اخررررر تعديل
اخررررر تعديل
اخررررر تعديل
Abstract
1- Introduction
This work is based on a PID control of the level of the water in a tank. The user has
the power to choose a certain level of water and the system has to be capable of
adjusting itself in order to maintain that certain level. To that, a LabView program
was built, this program gives the user the possibility to choose the level of the water,
and by constant recalculations(Fig.1), involving the error generated by the input
value and the output value, the output value is adjusted in order to be closer to the
desired level.
Fig. 1 - PID Loop Control
To do that is necessary to constantly read the input value that in this case is the
current level of the water, and for that the system has the NI USB-6008 acquisition
board (Fig.2), that enables several inputs and two outputs of 5V. This system has two
inputs and one output, the inputs are the two readings of the level of water in the
tanks, the upper and the lower tank and the single output is the voltage that the
pump needs to receive in order to start working.
2- Theory
Plant – The physical parts of the system that is supposed to be controlled;
Feedback – from the devices that measure the variable we want to control;
SetPoint – This is a value, which is converted to a voltage that the process drives
towards;
Error Signal – Error = SetPoint – Measured;
Disturbances – A disturbance is all of the things that can drive a system to error, not
considering the error talked above. A disturbance in the system that is talked after is for
example, interference on the electrical system.
Controller – The controller can be considerate the most important part of this system.
It will read the SetPoint, process the error, and give the output to the Plant. It‟s very
important that the system works correctly, and for that there are several methods of
tuning the constant talked above. Those methods are being explained ahead.
2.2.1 Proportional term
The proportional term is given by:
The higher the error the higher the proportional control which is clearly seen in the
equation. That conclusion leads us to another one that is that: the proportional
control leads the system to a fast SetPoint. But it has a disadvantage, it has steady-
state error, and that error can lead to an overshoot when the system gets to the
SetPoint. One way to avoid it is to increase the proportional term, but that can led to
an unstable system.
The most important benefit is that this term eliminates the steady-state error, but it
has a disadvantage which is the fact that the stability of the system is affected to.
Regarding the upper equation we can conclude that this integral term depends on
pass values of the error.
This term makes an estimation of the future error and by that it can increase or
decrease the speed of correction, because it can work in an early way when there
are detected any changes on the error. This term is very sensitive to disturbances.
If the derivative term only changes with the rate of change of the error, if the error
do not change then we don’t have derivative influence.
3- SYSTEM MODEL
The proposed system comprises a DC motor water pump that pumps water to the
container, the PID controller and a water tank or any other storage system.
Consider the diagram in Fig. 1 where the motor pumps water to the container at a
rate of qin [m3/s] through an inlet pipe, the container with cross-sectional area
A[in m2], is filled to water level, h and water is leaving the container at a rate of qo
[m3/s] through an outlet pipe. Using the balance of the flows into and out of the
tank, the height, h is related to qin and qo as :
The out flow from the tank and the height can also be related assuming linear
resistance to flow for simplicity of analysis and it is given as:
This paper presents a PID controlled water pump system in order to maintain a
desired water level in a storage tank that is used in private, chemical, industrial or
other related applications. The speed of the motor and hence the rate of water flow
into the tank is controlled by adjusting the parameters of the PID controller. A step
reference water level is set and the step response of the overall system is
investigated in MATLAB environment in order to minimize the overshoot, improve
the settling time (improved transient response) and the steady state error of the
system. Various forms of the controller, P, PI, PD, and PID are studied and the PID
controller achieves super performance. It is shown that suitable values for Kp, Ki, Kd
parameters can be found for the PID controller by tuning to maintain the desired
water level for the target design specifications. The system is essential in those
places where maintaining water or any other liquid level is critical for achieving the
required productivity. Such controllers are powerful in controlling any similar
processes that essentially require close monitoring (tight control) of the process
variables or parameters that have significant impact on quality and amount of
production.
References