Assignment 5 Solutions 2009

# p i d p d a i a r w d o f f f o

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Unformatted text preview: ive us the fo llowing responses Figure 18: Closed­loop response for set­point change (kC= ­1.935 and tI = 2.5) Figure 19: Closed­loop response for disturbance change (kC= ­1.935 and tI = 2.5) To analyze the effect of the controller parameters we made a change in the Integral Time constant. For the same controller gain as before but with tI = 1 we obtain the responses given below Figure 20: Closed­loop response for set­point change (kC = ­1.935 and tI = 1) Figure 21: Closed­loop response for disturbance change (kC = ­1.935 and tI = 1) Finally, the previous controllers were implemented in the Control Station plant to validate the design settings in the nonlinear environment. The Figures below illustrate the performance of the controllers. C o n t ro l S t a t io n : C a s e S t u d ie s Pr o c e s s Va r ia b le /Se tp o in t P r o c e s s : H e a t E x c h a n g e r C o n t . : P I D ( P = D A , I = A R W , D = o f f , F = o f f ) 146 145 144 143 142 141 140 Cont r oller Out put 40.0 37.5 35.0 32.5 30.0 27.5 36 39 42 45 48 51 54 Time ( mins ) 57 60 63 66 69 T u n i n g : G a i n = ­ 1 . 9 4 , R e s e t T i m e = 2 . 5 0 , S a m p le T i m e = 1 . 0 0 Figure 22: Closed­loop response ( in CStation) for set point change (kC = ­1.935 and tI = 2.5) C o n t ro l S t a t io n : C a s e S t u d ie s Cont r olle r Out p ut Pr o c e s s Va r i a b l e /Se tp o in t P r o c e s s : H e a t E x c h a n g e r C o n t . : P I D ( P = D A , I = A R W , D = o f f , F = o f f ) 14 0 40 .0 87 9 0 9 3 9 6 99 10 2 Time (mins ) 10 5 108 1 11 1 14 11 7 T u n i n g : G a i n = ­ 1 . 9 4 , R e s e t T i m e = 2 . 5 0 , S a m p l e T i m e = 1 . 0 0 Figure 23: Closed­loop response ( in CStation) for disturbance change (kC = ­1.935 and tI = 2.5) C o n t ro l S t a t io n : C a s e S t u d ie s Pr o c e s s Va r i a b l e /Se tp o in t P r o c e s s : H e a t E x c h a n g e r C o n t . : P I D ( P = D A , I = A R W , D = o f f , F...
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