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L5 Applied Control Coursework 2

Investigate the control of a liquid level process using P and PI controllers Refer to the notes on Empirical PID Tuning and Simulink Tutorial The following transfer function describes a liquid level process consisting of 2 storage tanks: K H2 (s) = G(s) = M ( s) (T1 s + 1)2 where H2 is the level in tank 2 and M is the input to the inow valve of tank 1. Choose values for the plant parameters using your date of birth: K = day of birth T1 = month of birth 1. Simulate the process with a unit step change in input and t a rst order plus time delay model to the output response. Simulate the rst order model and compare the response with that of the process 2. Design a P controller for the process using a Zeigler-Nichols method and simulate the closed loop response to a step input. Investigate the eect of changing the controller gain on the controlled response in terms of %OS, settling time and steady state error. 3. Design a PI controller for the process using a Zeigler-Nichols method and simulate the closed loop response to a step input. Compare the response with the previously designed P controller in terms of %OS, settling time and steady state error. Investigate the eect of changing the controller gain on the controlled response. Investigate the eect of changing the integral action time on the controlled response.

4. Include a step disturbance at the input of the process. With the set point set at 0 (no change) obtain the responses for a unit step change in the disturbance when using the P and PI controllers. Measure and compare the maximum output response, settling time and steady state error in both cases. Which controller can remove the eect of the disturbance in steady state?

Report
Submit a report in PDF format in Blackboard by the end of Semester 2 (week 12). Include a separate section for each of the main parts above. Each section should include (where appropriate) methods used and explanations, appropriate diagrams (e.g. SIMULINK/SCILAB diagrams, simulation results) and a discussion of the results. Additional investigations, results and analysis are encouraged. Each of the main parts has equal marks.