DISCUSSION

This project was tittle controllability of level control using various tuning rule .
The objective of this project is to compare the value of the level control calculation by
using 2 methods which is:
1. Tuning Rules by Ziegler Nichols
2. Tuning Rules by Cohen Coon
In this project our group use equipment FIC 21 to control the flow. From these 2
methods, our group need to calculate the value of dead time (
tc

td

, time control (

), response rate (RR), proportional + integral + derivative (PID) and also

Then, based on the result our group will compare Pb, I and

Kc

Kc

value that has

been calculated. The purpose of PID mode is to fast process response and noisy
processes like flow, pressure and liquid level control.
This project is start with open loop test. First, the manipulated variable (MV) is at
30% at level 2.1mm. Then, we set the controller to manual mode and increase the
MV by 5%. Ensure that the level is not exceeding 600 mm when the controller is set
to auto back. After that, the value of response rate (RR), dead time (T d), time control
(

tc

) is calculated from the graph we obtained. The value of RR is 0.357 s -1 ,Td is

1.23 s, and

tc

is 3.44s.

After that, we proceed to next step which is set point test by using the 2 methods
of tuning rules. For this set point test, we calculate using 2 difference modes which is
PI and PID. These 2 modes consist of different type of calculations as shown in table
1.5. After that we wait until the graph become stable then repeat the same step for
load disturbance test. There will be 4 different graphs because of using 4 different
calculations.

The first method is using Tuning Rules by Ziegler - Nichols. The value of PB, K C
and I for mode PI are 48.785%, 2.05 and 4.096 s whereas for mode PID the value of
PB, KC , D and I for mode PI are 36.578%, 2.734, 0.615 and 2.46 s. The 2 nd method
is using Tuning Rules by Cohen Coon. The value of PB, K C and I for mode PI are
42.527%, 2.351 and 2.366 s whereas for mode PID the value of PB, K C , D and I for
mode PI are 30.35%, 3.295, 0.425 and 2.713 s.
The difference between 2 method that has been used, it shows that the
performance test (load disturbance test) for mode PI are more constantly oscillatory
than performance test that were conducted in mode PID which it fluctuate oscillatory.
It shows that the MV graph cannot reach its stable set point due to value of K C and I
that not exact value for both methods. Besides that, set point test that we conducted,
we obtained a good positive off-set in both modes for both methods.
In order to stabilize the graph, we need to increase the value PB and I and also
decrease the value of KC. When the value of PB increasing, the controller action
become slower which in turn slows down the process response and shift the graph to
the right. An increasing I value, the controller action will also become slower and
lower the peak of the graph. The value of K C should be decrease because
decreasing the KC value will increase the PB value. PB value is inversely proportional
to KC value.

Appendix
Tuning Rules by Ziegler Nichols
Mode

100RR Td

PI

111.1RR Td

3.33 Td

PID

83.3RR Td

2 Td

0.5 Td

Tuning Rules by Cohen Coon

Mode

100
1+ /3 RR Td

PI

100
1+ /11 RR Td

100
1.35 (1+ /5) RR

PID

Td
Where

Td/ Tc

1+ /11

3.33 [ 1+11 /5
Td
1+ /5
[
]
2.5 1+3 /5 Td

0.37
1+ /5 Td