Lab 5

1.
TITLE
PROPORTIONAL CONROL
2.0
OBJECTIVES
In this experiment, students will accomplish the following:
1. Describe the action of proportional control algorithm.
2. Define offset
3. Describe the system using Laplace transformations
4. Run the system with proportional controller.
3.0
SKILLS
In this experiment, students will develop the following skills:
1. Technology: apply technology
2. System: understand system
3. Resources: manage time, manage materials, and facilities
4. Interpersonal: work as a member of a team
5. Personal: responsibility, self-esteem, and self-management
4.0
EQUIPMENT
In this experiment, students need the following materials:
1. Process Line panel for Lever Control
2. PC computer with Process Motion Software
5.0
DATA SHEET
Task 3: Using Proportional Control

Column
Column
Column
1
2
3
Initial
Reference Percentage
reference
value
of step
value
(after step
(e=0)
input)
105
Same
0%
105
137
+30%
105
147
+40%
105
158
+50%
105
84
-20%
105
74
-30%
105
63
-40%
Task 4: Vary the Kc Value
Column
6
Total
response
time
0
2
3
3
1
1
2
24
31
32
27
14
8
13
0
48
55
56
25
21
2
Column
7
Error/
reference
value
(%)
0
1.46
2.04
1.90
1.19
1.35
3.17
Column
1
Column
2
Column
3
Column
4
Column
5
Column
6
Column
7
105
137
+30%
-1
70
0.95
105
137
+30%
58
103
0.95
When Kc = 1, initial reference value = 105

Column
1
6.0
Column
5
Controller
output
When Kc = 100, initial reference value = 105
A
Open
B
Close
A
Open
B
Open
Column
4
Error
A
105
Open
B
Close
A
105
Open
B
Open
CALCULATIONS
Column
2
Column
3
Column
4
Column
5
Column
6
Column
7
137
+30%
48
47
120
45.71
137
+30%
64
63
134
60.95
Note : Data at column1 to column 6 can get straight from the table.
Column 7;
C
Error
4
referencet ime
C2
At +30%,
C
4 =
C2
2
137 =
1.46
At +40%,
At -20%,
C
4 =
C2
At -30%,
C
4 =
C2
At -40%,
C4
3
=
=
C 2 147
2.04
At +50%,
1.90
C
4 =
C2
3
158 =
1
84 = 1.19
1
74 = 1.35
C4
2
=
= 3.17
C2
63
7.0
OBSERVATION
In running this experiment, we get to know on how this control system works by using
the proportional control algorithm. This experiment is to monitoring the resulting system
response in time constant and error. It also vary the controller gain to test the result system
response whether there are in both dynamic and static system.
In this experiment, it is good to check whether all the materials that are required are
available and are well function before the experiments are running. This is importance to
make sure that the experiment that we done will be given an accurate result. Moreover during
the experiment, we have to make sure that the water level has to be drain to its minimum
level. This is importance because if the water level is not properly drained the system or the
process line software from the computer will not be run in a proper order. Moreover make
sure that all the panel is connected to the COM port properly so that there will be no
troubleshooting during the experiment.
Besides that before getting the data, we have to make sure that the system is in steady
state. This is importance to know that whether there is an offset. For the first experiment
where the set point is 110, Kc is 5, T1 is100000, T D and Mo are 0, there is no offset point
appear in the graph while for the other experiment where the parameters are increase there is
an offset point.
Furthermore from this experiment, we can see that the system will maintain the water
level in the tank by referring to the input that has being set. There is also a sensor to
acknowledge the system. If the water level in the tank is decrease, the pump will start
running and it will fill the tank to the level that is needed.
8.0
DISCUSSION
Task 3: Using Proportional Control

1. Desribe the system output response.
There have no offset in task 1 because the error is 0.
2. When is the offset percentage highest? Lowest?
The system output is 135mm and there have an offset error. The error is 2.And it take
55s to reach steady state condition. The error reference value is 1.45 and controller
output is 24. The higher percentage of offset error in when the percentage step
increase to 40% and 50%.The lowest offset error is when the percentage of step
decrease to 40%.
3. What is the cause of offset?
The cause of this offset is there are difficult to find the steady state of system because
it cant properly achieve the steady state condition. The lever sensor also will cause
the error because the sensors inability to measure itself leads to a very significant
different between the actual system output and the reference output.
Task 4: Vary the Kc Value

1. Describe the general system response, the response time and the percentage of offset
when Kc is 100 and reference value is 137.8 with valve A close meanwhile valve B open.
The system takes 51s to reach a steady-state condition and the error is -2.and the error
percentage is 1.45%.If we compare when the Kc is set to 10 it will take more time to
reach steady state and the error is same is 2. (The value in role 2 in table).
when Kc is 100 and reference value is 137.8 with valve A open meanwhile valve B close.
The system takes 73s to reach the steady state condition. And there have no error in
this system.
3. Describe the general system response when Kc is 100 and reference value is 137.8 with
both valve A and B open.
When the valve A and Valve B is open so the system will take more time to reach the
steady state condition .This is because when the valve is open the water will flow out
through the valve and the pump will continue working and force the water into the
tank until the water level same as a input level water.
when Kc is 1 and reference value is 137.8 with valve A close meanwhile valve B open.
When we change the Kc value to 1 ,so there are a big error in this system because the
system cant achieve the steady state because the value of Kc is to small so the pump
cant work as effective so the output value difficult to control by the pump.
8.0
CONCLUSION
From the analysis of the proportional control system, it can be concluded as follows,
i)
When a proportional control algorithm is used to control a first order system,

the entire system act also like a first order system as demonstrated in Eqn 1.3.
ii)
The entire system gain is
iii)
The system gain is always smaller than 1. thus for a step input, the system will
always display an offset error where the actual output is slightly less than the
reference value.
iv)
Increasing Kc (the controller gain) increases the system gain and decrease the
offset error.
v)
The system time constant is system
vi)
Increasing the controller gain, Kc decreases the systems time constant and the
system response time.
Kc * K p * K
htan k
href
Kc * K p * K 1
tan k
. The value of the
Kc * Kv * K 1
systems time constant, system is smaller than the tank time constant.
As a conclusion, this experiment was successful related to the experiments objective

which was to describe the action of the proportional control algorithm, define offset, n
describe the system using Laplace transformations.
APPENDIX
Task 1 (valve A close, valve B open)
Task 2 (valve A close, valve B open)
Task 3 (valve A open, valve B close)
Task 4 (valve A open, valve B close)

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1.

Task 3: Using Proportional Control

When Kc = 1, initial reference value = 105

When Kc = 100, initial reference value = 105

Task 3: Using Proportional Control

There have no offset in task 1 because the error is 0.

2. When is the offset percentage highest? Lowest?

3. What is the cause of offset?

Task 4: Vary the Kc Value

When a proportional control algorithm is used to control a first order system,

The entire system gain is

The system time constant is system

As a conclusion, this experiment was successful related to the experiments objective

Task 2 (valve A close, valve B open)

Task 3 (valve A open, valve B close)

Task 4 (valve A open, valve B close)

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