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Hariyadi (13314035)
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.
2
I. INTRODUCTION
A. Background
B. Problem formulation
3
II. METHODS
A. Sample preparation
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.
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III. RESULT AND DISCUSSION
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)
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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.
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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
8
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 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
10
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
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
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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)
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
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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.
[7] J. Aurora, Introduction to Optimum Design (Fourth Edition), ch. 6, pp. 237-278.
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