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8.
4. Manually regulate P51 by adjusting the MV from controller pHIC51 to bring the
pH back to around 7.
5. Record the result of the experiment in the recorder chart (see Red pen) as shown
in the Result section, RESULT A: pH Manual Control.
Procedure 2 : pH PID control
1. The pH controller pHIC51 is still in manual (M) mode. Refer to RESULT B and
set the following PID trial values accordingly in the controller i.e.
PB1
: 20%
TI1
: 25 secs
TD1
: 6 secs
For a linear PID controller, GW1 = 0% and GG1 = 1.0
2. Let the pH drops to about 4.0 with the acid pump PS2 ON but the alkali pump PS1
switched OFF. PS3A, PS3B, PS4B must remain ON throughout the experiment.
3. When the pH is just below 4, start the alkali pump P51 and switch the controller
pHIC51 to auto (A) mode set point SV = 7 pH. Note that all 5 pumps are ON now
and the recorder chart drive is running. Watch the PID control response for at least
3 peaks or until it is almost steady at this set point SV = 7 to within 0.10. The
pH chart response is to be submitted with RESULT B.
Procedure 3 : pH control using only Proportional (P) mode
1. Make sure controller pHIC51 is in auto (A) mode throughout the procedure.
Pumps P51, P52, P53A, P53B and P54 are all ON.
2. Repeat Procedure 2 with only proportional control (P), starting with a process pH
of about 7 and PB1 = 20%, TI1 = 9999 secs, TD1 = 0 secs, GW1 = 0%, CG1 =
1.0
The pH set point SV should always be at 7. Make sure the recorder chart is
running to record the result in the form of the recorder chart response as shown in
RESULT C. Mark this chart record as RESULT C.
3. Pulse the acid flow by stopping and starting the acid pump PS2 from the panel as
follows:
a) Stop pumps P52 for 30 secs.
b) Restart pump P52. It is known as the acid pulse disturbance test. Observe the
pH response (red pen) at the recorder chart, for any oscillation.
c) If the pH becomes almost steady at set point (pH 7) to within 0.10 pH, note
any offset, which is steady state error or deviation of the pH from its set point
(pH 7).
d) Manually bring the pH back to 6.5 to 7.5 with the controller pHIC51 in
manual (M) mode.
e) If the response is oscillatory, note the amplitude of the successive peaks or
valleys.
f) The above procedures will be extended next to "PID closed loop tuning"
immediately after this. Please continue at procedure (b).
Procedure 4 : pH PID Closed LOOD Tuning
1. Continue from the previous Procedure 3 only proportional (P) control. Adjust the
PB% (try 5%) to get almost uniform oscillation with slight damping. Use the same
acid pulse disturbance test to initiate oscillation. pHIC51 must remain in auto (A)
mode throughout.
a) If the next amplitude is smaller, reduce PB%
Tn *
Tn *
secs, TDsecs
secs
2
8
Notes:
Always press manual (M) mode before setting the new parameters in PID
controller.
Stop or mark at the chart before start the next experiment
PB1* = Proportional Band, TI1* = Time Integral, TD1* = Time Derivative, '
Tn* = Oscillation Time
THEORY
A controller compares a measured value from a process with a set point. The
difference between the values is called error and signals are being sent to system in
order to bring the value back to the desired set point.
Generally, there are three basic types of controllers; proportional (P), proportionalintegral (PI) and proportional-integral-derivative (PID). Proportional controller is the
simplest controller among these three types and it does correction to the system based
on the error calculated. However, this type of controller gives rise to offset or a steady
state error. For a proportional-integral (PI) controller, an integral function is added to
P52
P51
Draw the steepest tangent against the slope of pH chart response (red trend) to
intersect the time-axis (the initial steady pH value). Use a ruler to emasure in mm, the
distance between the intersection and "mark" for the start of pump P52/P52.
Time taken
Chart distance in mm
3600 secs
x
Record chart speed, 500mm/Hr hr
hr
secs