Experiment 1 : Design and implementation of

liquid level control system

Procedure
1. In this experiment i.e., design and implementation of liquid level control
system a simple closed loop temperature control system was used.

2. The system consisted of overhead tank whose liquid level was

controlled by controlling the liquid flowing from the sump tank at the
bottom. The level inside the overhead tank was measured using ultrasonic
non-contact type liquid level sensor.

3. At first the system was run in manual mode from 14:47 to 15:29 hrs to
obtain the open loop transfer function of the system from the readings.

4. The system may or may not reach to steady state or may reach to
steady state after certain time. So we have to cut the curve at some point
then with the help of Matlab we can get the estimation of open loop
process transfer function.

5. Then the system was run in auto mode to make it a close loop system.
In close loop system in the feedback control system, the measured liquid
level of the sump tank was sent to the controller which was compared
with the set point which was given as 200.

6. The generated errors signal then goes to PID controller and an output is
generated by the PID controller on the basis of error signal and given P, I,
and D values, which then goes to the final control element. P, I, D values
for first experiment was 10, 0, 0 & for second was 10, 10, 2. The change in
behaviour can be seen from the graph. Thus liquid level value from

ultrasonic level sensor is given to PID block. The block also gets set point
value from SCADA.

7. In close loop it was seen that the system reached to a set point
pressure much faster than open loop.
Open loop characteristics response:

Calculation
open loop
transfer
function of

of the
the Tank
Given

data
h1=20.8
h2=20.6

=0.2
From

formula

r 2 (h)
Cd a 2 g h
t

2
d
4
t=29sec

a=

g=981 cm/sec2

d= 1.27cm
h0=70

Cd a 2 gho
Qo=
Calculating:

cd=0.389

1
As
Transfer function:

T(S)=

Qo
2ho

 2
D
4
A=

Calculating :

D=42.5cm

Open loop transfer function G(S) =

140
1986 105 s 182.6

Bode, Nyquist and Root locus plot of the open loop transfer function

Open loop simulation diagram for level control system

Plot of open loop transfer function for 3 different set points a)50

b)70

c)100

Calculation of closed loop transfer function:

Experimental value

Kp=10

Ki=1

1
s
So PID Transfer function PID(S)= (10+

Taking Feedback Gian H(S)=1

Closed loop transfer function T(S)=

1400s 140
1.986 105 s 2 1582.6s 140

closed loop simulation diagram for level control system

Closed loop transfer function with different values of P, I

plot for Kp=10, Ki=0

plot for Kp=10, Ki=1

Experiment 2: Design and implementation

of liquid flow control system
Procedure:
1. The delivery pump delivers water from the delivery tank and the water goes to
the flow transmitter through a pipe
2. The transmitter delivers water to the control valve and also sends a signal to
the controller where the measured value is compared to the s et value.
3. The set value and measured value is compared with the help of applied PID
values. The controller sends signal to the control valve where the flow rate of
water is finally controlled by the final control element and we get desired flow
rate of the fluid.

4. The control valve works here by the action of the controller which is a function
of the PID values and the final control element. After the water goes to the return
tank the pump again delivers it to the delivery tank. This way the fluid circulates
accordingly to our set point and the PID values.

For Set point-12

12.5
12
11.5
11
10.5
10
9.5
9

Time to
peak= 20 sec; Settling time=68 sec ; response time=0.632*68=42.976 sec

for set point-8

Time to peak= 20 sec; Settling time=134 sec ; response
time=0.632*134=84.688 sec

9.5
9
8.5
8
7.5
7

for set point=10

18
16
14
12
10
8
6
4
2
0
-2

Time to peak= 44 sec; Settling time=350 sec ; response time=0.632*350=221.2

sec

Calculation of Transfer Function:

n 1 2
Peak Time (tp ) =

(1)

4
n
Settling Time (ts) =
From given graph

(2)
Tp = 44sec Ts=350sec

Solving equation (1) & (2)

=.158 and

n
=.072 rad/sec
As we know overall close loop transfer function

n 2
s 2 2 n n 2
T(S) =

T(S) =

after putting the value of

and

we get

5.23 10 3
s 2 22.75 10 3 s 5.23 10 3

Here proportional controller value P=1

As we know if closed loop transfer function is given then open loop transfer
function determined by relation as

G S

1 G S H (S )
Closed loop T(S) =

H(S) = 1

G(S) =

5.23 103
s 22.75 103

Root locus, nyquist and Bode plot of the open loop transfer function

Root locus, nyquist and Bode plot of the closed loop transfer function