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TASK 4

TF3101 SYSTEM DYNAMICS AND SIMULATION

MODELLING AND RESPONSE ANALYSIS OF HYDRAULIC SYSTEM

13314009 Inneke Wulandari Setiadi


13314079 Muhammad Zaki

References

M. Brahma Waluya (13314041)

Diana Pinasthika (13314033)

Tasya Nadya Hartati (13314037)

Okta Nurwidyas (13314045)

Andika Nur Fadhilah (13314039)

Trendy Prima (13314027)

Laudita Natasha Tamrin (13314069)

Meike Kania Dewi (13314043)

Ahmad Rodik Wijaya (13314015)

Hariyadi (13314035)

ENGINEERING PHYSICS MAJOR


FACULTY OF INDUSTRIAL TECHNOLOGY
BANDUNG INSTITUTE OF TECHNOLOGY
2016
ABSTRACT

In this experiment, tank characteristics are determined and simulated. The actual response
of the tank is known from its experimental data. The system characteristic is then determined
by utilising solver in Microsoft Excel for first-order system and second-order system from the
experimental data. From the system characteristic, the system response to various inputs
can be known.

Keywords: hydraulic, first-order, square root s, system, modeling

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I. INTRODUCTION

A. Background

System design is an integral part of engineering. Design process begins with


identification of the system and its parameters. Systems can be divided according its transfer
function into zeroth order system, first order system, second order system, and higher order
system.
Characteristics of a system are time constant, gain, etc. The characteristic of the system
can be determined from its experimental data. By using the solver in Microsoft Excel, we can
determine its experimental data while minimising the sum of square error. [6]
A simple one-tank system can be seen as a first order system. By assuming the tank as
a hydraulic capacitive element and the hole as a hydraulic resistive element, we can
determine the characteristic of the system, such as its gain and time constant. The same
system can also be described by a square root equation, which can be obtained from
Bernoullis equation. [2]
It is important to determine which model is more suitable to describe the system. To
determine which model is more suitable, we calculate both model and calculate the sum of
square error for both models.

B. Problem formulation

1. To determine the first-order characteristic of the system.


2. To determine which mathematical model is more suitable to describe the system

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II. METHODS

A. Sample preparation

We began the experiment by finding a cylindrical container. We used a transparent


plastic container. To measure the fluid level, we taped a paper ruler to the container. Then
we drilled the container to create a hole with 0.5 mm diameter.

B. Detailed experiment set-up and procedure

First, before filling the container with water, the hole in the tank is corked so the water
would not spill before the measurement begin. Then the container is filled with water until it
reaches 13.5 cm. Before taking any data, the time required for the container to empty its
water is approximated. To ease the measurement, instead of measuring the level at the set
time, the water level change is videotaped. After the container is empty, the fluid level can
be measured from the recorded video.

C. Technical drawing and dimensions of the container:

Figure 1. Technical drawing of the container

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III. RESULT AND DISCUSSION

A. h-t table from the experiment

From the experiment, we obtained the following data:

Table 1. Fluid level at the given time


t (s) h (cm)
0 13.5
4.4 12.25
8.8 10.8
13.2 9.6
17.6 8.5
22 7.5
26.4 6.4
30.8 5.4
35.2 4.5
39.6 3.7
44 3
48.4 2.4
52.8 1.8
57.2 1.4
61.6 1
66 0.6
70.4 0.5
74.8 0.4
79.2 0.3
83.6 0.2
88 0.1

16
14
12
10
h (cm)

8
6
4
2
0
0
4,4
8,8
13,2
17,6
22
26,4
30,8
35,2
39,6
44
48,4
52,8
57,2
61,6
66
70,4
74,8
79,2
83,6
88

t (s)

Figure 2. The h-t plot from the experiment

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B. Preliminary analysis

From the experiment, it can be concluded that the fluid level is determined by a non-
linear equation. The system can either be considered as a first-order system or as an square
root system. If the system is considered as a first-order system then its characteristic is gain
(K) and time constant () which can be determined by utilising the solver in Microsoft Excel.
The square root system is obtained by using Bernoullis equation. To determine which
model is more suitable to be used, we need to simulate both model and calculate the sum of
square error for both model.

