this experiment #e )et t' n'# 'n h'# this &'ntr'$ s.stem #'r

,. !sin) the pr'p'rti'n%$ &'ntr'$ %$)'rithm+ This experiment is t' m'nit'rin) the

res!$tin) s.stem resp'nse in time &'nst%nt %n" err'r+ It %$s' 0%r. the &'ntr'$$er )%in t'

test the res!$t s.stem resp'nse #hether there %re in ,'th ".n%mi& %n" st%ti& s.stem+

In this experiment it is )''" t' &he& #hether %$$ the m%teri%$s th%t %re

re

is imp'rt%n&e t' m% e s!re th%t the experiment th%t #e "'ne #i$$ ,e )i0en %n %&&!r%te

1;

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res!$t+ M're'0er "!rin) the experiment #e h%0e t' m% e s!re th%t the #%ter $e0e$ h%s

t' ,e "r%in t' its minim!m $e0e$+ This is imp'rt%n&e ,e&%!se i( the #%ter $e0e$ is n't

pr'per$. "r%ine" the s.stem 'r the pr'&ess $ine s'(t#%re (r'm the &'mp!ter #i$$ n't ,e

r!n in % pr'per 'r"er+ M're'0er m% e s!re th%t %$$ the p%ne$ is &'nne&te" t' the COM

p'rt pr'per$. s' th%t there #i$$ ,e n' tr'!,$esh''tin) "!rin) the experiment+

Besi"es th%t ,e('re )ettin) the "%t% #e h%0e t' m% e s!re th%t the s.stem is in

ste%". st%te+ This is imp'rt%n&e t' n'# th%t #hether there is %n '((set+ H'r the (irst

experiment #here the set p'int is 11; K & is T1 is1;;;;; T D %n" M' %re ; there is n'

'((set p'int %ppe%r in the )r%ph #hi$e ('r the 'ther experiment #here the p%r%meters

%re in&re%se there is %n '((set p'int+

H!rtherm're (r'm this experiment #e &%n see th%t the s.stem #i$$ m%int%in

the #%ter $e0e$ in the t%n ,. re(errin) t' the inp!t th%t h%s ,ein) set+ There is %$s' %

sens'r t' %& n'#$e")e the s.stem+ I( the #%ter $e0e$ in the t%n is "e&re%se the p!mp

#i$$ st%rt r!nnin) %n" it #i$$ (i$$ the t%n t' the $e0e$ th%t is nee"e"+

.0 ISC6SSION:

T", 3: 6, !$ Proport o!"# Co!tro#:

#. $esri%e the system output response.

4 There h%0e n' '((set in t%s 1 ,e&%!se the err'r is ;+

&. 'hen is the offset percentage highest )o est

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4 The s.stem '!tp!t is 13 mm %n" there h%0e %n '((set err'r+ The err'r is

-+An" it t% e s t' re%&h ste%". st%te &'n"iti'n+ The err'r re(eren&e 0%$!e is

1+/ %n" &'ntr'$$er '!tp!t is -/+ The hi)her per&ent%)e '( '((set err'r in

#hen the per&ent%)e step in&re%se t' /; %n" ; +The $'#est '((set err'r is

#hen the per&ent%)e '( step "e&re%se t' /; +

. 'hat is the cause of offset

4 The &%!se '( this '((set is there %re "i((i&!$t t' (in" the ste%". st%te '( s.stem

,e&%!se it &%n8t pr'per$. %&hie0e the ste%". st%te &'n"iti'n+ The $e0er sens'r

%$s' #i$$ &%!se the err'r ,e&%!se the sens'r8s in%,i$it. t' me%s!re itse$( $e%"s

t' % 0er. si)ni(i&%nt "i((erent ,et#een the %&t!%$ s.stem '!tp!t %n" the

re(eren&e '!tp!t+

T", 4: V"r t%* !c V"#)*:

#. $escri%e the general system response, the response time and the percentage of

offset hen Kc is #-- and reference value is # ./ ith valve 0 close mean hile

valve 1 open.

4 The s.stem t% es 1s t' re%&h % ste%".4st%te &'n"iti'n %n" the err'r is 4-+%n"

the err'r per&ent%)e is 1+/ +I( #e &'mp%re #hen the K& is set t' 1; it #i$$

t% e m're time t' re%&h ste%". st%te %n" the err'r is s%me is -+ 6The 0%$!e in

r'$e - in t%,$e5+

&. $escri%e the general system response, the response time and the percentage of

offset hen Kc is #-- and reference value is # ./ ith valve 0 open mean hile

valve 1 close.

1-

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4 The s.stem t% es 73s t' re%&h the ste%". st%te &'n"iti'n+ An" there h%0e n'

err'r in this s.stem+

. $escri%e the general system response hen Kc is #-- and reference value is # ./

ith %oth valve 0 and 1 open.

4 9hen the 0%$0e A %n" V%$0e B is 'pen s' the s.stem #i$$ t% e m're time t'

re%&h the ste%". st%te &'n"iti'n +This is ,e&%!se #hen the 0%$0e is 'pen the

#%ter #i$$ ($'# '!t thr'!)h the 0%$0e %n" the p!mp #i$$ &'ntin!e #'r in)

%n" ('r&e the #%ter int' the t%n !nti$ the #%ter $e0e$ s%me %s % inp!t $e0e$

#%ter+

2. $escri%e the general system response, the response time and the percentage of

offset hen Kc is # and reference value is # ./ ith valve 0 close mean hile

valve 1 open.

4 9hen #e &h%n)e the K& 0%$!e t' 1 s' there %re % ,i) err'r in this s.stem

,e&%!se the s.stem &%n8t %&hie0e the ste%". st%te ,e&%!se the 0%$!e '( K& is

t' sm%$$ s' the p!mp &%n8t #'r %s e((e&ti0e s' the '!tp!t 0%$!e "i((i&!$t t'

&'ntr'$ ,. the p!mp+

10.0 CONCL6SION:

Hr'm the %n%$.sis '( the pr'p'rti'n%$ &'ntr'$ s.stem it &%n ,e &'n&$!"e" %s ('$$'#s

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i5 9hen % pr'p'rti'n%$ &'ntr'$ %$)'rithm is !se" t' &'ntr'$ % (irst 'r"er

s.stem the entire s.stem %&t %$s' $i e % (irst 'r"er s.stem %s

"em'nstr%te" in E

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C!mmin)s P!,$ishin) C'+In& 1 /+

3+ J+ D'r( 5odern 4ontrol Engineering A""is'n 9es$e. P!,$ishin) 1 ;+

/+ L%, sheet M% m%$ Ke !r!ter%%n K%#%$%n ,. En %mri ,in Om%r+

11.0 APPEN I;:

i+ C'ntr'$ p%r%meter* K& > +;; Ti > 1;;;;;+;;;; T" > ;+;; M' > ;+;;

1

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ii+ C'ntr'$ p%r%meter* K& > 1;+;; Ti > 1;;;;;+;;;; T" > ;+;; M' > ;+;;

1

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