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System and Control Experiment

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SEMM3941

System and control


Proportional and proportional integral control of a water level system

UNIVERSITI TEKNOLOGI MALAYSIA


JOHOR BAHRU

SEMM 3941

System and control

Proportional and proportional integral control of a water


level system

Prepared by: Received by:


Name: (Edited:Elfandy Bin Jamaluddin) Name: Dr.Nur Safwati Mohd Nor
Lab coordinator
system & control laburatory
Date:1.1.2023
Date:1.1.2023

Version : 01
Revision : 2020/2023
1
SEMM3941
System and control
Proportional and proportional integral control of a water level system

1.Title

Proportional and proportional integral control of a water level system

2.Objective

To evaluate the performance of porportional ( P ) and Porportional Integral ( PI ) controllers in


water level control.

3.Theory

In this experiment,an integral algorithm will be added to the porportional control algorithm in the
oder to eliminate the steady state error.An integral control algorithm takes in to consideration the
length of the time difference is present.The more sensitive the integral control,the shorter the
reaction period.The integral control works in conjuction with the proportional control, and can
detect small errors over time that a proportional control would negiect.

In general ,the combination of the proportional and integral control algorithm is called PI control
algorithm and it’s output m,in the time domain is defined as:

1 𝐾𝑐
m =Kc 𝑒 + 𝑇𝑖
∫ 𝑒𝑑𝑡 = 𝐾𝑐 𝑒 + ∫ 𝑒𝑑𝑡
𝑇𝑖

Where;

m:PI control algorithm output

Kc:Proportional control algorithm gain

e:Erro

Ti:Reset time ( measured in seconds )

The proportional + integral control algorithm output ( m ) is the sum of the proportional portion
𝐾𝑐
( Kc e ) and the portion ( ∫ 𝑒𝑑𝑡 ) of the algorithm .Assuming that the e is constant,the
𝑇𝑖
output from the proportional portion remains constant ( Kc e = constant ).However,as long as the
system is running ,the integral element of the algorithm I will increase at steady rate.A larger Ti
will reduce the effect of the integral action ,while a smaller Ti value will increase the effect of the
integral action.Figure 1 illustrates the block diagram for the water level control system in the
laplace domain .The laplace transform of the PI algorithm is given as:

2
SEMM3941
System and control
Proportional and proportional integral control of a water level system

1 𝑚 1
m = Kc e 1 + 𝑇𝑖
𝑠 or 𝑒
= 𝐾𝑐 1 +
𝑇𝑖
𝑠

QL
Tank
Pump
href e m Qm K h out
Controller Final control
𝜏𝑆 + 1
Eq.( 3 ) Element

( ꓗ ᵨᵤ )

Level sensor

( Km )

Fugure 1:Block diagram for the water level control

According to figure 1, the tank is modeled as a first oder system whose gain is K and the time
constant for the tank is 𝛕 .The pump gain is Kpu ,where the dynamic property of the pump is
ignored. Besides, it is also assumed in this experiment that the level sensor gain ,Km is set to unity
and thus it will not affect the overall gain in the tank.

Theoretically,at steady state ,the water level will be equal to the reference value ,meaning the
steady state error is eliminated by the integral action.When the water level control system is
controlled using a PI control algorithm,it acts like a second oder system where the system output
may include an overshoot.A large Ti acts to dampen the system response.In other words,when Ti
is larger the system will appear to behave more like a first oder system ,and when Ti is small,the
system will exhibit the properties of second oder system.

4.Equipment

Computer with procesMotion softwere,procesline panel,hardware and spreadsheet program


( optional )

5.Procedure

In a group ,discuss and determine the necessary steps required to achieve the objective.Display
the experiment results,either in a graph or in a tabular form,to support your findings regarding the
performence of P and PI controllers in water level control.

3
SEMM3941
System and control
Proportional and proportional integral control of a water level system

6.Discussion and conclusion

Analyze and provide a detailed discussion on the experiment results obtained.

7.Question

Q1:How does the Kc affect the system response?

Q2:How does the Kc affect the system steady state error?

Q3:What are the advantages and disadvantages of a large Kc parameters?

Q4:How does the TI affect the system response?

Q5:How does the TI affect the system steady state error?

Q6:How do proportional and integral algorithmact together?

Q7:How does the disturbance affect the steady state error?

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