Figure 3. Solver feature in Microsoft Excel

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C. First-order estimation of the system

The approximation of the black box system can be obtained by using Euler Method.
[4] Euler method require a difference equation which can be obtained from the transfer
function, as follows:

H ( s) 1 RC
x
Ho 1 RC
s
RC
RC

RCs 1
K
with RC and K RC
s 1
We modify to obtain container level:

h(t ) dh(t )
q (t ) C
R dt
dh(t ) 1
h(t )
dt RC
1
h(t ) h(t )

The last equation will be used for iteration in Euler method with:
.
hi 1 hi hi t

Then we need to calculate the sum of square error of the system, which is given by
the equation 2 (hi (exp eriment ) hi )2 . By using the solver in Microsoft Excel, we will
determine the characteristic of the system, K and by minimising the sum of square error. [7]

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Table 2. First-order approximation of the system

ti hi h(t) dh 2

0 0,135 0,14 -0,0041383 0


4,4 0,123 0,12 -0,00358014 3,25873E-05
8,8 0,108 0,10 -0,00309725 4,84572E-05
13,2 0,096 0,09 -0,0026795 7,37717E-05
17,6 0,085 0,08 -0,0023181 8,79629E-05
22 0,075 0,07 -0,00200544 9,17473E-05
26,4 0,064 0,06 -0,00173495 5,47956E-05
30,8 0,054 0,05 -0,00150094 2,5363E-05
35,2 0,045 0,04 -0,0012985 6,97126E-06
39,6 0,037 0,04 -0,00112336 1,25106E-07
44 0,030 0,03 -0,00097184 2,90197E-06
48,4 0,024 0,03 -0,00084076 1,17472E-05
52,8 0,018 0,02 -0,00072736 3,28106E-05
57,2 0,014 0,02 -0,00062926 4,26104E-05
61,6 0,010 0,02 -0,00054438 6,02011E-05
66 0,006 0,02 -0,00047096 8,76779E-05
70,4 0,005 0,01 -0,00040744 6,87478E-05
74,8 0,004 0,01 -0,00035248 5,62306E-05
79,2 0,003 0,01 -0,00030494 4,82717E-05
83,6 0,002 0,01 -0,00026381 4,36399E-05
88 0,001 0,01 -0,00022823 4,15417E-05
32,62207944 s and 0,000918162

ti : Iteration time (s) : Error


hi : Fluid level from the experiment (m) : Gain
h(t): Fluid level from first-order : Time constant (s)
approximation (m) : Root mean square error

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Experimental vs Approximation Height
0,160

0,140

0,120

0,100
Height (m)

0,080
Experimental
0,060 Aproximation
y = 0,135e-0,033x
0,040 R = 1

0,020

0,000
0 20 40 60 80 100 120
Time (s)

Figure 4. The experimental h-t plot compared to approximated h-t plot

D. First-order estimation analysis

Figure 3 is the comparison of experimental data to approximated data using the first
order system. From the approximation, the value of the system characteristics K and are
obtained:
K= (s) 32,62207944
From the system characteristic we obtained the fluid level equation, y = 0,135e-0,033x. The
equation is quite accurate because the sum of square error obtained is 0,000918162, which
is very small.

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E. Nonlinear estimation of the system

The nonlinear equation of the system can be obtained by using Bernoullis equation
to the system:
v12 v2 2
P1 gh1 P2 gh2 , but since P1 P2 , thus
2 2
1
g h1 h2 (v2 2 v12 )
2
1 2
gh (v2 v12 )
2
v2 2 gh v12
dm
min mout
dt D2
A , D 85mm
d ( ( Ah)) 4
av2 with
dt d2
a , d 5mm
dh 4
A a 2 gh v12

dt
dh
v1
dt
dh a
2
dh
2 gh
dt A dt
dh a 2 gh

dt A a
2

1
A
a
h t
dh 2g

h 0 A 2
dt
H a
1
A
a 2g
( h H) t
A a
2

2 1
A
a 2g
C
A a
2

2 1
A
h H Ct


2
h H Ct

h H 2 H Ct C 2t 2

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h(t ) C 2t 2 2 H Ct H
h0
H Ct f
H
tf
C
C2 2 H C H
h (s) 3
s s2 s
Hs 2 2 H Cs C 2
h (s)
s3

