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I. INTRODUCTION
Drum Level Control Systems are used extensively
throughout the process industries and the Utilities to
control the level of boiling water contained in boiler drums
on process plant and help provide a constant supply of
steam The purpose of the drum level controller is to bring
the drum up to level at boiler start-up and maintain the
level at constant steam load. A dramatic decrease in this
level may uncover boiler tubes, allowing them to become
overheated and damaged. An increase in this level may
interfere with the process of separating moisture from
steam within the drum, thus reducing boiler efficiency and
carrying moisture into the process or turbine. Boiler drum
water level control is critical to secure operation of the
boiler and the steam turbine. The functions of this control
module can be broken down into the following
D. PID Controller
A Proportional-Integral-Derivative (PID) controller is a
general feedback control loop mechanism widely used in
industrial process control systems. A PID controller
corrects the error between a measured process variable and
the desired set point by calculating the value of error. The
corrective action can adjust the process rapidly to keep the
error minimal.
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1/[0.15s+1]
Ziegler-Nichol
Control Type
Kp
Ki
Kd
0.50 Ku
PI
0.45 Ku
1.2 Kp/ Pu
PID
0.60 Ku
2 Kp/ Pu
Kp Pu/8
Ziegler-Nichol
Control Type
Kp
Ki
Kd
PID
2.1
0.43
2.57
(2)
(3)
1) ZieglerNichols Method
This method is introduced by John G. Ziegler and
Nathaniel B. Nichols [8]. In this method, the Ki and Kd
gains are first set to zero. The Kp gain is increased until it
reaches the ultimate gain Ku, at which the output of the
loop starts to oscillate [4]. Ku is found to be 3.51, Pu is 9.8.
Ku and the oscillation period Pu are used to set the gains
as shown in Table 1.
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Tyreus Luyben
Control Type
Kp
Ki
PI
0.3125 Ku
Kp/ 2.2Pu
PID
0.4545 Ku
Kp/ 2.2Pu
Tyreus Luyben
Control Type
PID
Kd
Kp
1.59
KpPu/ 6.3
Ki
0.073
Kd
2.47
(4)
(5)
519
Fig. 8 Load disturbance and IMC with feed forward Simulink Model
Fig. 9 Output response with the load disturbance and of IMC with
Feedforward
Fig. 11 Comparison of their output responses
520
REFERENCES
[1 ] Roopal Agrawal, Umesh C. Pati, Design and Data Logging of
Three Element Boiler Level Control Using LabVIEW, National
Conference on Recent Advances in Chemical and Environmental
Engineering (RACEE), Rourkela, Jan 2012
[2 ] Xiang fei, ZOU Li hua, Optimization design of PID controller and
its application, 2011 Third International Conference on Measuring
Technology and Mechatronics Automation, vol.2, pp. 803-806, Jan
2011.
[3 ] B. Wayne Bequette, Process Control Modeling Design &
Simulation, Pearson Education Inc 2003
[4 ] Liu Jinkun, MATLAB Simulation of Advanced PID Control[M],
Electronic Industry Press, Beijing, 2006, pp. 102-129.
[5 ] I.L.Chien,. and P.S Fruehauf,, Consider IMC tuning to improve
controller performance, Chemical Engineering Progress, pp. 33 41. 1990 .
[6 ] A.M.D. Poar, M. OMalley, Controllers of Ziegler-Nichols type for
unstable processes, Int. J. Control 49 (1989) 12731284.
[7 ] W. Tan, Y. Q. Yuan, Y. G. Niu, Tuning of PID controller for
unstable process, in: Proc. of the IEEE International Conf. on
Control Applications (CCA), Vol. 1, Hawaii, USA, 1999, pp.121
124.
TABLE.3
COMPARING OF VARIOUS TIME DOMAIN SPECIFICATIONS
Controller
Ts
%Mp
ZLPID
30
75%
TLPID
4.5
40
20%
IMC
4.2
10
0%
IMCFF
4.1
0%
V. CONCLUSION
This paper presents a novel design method by
introducing an intelligent model to achieve the expected
output. The comparison between the methods are shown.
Through the simulation all the controllers perform an
efficient search to obtain an optimal solution that achieve
better performance criterion with respect to rise time,
settling time, percentage of overshoot. The use of IMC with
Feed forward controller improves the performance to great
extent than both of these Zeigler-Nichol and TyreusLuyben PID tuning techniques.
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