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International Journal of Computer Science and Electronics Engineering (IJCSEE) Volume 2, Issue 2 (2014) ISSN 23204028 (Online)
Where 2 =
V2
is the time constant for the second tank.
F + KV 2
C A2 (s)
K P2
=
C A1 ( s ) ( 2 s + 1)
Where K P 2 =
CA1(s)
TANK 1
CA2(s)
TANK 2
V1
dC A1
= FC A0 FC A1 V1 KC A1
dt
K =
(1)
V
F + KV
C A2 ( s)
K P2
=
C A0 ( s ) ( 2 s + 1) 2
0.0066
G (s) = 2
s + 0.2424 s + 0.0147
G (s) =
Where 1 =
(2)
CAO(s)
Where K P1 =
(8)
G ( s) =
0.0066
s + 0.2424 s + 0.0147
CA2(s)
(3)
F
is the gain of the transfer function of
F + KV1
the first tank. The transfer function of the second tank can be
derived
dC A 2
(4)
= FC A1 FC A 2 V 2 KC A 2
dt
Where V2 and C A 2 are the volume and the inlet concentration
V2
dC A 2 1
F
+ C A2 =
C A2
dt
V2
2
(7)
V1
is the time constant of the first tank.
F + KV1
C A1 ( s )
K P1
=
C A0 ( s ) ( 1 s + 1)
= 8.25 min
F
= 0.669
F + KV
dC A1 1
F
+ C A1 = C A0
dt
V1
1
F
is the gain of the transfer function of
F + KV 2
the second tank. The transfer function of the whole system can
be obtained according to the following assumptions of
parameters.
1- The flow rate is constant for the whole system
F = 0.085m 3 / min .
2- The volume of the two thanks is the same
V1 = V 2 = V = 1.05m 3 .
CAO(s)
(6)
(5)
131
International Journal of Computer Science and Electronics Engineering (IJCSEE) Volume 2, Issue 2 (2014) ISSN 23204028 (Online)
has high error compared with the desired value .So the
controller is needed to eliminate this error.
TABLE I
PERFORMANCE SPECIFICATION OF STEP RESPONSE FOR THE SYSTEM
WITHOUT CONTROLLER
S-S Error
0.691
Rise time
20 sec
Settling time
28
Over shoot
0%
(9)
Y( t )
0.3
output signal
final value
concentration (C
A2
0.25
Time (sec)
0.2
0.1
0.05
10
20
30
40
60
50
time (sec)
70
80
90
100
TABLE II
CONTROLLER PARAMETERS TUNING USING TRANSIENT RESPONSE
TI
TD
Type
KP
1/RL
PI
0.9/RL
3L
International Journal of Computer Science and Electronics Engineering (IJCSEE) Volume 2, Issue 2 (2014) ISSN 23204028 (Online)
TABLE III
PERFORMANCE COMPARISONS BETWEEN PI AND PI FUZZY CONTROLLER
Type of controller
Characteristics
PI
Fuzzy PI
8.59 sec
23.5 sec
Overshoot (OS %)
19 %
0%
45.35 sec
42.13 sec
133
International Journal of Computer Science and Electronics Engineering (IJCSEE) Volume 2, Issue 2 (2014) ISSN 23204028 (Online)
IV. CONCLUSION
1.2
Concentration (C
A2
0.8
0.6
0.4
0.2
10
20
30
40
50
60
Time (sec)
70
80
90
100
1.2
REFERENCES
[1]
Concentration (C
A2
0.8
[2]
0.6
[3]
0.4
[4]
0.2
10
20
30
40
50
60
Time (sec)
70
80
90
[5]
100
[6]
[7]
1.2
[8]
[9]
Concentration (C
A2
0.8
[10]
[11]
0.6
[12]
0.4
[13]
0.2
10
20
30
40
50
60
Time (sec)
70
80
90
[14]
100
134