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Center
Universiti Teknologi MARA
40450 Shah Alam. Malaysia
anuar@salam.uitm..edu.my
..-.
. .
..
MI,
W,
INTRODUCTION
P
However, to implement the control algorithm into
online computer control, Eq. (1) can be discretized
into.
D
PV, - 2PV,-1 +PV,-, )
At
-(
+A
...
..
(3)
=MVl-,
19
2.
Mode
P, %
103 Td RR
PI
111.1Td RR
PID
I, time
D,time
3.33Td
83.3 Td RR
2Td
0.25 Td
3. APPLICATION OF NUMERICAL
TECHNIQUE
PV, %
.
I
.
_
MV, 90
MV,, %
0
11
.
Time, t
1.
11
Fa=
(4)
RR=
20
PV] -PV-,
2AIM.N
m
Figure 4: A tangent line is dram lo the steepest p i n t of the
step respanse e.
. (7)
Parmeten
Conventional
method
Numerical
method
RR, lis
0.2368
0.2044
Td, E
1.8
1.9
P, %
41.4
42.2
I,
6.0
6.2
Td = t,
2A.t
Py
-oldrr
Pv,-PV_,
._.._...
(8)
21
Bibliography
5. CONCLUSION
D.W. St. Clair & P.S. Fruehauf, PID Tuning: Its the
Method not the Rules, Intech, December 1994, pp.
26-30
Appendix
Discrete Step Response Data of Flow Loop
and Result of the Numerical Analysis
Step input: AMV = 18.1%
6. REFERENCES
Time.s
0
1
2
3
4
5
6
7
9
10
11
12
13
14
15
16
17
18
19
20
21
22
PV.%
57.2
57.2
57.7
61.8
65.1
67.8
69.6
71.1
72.5
73.2
73.9
74.5
74.9
75.1
75.3
75.6
75.7
75.8
76.1
76
76.1
76.2
76.2
max R R >
22
RR,l/s
Td,s
PE.%
1.5
0.0138
0.1271
0.2044
0.1657
0.1243
0.0912
0.0801
0.0580
0.0387
0.0359
0.0276
0.0166
0.0110
0.0138
0.0110
0.0055
0.0110
0.0055
0.0
1.0
1 .9
1.5
0.5
42.4
6.2
0.0000
0.0055
0.0028
0.2044