3.

RESULTS AND DISCUSSION

3.1. Manual Control

In this section, the flow and and level control is done manually by means of computer. This operation takes long time to fix the desired value because the manual response to the change of flow and level is slow and hard. The offset is too big as expected because of the manual intervention. 3.2 On-Off Control

The responses of the system is recorded to a table and then some parameters are arranged and there are several graphs are drawn. According to the Figure 3.1 and Figure 3.2 which are explained in the next section are used to tabulate Table 3.1 Table 3.1 Calculated values for On-Off control system with different variables
Level Flow Overshoot 4,5 0,23 Undershoot Decay ratio 5,9 0,99 0,14 0,98 Rise time (min) 0,33 0,25 Time of ossilation (min) 0,66 0,33

According to the Table 3.1, the level and flow control are studied to understand some parameters such as overshoot, undershoot, decay ratio, rise time and time of oscilattion. This data is collected from Figure 3.1 and Figure 3.2.
106 104 Water level (mm) 102 100 98 96 94 92 0 20 40 60 80 time (s) 100 120 140 160

Figure 3.1 Water level (mm) versus time (s) graph for On-Off control

In Figure 3.1, the set point of the water level is fixed to the 100 mm water. However, the water level changes by time. The values which are close to the set point show the oscillation on the graph. The parameters which are about the vater level is obtained from Figure 3.1 and tabulated in Table 3.1
1.4 Water flow rate (L/min) 1.2 1 0.8 0.6 0.4 0.2 0 0 20 40 60 time (s) 80 100 120

Figure 3.2 Water flow rate (L/min) versus time (s) graph for On-Off control In Figure 3.2, the same parameter with Figure 3.1 are determined and tabulated in Table 3.1. The overshoot and undershoot are evaluated from the top and bottom of the graph respectively. Decay ratio is calculated by using two adjacent peaks. The rise time is obtained from the time to reach to the top from the lower point. The time of oscillation is determined by means of peak which is seen abviously in the Figure 3.2 3.2. Proportional Control (P Control) In Figure 3.4, there are there are five graphs are drawn for different Kc values. The graphs are obtained for 1 L/min of water.
1.5 Water flow rate (L/min) 1 1.5 1 0.5 0 0 -0.5 50 time (s) 100

0.5 0 0 20 time (s) 40

Kc=5
60

Water flow rate (L/min)

Kc=6

-0.5

(a)

(b)

Water flow rate (L/min)

1 0.5 0 0 -0.5 20 40 60

Water flow rate (L/min)

1.5

1.5 1 0.5 0 0 20 40 60 time (s)

Kc=7

Kc=8

time (s)

(c)
1.4 1.2 1 0.8 0.6 0.4 0.2 0 0 20 40 time (s)

(d)

Water flow rate (L/min)

Kc=20
60 80

(e)

Figure 3.4 Water flow rate ( L/min) versus time (s) for different Kc values According to the Figure 3.4, there are 5 different Kc values are studied to find the optimum gain value, so the Kc values is determined 8 as the best. When the Kc values are changed by means of computer control the response are different from each other. When the K c values is equal to 5 or 20, the flow rate cannot fix to the set point. The offset is to high at high Kc values such as 20. The optimum Kc values are obtained by trying different values of gain. In Table 3.2, the comparision of offset and rise time values could be investigate for different Kc values.

Table 3.2 Kc , Rise time and Offset values.

Kc 5 6 7 8 20 Rise time (min) 0,17 0,67 0,25 0,08 0,08 Offset 0,07 0,02 0,02 0,04 0,10

In Table 3.2, the rise time and offset values are tabulated for differetnt Kc values. In Figure 3.5 the comparision of P controllers for different gains are drawn.
1.6 1.4 Water flow rate (L/min) 1.2 1 0.8 0.6 0.4 0.2 0 -0.2 0 20 40 time (s) 60 80 Kc=5 Kc=6 Kc=7 Kc=8 Kc=20

Figure 3.5 Comparison of P controllers with different gains Figure 3.5 shows the response for different gain values, so the optimum gain value could be determined as 8 because this Kc values provide to reach the set point earlier than the others. 3.4. Proportional Integral Control (PI control)

In this section, the flow rate is controlled by means of PI control. The Kc is fixed at 4,54 and the effect of integral time is investigated. Integral time is fixed at three different values and the system is studied. In Figure 3.6 , the effect of integral time is drawn.

1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 0 50

1.2 Water flow rate (L/min) 1 0.8 0.6 0.4 0.2 0 -0.2 0 50 100 time (s) 150

Water flow rate (L/min)

I=0,2

I=0,0625

100 time (s)

150

(a)

(b)

Figure 3.6 Water flow rate ( L/min) versus time (s) for different I values According to the Figure 3.6, Table 3.3 is arranged to show offset, rise time, overshoot,,decay ratio and time of oscillation. Table 3.3 Effect of different I values on PI control Kc 4,54 4,54 I 0,0625 0,2 Offset 0,03 0,04 Rise Time (min) 0,08 0,25 Overshoot Undershoot Decay Ratio 1,41 0,06 0,24 0,14 0,37 Time of oscillation (min) 0,16 0,67

In Table 3.3, there are several parameters are shown. Mainly, the effect of integral time is examined in this part. From this table, the optimum time constant value is determined.
1.6 1.4 Water flow rate (L/min) 1.2 1 0.8 0.6 0.4 0.2 0 -0.2 0 20 40 60 time (s) 80 100 120 Ti =0,2 Ti=0,0625

Figure 3.6 Comparison of PI controllers with different integral time constant

In Figure 3.6, the effect of integral time constants for PI controllers are shown. Actually there is another value was used but the data didnt record. Therefore its effect could not be seen in this graph. When the Ti value is small the oscillation is occured. However, this value is increased, the oscillation is decreased. 3.5. Proportional Integral Derivative Control (PID Control)

In Figure 3.8, the relation between water flow rate and time is shown.
1.6 1.4 Water flow rate (L/min) 1.2 1 0.8 0.6 0.4 0.2 0 0 20 40 time (s) 60 80 100

Figure 3.8 Water flow rate (L/min) versus time (s) graph for PID control In PID control, I and D are fixed at 0,0375 and 0,0094 respectively and the measurement is done for this parameter. According to this parameter, the offset,overshoot, decay ratio and time of oscillation are determined.Figure 3.8 shows the parameters. The oscillation occurs and then decreases wit time. Therefore, the oscillation ends and the value reachs almost the set point of 1 L/min. Table 3.4 PID controller constants I 0,0375 D 0,0094 Rise Time (min) 0,083 Offset 0,05 Overshoot Undershoot Decay ratio 0,35 0,31 0,46 Time of oscillation (min) 0,17

In Table 3.4, the constants and other parameters are tabulated for PID controller.

3.6 Comparison of P, PI and PID Control

1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 0 -0.2 20 40 60 80 100 120 P Control PID Control PI Control

Figure 3.9 Flow rate (L/min) versus time graph for P,PI and PID control In Table 3.9, the comparison of P,PI and PID control is done and the oscillations are investigated.