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The document summarizes a physical model of an air pressure system controlled by a PID controller. It describes the relationships between pressure, volume, mass, and temperature in the tank according to the ideal gas law. The model simplifies these relationships and describes the mass flow into and out of the tank to show how changes in inflow and outflow affect the pressure over time. It also illustrates the relationship between outflow and pressure.

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29 views3 pages

Untitled Extract Pages5

The document summarizes a physical model of an air pressure system controlled by a PID controller. It describes the relationships between pressure, volume, mass, and temperature in the tank according to the ideal gas law. The model simplifies these relationships and describes the mass flow into and out of the tank to show how changes in inflow and outflow affect the pressure over time. It also illustrates the relationship between outflow and pressure.

Uploaded by

ms
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Figure 2.5. The system with the PID parameters chosen by Ziegler-Nichols method.

2.2.2.2 Physical model of the process

This subsection will describe a simple physical model of the system. The purpose of this
subsection is to present how the system behaves; how different parameters are related
and how adjustment of one parameter will affect the others. As normal when describing
physical processes by equations many simplifications are made. Partly because it is not
possible to find all relations and partly because the purpose of creating a model is to get
a good overview of the system. Creating a model is a balance between how well the
model should resemble the real process and the complexity of the model.

As mentioned the purpose of the model is not to be able to on the basis of it calculate
values. Therefore, the model is made as simple as possible to show the behaviour of the
process.

The pressure in the tank depends on the inflow of air. The inflow is controlled by a
controller, and will therefore vary with time.

According to the ideal gas law, pressure can be described as a function of volume,
number of moles and temperature

pV = nRT . (2.4)

where p is the pressure


V is the volume of the tank
n is the number of moles in the tank
R is the universal gas constant
T is the temperature

We start by looking at the tank without considering the outflow through the needle valve.

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The relations that are described by the ideal gas law, can in this case can be simplified
even further. It may be ignored that the temperature will change as the pressure
increases. This change in temperature is very small and will not affect the pressure
significantly.

With the basic chemistry knowledge that n=m/M, where m is the mass and M is the
molar mass, the ideal gas law can instead be expressed so that the pressure is a
fucntion of the mass

RT
p= m. (2.5)
MV

R, M and V are all three constants and with the simplification that T too is a constant,
the relation between p and m is linear.

Let
RT
K= . (2.6)
MV

Then
P = Km . (2.7)

The inflow is as already mentioned controlled by a mass flow controller. This means that
m varies over time and it is therefore more convenient to look at the derivatives

dP dm
=K . (2.8)
dt dt

The flow into the tank can be described as how much mass that flows into the tank over
time. This can be described as
dm
φ1 (t ) = (2.9)
dt

where φ 1(t) is the mass flow into the tank.

Hence, the relation between the pressure and the mass flow is

dP
= K φ1 (t ) . (2.10)
dt

Until now the small outflow from the tank has been disneglected from. However, this flow
is considered big enough to be taken into account. When the pressure in the tank is very
low the outflow will also be very low and it will increase as the pressure increases, but
only until it reaches a certain point, see figure 2.6

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P0 P
Figure 2.6. Illustration of the relation between the outflow and the pressure in the tank

In reality the outflow φ 2 is very small. It is much smaller than the maximum inflow to the
pressure tank and the pressure does not have to be high for the outflow to reach its
highest value. Therefore, a natural simplification is to say that the outflow is constant

φ 2 (t ) = φ 2 . (2.11)

It may also be assumed that the pressure is dependent on the outflow as derived from
the ideal gas law. If there is pressurized air in the tank and the inflow is closed, the
relation between the pressure and the outflow would be

dP
= − Kφ2 . (2.12)
dt

This sums up that the change in pressure depends on the inflow and outflow as

dp
= K (φ1 − φ 2 ) . (2.13)
dt

2.3 Description of the control software

The control software consists of control modules that contain the control algorithm. In
Section 1.1.2 it was described how control algorithms are created in DeltaV. This section
will instead focus on the control modules that have been created for controlling the
process.

The control modules are organized so that there is one module for each input or output
signal. This means that there is one module that contains only an input for temperature
and similar for all other parameters. When using one parameter for control another
control module makes a reference to the original control modules. There is only one
Sequential Function Chart (SFC). The SFC refers to all other control modules.

For the control of the process, the following modules have been created:

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