pid para control de nivel de agua

8/16/2019 PID para control de nivel de agua

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Instituto Tecnológico y de EstudiosSuperiores de Monterrey

Campus León

Mechatronis Lab.ater Level Controller

ystem using Siemens

LC and LabViewterface

Hector Miguel Bocanegra GómezDiego Quesada astor !orge "rmando De #amacona Montes de $ca


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Material:• LC Siemens S%&'((• Siemens %) HMI *T %((• Siemens SIM"TIC ET'((S ro+inet I$ Module• Siemens TI" ortal ,&- .STE % ro+essional/ 0inCC "d1anced2• Siemens SI3"MICS G&'(C 3 Trans+ormer • edrollo *4( &5'H 56(Lmin57-8054(Hz 9ater pump• ar8er *T(: :054(Hz zero pressure solenoid 1al1e• Siemens SIT;"3S %M


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Index

Material>777777777777777777777777777777777777777777777777777777777777777777777777777

Introduction7777777777777777777777777777777777777777777777777777777777777777777777777

$?@ecti1es77777777777777777777777777777777777777777777777777777777777777777777777777

Conceptual


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Introducción

T is pro@ect 9as designed to apply t e 8no9ledge ac uired in class a?out IDcontrollers7 T e system consists o+ a LC 9 ic controls t e 9ater le1el o+ a tan8

9it relie+ 1al1es7 T e 9ater le1el must remain sta?le 9 ene1er t e relie+ 1al1esopen or close7

To success+ully control t e system/ a controller must ?e designed 9it ?ot a IDand anot er type o+ controller7 " ysteresis controller 9as selected as a secondoption due to its simplicity and to contrast t e e++iciency o+ t e ID controller7 T eID 9as designed completely t roug out t e course7

Objectives

- Design t e 9 ole system considering a lo9 ?udget7

- Implement an e++icient control system7- "pply mat ematical 8no9ledge to create t e ID controller +rom scratc /c aracterizing t e system response and creating a mat ematical model toanalyze t e e++iciency o+ t e control system7

- Get to 8no9 and design di++erent types o+ controllers7- Esta?lis communication ?et9een t e LC and a La?,ie9 inter+ace using

t e 3I $ C Ser1er tool8it7

Conceptual Frame or

"utomation and Control #$stems

T e de1elopment o+ di++erent tec nologies t roug out t e +irst al+ o+ t e century resulted in an increment o+ control system comple ity increasing p ysical1aria?les t at s ould ?e o?ser1ed and controlled7 T is controller cannot ?e madedirectly ?y people due to t e ig reaction time o+ t e uman ?ody7

laundry systems/ tele1isions/ drills/ etc7


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• Industrial processes t at can ?e de+ined as a group o+ actions per+ormed?y one or more coordinated mac ines resulting in t e production o+ agood7

Ho9e1er/ most p ysical 1aria?les are not electrical7 Some e amples are

temperature/ pressure/ 9ater le1el/ +orce/ luminosity/ 1elocity/ acceleration/ etc7T ere+ore t ey must ?e trans+ormed to electrical signals t roug de1ices calledsensors7 &

T is resulted in t e creation o+ di++erent elements and electronic controls/ li8eLCs/ "Cs 9 ic 9or8 toget er 9it sensors to create a control system7

%ro&rammable 'o&ic Controllers

" rogramma?le Logic Controller is a de1ice t at a user can program toper+orm a series or se uence o+ e1ents7 T ese e1ents are triggered ?y stimuli.called inputs2 recei1ed at t e programma?le logic controller t roug delayedactions suc as time delays or counted occurrences7

$nce an e1ent triggers/ it actuates in t e outside 9orld ?y s9itc ing on or o++ electronic control gear or t e p ysical actuation o+ de1ices7 " rogramma?le LogicControllers 9ill continually loop t roug its user de+ined program 9aiting +or inputsand gi1ing outputs at t e speci+ic programmed times7

rogramma?le Logic Controllers +irst came a?out as a replacement +or automatic control systems t at used tens and undreds .may?e e1en t ousands2o+ ard 9ired relays/ motor dri1en cam timers and rotary se uencers7

