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C) ZIEGLER-NICHOLLS METHOD :This technique also called Ultimate Cycling Method is based on
adjusting a closed loop until steady oscillations occur. Controller settings are then based on the
conditions that generate the cycling. This method is based on frequency response analysis.
Unlike the process reaction curve method which uses data from the open-loop response of a system,
the Ziegler-Nichols tuning technique is a closed-loop procedure. It goes through the following steps:
i)Bring the system to the desired operational level
ii)Reduce any integral and derivative actions to their minimum effect
iii)Using proportional control only and with the feedback loop closed,introduce a set point change
and vary proportional gain until the system oscillates continuously.The frequency of continuous
oscillation is the cross over frequency
=1/M
Ultimate period of sustained cycling =
=2/
min/cycle
v)Using the values of
&
(Min)
(Min)
Proportional
/2
Proportional-Integral
/2.2
Proportional-Integral-
Derivative
The settings above reveal the rationale of the Ziegler-Nichols methodology.
i)For proportional control alone,use a gain margin equal to 2
ii)For PI control use a lower proportional gain because the pressure of the integral control mode
introduces additional phase lag in all frequencies with destabilizing effects on the system.Therefore
lower
)*
/dt OR (M/
)*
=M/
+, 2*dx/dt+x=KpP
The last equation indicates that the stem positionx follows inherent second-order dynamics.The
transfer function is
G(s) = X(s)/P(s) = A/K/(M/
+C/K*s+1
G(s) = Kp/
+2s+1
10.b)AT ARE Cv & Kv?EXPLN THEIR RELATIONHIP.
One of the most useful factors to determine the size of a control valve in the flow coefficient or Cv
factor(or Kv factor).Practically all control valve manufactures supply Cv factors for their valves.These
factors form the basis for all calculations.The flow coefficient indicates the amount of flow the
control valve can handle under a given pressure drop across the control valve.
Cv factor : The flow coefficient (Cv)is defined as the flow rate of water in gallons per minute at 60F
through a valve at maximum opening with a pressure drop of 1 psi measured in the inlet & outlet
pipes directly adjacent to the valve body.
Kv factor :Whenever the flow coefficient is mentioned in metric units,it is denoted by the symbol Kv
which is defined as the flow rate of water in
(or 15 psi).
Fig.4.5