Submission Date
8/6/15
Wachemo University
College of Engineering and Technology
Department of Electromechanical Engineering
Industrial Process Control Group Project, 20% (max 6 stu/group)
1. Consider the two tank system shown below. The height ℎ or flow rate 𝑞 in the second tank is to be
controlled by adjusting the flow rate 𝑞 into the first tank. The system disturbance is the flow rate 𝑞
drawn off from the first tank (to be used elsewhere in the processing operation) by a variable
displacement pump. Given data for the process are tabulated below:
Symbol Description Given value unit
1 𝐶 Capacitance of tank 1 12 𝑚
2 𝐶 Capacitance of tank 2 10 𝑚
3 𝑅 Liquid flow resistance in 140 𝑚/(𝑚 /𝑠𝑒𝑐)
4 𝑅 Liquid flow resistance in 120 𝑚/(𝑚 /𝑠𝑒𝑐)
Where: 𝑄 Steady state flow rate, 𝑚 /𝑠𝑒𝑐
𝐻 ,𝐻 Steady state level of tank 1 and 2 respectively, m
𝑞 Small deviation of inflow rate from its steady state value, , 𝑚 /𝑠𝑒𝑐 (manipulated input)
𝑞 Small deviation of outflow rate from its steady state value, , 𝑚 /𝑠𝑒𝑐
𝑞 Small deviation of inflow rate from its steady state value (disturbance input)
ℎ ,ℎ small deviation of head from their corresponding steady-state value, m. And ℎ is output
Based on the above problem answer the following questions
a. Clearly put the control objective
b. Drive the process model and
i. Clearly list your assumptions for simplifying your model
ii. Drive the transfer function
( ) ( )
1. Taking head of tank 2 as output: and
( ) ( )
( ) ( )
2. Taking flow rate of tank 2 as output and
( ) ( )
iii. construct the overall block diagram of the process in SIMULINK
c. Obtain open loop step response of the process
i. show both the effect of 𝑞 𝑎𝑛𝑑 𝑞 on ℎ 𝑜𝑟 𝑞
ii. discuss the characteristics of the response
d. Design controller for the process
i. Construct P, PI, PD and PID controller for the process
ii. Tune using Tune using either Ziegler Nichols open loop or closed loop Methods
e. Result and discussion
1
Submission Date
8/6/15
Wachemo University
College of Engineering and Technology
Department of Electromechanical Engineering
Industrial Process Control Group Project, 20% (max 6 stu/group)
i. Obtain step response of the closed loop system for all controller modes (here use a
step function for the desired head or flow rate in tank 2 , ℎ or 𝑞 )
ii. Compare and discuss the effects of different controller modes on the process and
choose the best one for the process.
iii. Implement the controller mode you have chosen (i.e. electronic technique).
f. Conclusion and Recommendation
2. The stirred tank shown below is used to heat a process stream by steam condensing inside a coil. The
temperature in the tank is to be controlled by manipulating the steam valve position. Given data for
the process are tabulated below:
Symbol Description Given value unit
1 𝜆 Latent heat of condensation of saturated steam 2247𝑥10 Joules/kg
2 𝐶 Thermal capacitance of the coil mass 503𝑥10 J/℃
3 U Overall convective heat transfer coefficient at the coil-liquid 42.97𝑥10 (J/min)𝑚 )(℃)
interface
4 A Heat transfer area 22.57 𝑚
5 Q Feed flow rate 0.425 𝑚 /𝑚𝑖𝑛
6 𝜌 Density of the feed 1090 𝑘𝑔/𝑚
7 C Heat capacity of the feed 3350 J/(kg)(℃)
8 V Volume of the liquid in the tank 3.4 𝑚
Where: 𝑞 = Manipulation of the steam flow rate, 𝑘𝑔/𝑚𝑖𝑛 (Manipulated input)
𝜃 = Perturbation of heat temperature of the feed, ℃ (Disturbance input)
𝜃 ,𝜃 = Perturbations of the temperature of coil mass and liquid in the tank, respective, in response to
perturbation 𝑞 in the steam flow rate and disturbance 𝜃 , ℃. And 𝜃 is output
𝑄 , 𝜃̅ , 𝐻 , 𝜃̅ 𝑎𝑛𝑑 𝜃̅ are the steady state values of 𝑞 , 𝜃 , ℎ , 𝜃 𝑎𝑛𝑑 𝜃 respectively.
Based on the above problem answer the following questions
a) Clearly put the control objectives
b) Drive the process model and
i. Clearly list your assumptions for simplifying your model
( ) ( )
ii. Drive the transfer function and
( ) ( )
iii. construct the overall block diagram of the process in SIMULINK
2
Submission Date
8/6/15
Wachemo University
College of Engineering and Technology
Department of Electromechanical Engineering
Industrial Process Control Group Project, 20% (max 6 stu/group)
c) Obtain open loop step response of the process
i. show both the effect of 𝑞 𝑎𝑛𝑑 𝜃 on 𝜃
ii. discuss the characteristics of the response
d) Design controller for the process
i. Construct P, PI, PD and PID controller for the process
ii. Tune using either Ziegler Nichols open loop or closed loop Methods
e) Result and discussion
i. Obtain step response of the closed loop system for all controller modes (here use a step
function for the desired temperature 𝜃 )
ii. Compare and discuss the effects of different controller modes on the process and choose
the best one for the process.
iii. Implement the controller mode you have chosen (i.e. electronic technique).
f) Conclusion and Recommendation
Progress Report
You have to submit your progress report in word or pdf as follow:
1. Part 1: Process Modelling
Include (a) and (b)
Date: 19-22/5/2015
2. Part 2: open loop step response of the process
Include (c)
Date: 26-29/5/2015
3. Part 3: closed loop step response of the process control system
Include (d) and (e)
Date: 3-6/6/2015
Notice
8/6/2015 is your final paper submission date.
Late submission until 11/6/2015 results in minus 2 marks per day.
Late submission after 11/6/2015 (12:00 lt) will not be accepted.