From the equation above, we obtained the following data:

Table 3. Nonlinear approximation of the system

ti ( s) hi (m) yi (m) 2
0 0,135 0,135 0,000
4,4 0,123 0,111 0,000
8,8 0,108 0,090 0,000
13,2 0,096 0,071 0,001
17,6 0,085 0,054 0,001
22 0,075 0,040 0,001
26,4 0,064 0,027 0,001
30,8 0,054 0,017 0,001
35,2 0,045 0,010 0,001
39,6 0,037 0,004 0,001
44 0,030 0,001 0,001
48,4 0,024 0,000 0,001

Parameters:
D(m)= 0,0850000 g(m/s2)= 9,8100000
d(m)= 0,0050000 C= 0,00766345
A(m2)= 0,0056745 H(m)= 0,135
a(m2)= 0,0000196 Erms= 0,1711363

Ti: Iteration time (s) : Cross-sectional tank area (m2 )


yi: Fluid level from the experiment
: Hole area (m2 )
(m)
hi: Fluid level from first-order : Earth gravitational acceleration
approximation (m) (m/s2)
: Error : Constant (m0.5/s)
: Cross-sectional tank diameter (m) : Initial fluid level (m)
: Hole diameter (m) : Sum of square error

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Non-linier Method
0,500
0,450
0,400 Experimental
0,350
Aproximation
Heigth (m)

0,300
0,250 Expon. (Aproximation)
0,200 y = 0,4447e-0,144x
0,150 R = 0,7383
0,100
0,050
0,000
0 10 20 30 40 50 60
Time (s)

Figure 5. The experimental h-t plot compared to approximated h-t plot

F. Nonlinear estimation analysis

The sum of square error obtained from the approximation is 0,1711363. The
approximated result is quite different from the experimental result. This is because the
mathematical model using the first-order system is more suitable to be used as the
mathematical model of the tank.

G. Final analysis

The difference between the sum of square error for first-order mathematical model
and nonlinear mathematical model is quite large. From the first-order method, we obtained
the sum of squared error of 0,000918162 while from the nonlinear method, we obtained the
sum of square error of 0,1711363. Thus we can conclude that the system is modeled better
using the first-order method. This is because the solver uses curve-fitting method to
minimize the sum of square error, therefore the curve has larger R-squared value when
compared to nonlinear method. [3]

IV. CONCLUSION

1. The time constant of the system is 32,62207944 s


2. It is more suitable to model the system using first-order transfer function rather than
nonlinear transfer function to minimize the sum of square error

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V. REFERENCES

[1] M. Witters and J.Swevers, Black-Box Model Identification for Continously Variable,
in Mechanical System and Signal Processing, Volume 24, Issue 1, January 2010, pp. 4-
18.

[2] K. Ogata, Mathematical Modeling of Fluid Systems and Thermal Systems in Modern
Control Engineering, 5th ed. New Jersey: Prentice Hall, 2010, ch. 4, sec. 4.1, pp. 101-
102.

[3] S. Walsh and D. Diamond, Non-linier Curve Fitting Using Microsoft Excel Solver in
Talanta, Volume 42, Issue 4, April 1995, pp. 561-567.

[4] L. Tan, Analog signals in Fundamental of Analog and Digital Signal Processing, 2nd
ed. Bloomington, 2008, ch. 2, sec. 2.1.2, pp.12-13.

[5] M. Munchhof and R. Isermann, Mathematical Models of Linear Dynamic Systems


and Stolchastic Signals in Identification of Dynamic Systems. Darmstadt: Springer,
2011, ch. 2, sec. 2.6.2, pp. 71.

[6] R. M. Horton and W. H. Leonard (2005) Mathematical Modeling in Science, which


appeared in The Science Teacher 72 (5), pp. 40-46.

[7] J. Aurora, Introduction to Optimum Design (Fourth Edition), ch. 6, pp. 237-278.

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