More o+ten t an not/ a single LC can ?e programmed to replace t ousands o+ relays and timers7 T ese rogramma?le Logic Controllers 9ere +irst ?e+riended ?yt e automoti1e manu+acturing industry/ t is ena?led so+t9are re1ision to replacet e la?orious reF9iring o+ control panels 9 en a ne9 production model 9asintroduced7

Many o+ t e earliest rogramma?le Logic Controllers e pressed all decisionma8ing logic in a program +ormat called Ladder Logic/ 9 ic +rom its appearance9as 1ery similar to electrical sc ematic diagrams7 '

& Enri ue Mandado rez !orge Marcos "ce1edo Celso ttp>559997mac ineFin+ormationFsystems7com5 LC7 tml

http://www.machine-information-systems.com/PLC.htmlhttp://www.machine-information-systems.com/PLC.html


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%I(

" proportional integral deri1ati1e controller . ID controller2 is a controlloop +eed?ac8 mec anism .controller2 commonly used in industrial control systems7

" ID controller continuously calculates an error value as t e di++erence ?et9een adesired setpoint and a measured process 1aria?le7 T e controller attempts tominimize t e error o1er time ?y ad@ustment o+ a control variable / suc as t eposition o+ a control 1al1e/ a damper/ or t e po9er supplied to a eating element/to a ne9 1alue determined ?y a 9eig ted sum>

9 ere / / and / all nonFnegati1e/ denote t e coe++icients +or t e proportional/ integral/ and deri1ati1e terms/ respecti1ely .sometimesdenoted P, I, and D27 In t is model/

• P accounts +or present 1alues o+ t e error7


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(evelopment

%lannin&

T e group 9as di1ided into t ree teams/ and eac presented a di++erent designproposal7 T e ?est designed 9as c osen ?ased on +unctionality and cost e++iciency7T e uotation 9as t e +ollo9ing>

Costsrudct ,endor Quantity Nnitary Cost Total Cost,C Ball 1al1e HomeDepot 6 O 6=7(( O &A(7((,C El?o9 :(P &5' HomeDepot 4 O -7(( O &A7((,C pipe 4m &5' HomeDepot ' O 6=7:( O :&7A(,C Cement HomeDepot & O 4-7(( O 4-7((Sandpaper &(( HomeDepot ' O %7(( O &67((

&8g 9elding 4(&- "ceros del Sol & O 4(7(( O 4(7((Steel angle &in 4m "ceros del Sol ' O &(A7(( O '&47((

) Coupling;odamientosdel Ba@Ro & O '((7(( O '((7((

ump ?ladesHimelda;odriguez & O -((7(( O -((7((

' m7 DI3 ;ail Tecnocontrol & O &='7%% O &='7%%ro+i?us ca?le Tecnocontrol ' O 6-7A= O A%7%(Ca?inet "E6((mm -((mm '&(;ittal Tecnocontrol & O A6-7': O A6-7':

Su?total O '/''47=4E tras O 66=7-&Total O '/4%&7A%

0 en t e +inal design 9as selected/ t e construction stage ?egan7 During t isstage/ se1eral c anges and adaptations 9ere made to assure its +unctionality7 T edi++erent components 9ere selected and ?oug t so t at t ey could 9or8 toget er7

T is adapta?ility 9as needed to c ange components and details i+ t e systempresented some type o+ +la97

0 ile t e prototype 9as ?eing constructed/ t e mat ematical model/ ID/ and TI"ortal program 9ere ?eing de1eloped to assem?le all parts o+ t e pro@ect 9 ent ey 9ere +inis ed7


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Construction

T e +ollo9ing materials 9ere needed to ?uild t e prototype>

- 6) ,C tu?e- 6) to &) ,C couplings- &) ,C tu?e- &) ,C ?all 1al1es- :(P ,C el?o9s- ;ecycled 9ood- &) steel T;- 0 eels- Transparent &) ose- ,C cement

T e deposit 9as ?uilt using a 6) ,C tu?e7 It 9as adapted to t e &) tu?e 9it a6) to &) coupling7 T is &) tu?e 9as connected to t e relie+ and solenoid 1al1es7 T eindicator 9as also connected in parallel to c ec8 t e 9ater le1el in a more 1isi?le9ay7 "ll 1al1es 9ere connected in parallel7

"ll 1al1es pour 9ater to t e deposit so it can ?e recycled and sent to t e tan87


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" 9 eeled plat+orm 9as ?uilt to ma8e t e systemeasier to mo1e and transport7 T e picture ?elo9 s o9st is plat+orm7

3e t/ t e p1c pipes and t e plat+orm 9ere puttoget er to start testing t e system 9it t e IDcontroller7


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(ata "c)uisition

To o?tain t e mat ematical model o+ t e system/ &( test runs 9ere made7 "+tero?taining t e response o+ t is tests/ t ey 9ere a1eraged to 9or8 9it clean andmore accurate data7 T ese samples 9ere made 9it ( as t e starting le1el 9it a

step +unction o+ -6=( rpms +or = minutes/ ac uiring data eac second7

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Nsing t e #iegler 3ic ols met od>


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C ange in output 1aria?le c &(= cmStep +unction magnitude m -6=( rpm * c5 m (7(-(6

Dead time 0 &'7-'(- sec7Intersection time tm& 6-7A'4-Time constant U Tm& F V7 -&7=(4(

"dding t e 1aria?les to t e +unction>

Trans+er +unction in # domain .sampling eac second2

Matla? code used to trans+orm trans+er +unction +rom S domain to #>

+,S /

G(Z) ¿ Y (Z )U (Z )=

Z −13 (0.0006488 Z +0.0003009 )

Z − 0.9688


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'ab*ie %ro&rammin&

T e +irst t ing t at 9as done a+ter getting t e mat ematical model/ 9as 1alidating itagainst t e tests 9it t e p ysical system7 "+ter t e 1alidation/ t e ID controller9as tested se1eral times to o?ser1e o9 t e controller reacted to t e system7

T e program on La?,ie9 is s o9ed ne t>


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T e La?,ie9 user inter+ace is s o9ed in t e ne t image>

"+ter testing t e ID controller/ t e second type . ysteresis2 9as implemented int e same ,I7 T e results appened to ?e as e pected/ o9e1er it is not goodenoug to 9or8 9it t e system due to its simplicity/ lo9 response/ and insta?ility7

+esults and (ata "nal$sis

To compare t e ?e a1ior o+ t e controller 9it t e mat ematical model and t eerror 9it di++erent Setpoints/ a routine 9as determined>

Time .minutes2 Setpoint .cm2& (= %(= &(== -=& (

T e data ac uisition and analysis 9ere done in La?,ie9 9it t e +ollo9ing additionto t e pre1ious ,I>


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T is determined speci+ic setpoints to eac time lapse7 "+ter running t is test/ t ene t results 9ere o?tained>

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)1ciencia 2ivel vs Set3oint

real Set3oint


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set3oint Vel motor real

T e +irst grap s o9s t e error o+ t e response o+ t e system .?lue2 to t e setpointroutine7 Data 9as read eac second and t en s uared to o?tain a num?er t at 9ascompared to ot er pro@ects in class7 T is num?er 9as -A&/6=%7A67

T e second grap s o9s t e error ?et9een t e rpmWs at 9 ic t e system reac est e le1el determined in t e ta?le mentioned ?e+ore and t e angular 1elocity o+ t emotor during t e real time test7 T is error 9as also s uared> 6:(/%6&/&&:7%-7

Conclusions

0it t e results o?tained +rom t e tests/ it can ?e said t at t e controller 9or8s 9itt e e++iciency re uired ?y t e system7 "lt oug it does not s o9 true sta?ility and auic8 response/ t is system does not re uire eit er o+ t em/ as t e o1erall speedand reaction times o+ t e system are +airly ig 7 T e o?@ecti1es o+ t e course 9eremet ?ecause o+ t e dept o+ t e ID design7 It 9as created +rom zero and testedt roug out t e semester/ lea1ing only t e tuning and adaptation to t is pro@ect7

T is pro@ect s o9s t e principles o+ automation on real industrial applications and

control systems7 It elped us compre end t e di++erent response o+ a ID controller depending on o9 it is designed7 It also s o9ed a 9ay to analyze t e results a+ter implementing a controller to study its e++iciency and ?e a1ior7

pid para control de nivel de agua

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