Professional Documents
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COLLEGE OF ENGINEERING
TENAGA NASIONAL UNIVERSITY
MALAYSIA
ENGINEERING MEASUREMENT
LAB. MANUAL
MESB 333
Table of Contents
Laboratory Syllabus
Overview
Laboratory Time
Format for Logbook
Format for Formal Report
Lab No.1:
Lab No. 2:
Lab No.3
Lab No.4
Lab No. 5
Lab No. 6
3
4
5
6
7
Strain Measurement
Prelab Questions
Experiment I: Axial Strain
Experiment II: Torsion Strain
9
10
16
20
21
26
Temperature Measurement
Prelab Questions
Experiment I: Time Constant
Experiment II: Type K Thermocouple
Experiment III: Humidity Measurement
31
32
39
42
Photo Transducer
Prelab Questions
Experiment I: Photo Diode
Experiment II: Photo Conductive Cell
Experiment II: Photo Transistor
45
51
54
57
60
61
66
67
Laboratory Syllabus
Lab 1 : Strain Measurement
There are two experiments in this lab. The experiments are related to the field of mechanics of
deformable solid. The 1st experiment is on bending of a cantilever beam. The 2nd experiment involves
loading weighs on a circular bar to create torsion. Strain gauge is used to convert the value of body
deformation to corresponding electric signal for analog reading. Simple calculation for strain is
required using basic bending theory.
Informal report is required for this lab.
Laboratory Session
Lab Technician : Muhammad Faizal Bin Rahim
Tel:
Laboratory Time:
Section 1A:
Section 1B:
Section 2A:
Section 2B:
Section 3A:
Section 3B:
Section 4A:
Wednesday
Wednesday
Monday
Thursday
Tuesday
Thursday
Monday
800-1100 (BL-0-003)
1500-1800 (BL-0-003)
1400-1700 (BL-0-003)
1100-1400 (BL-0-003)
1500-1800 (BL-0-003)
1500-1800 (BL-0-003)
900-1200 (BL-0-003)
Attendance:
Please sign attendant sheet upon arrived to lab. Mark will be given depending on time of arrival.
Student who comes 15 minutes after the lab begins will get 0 mark. Absence due to illness should be
proven by medical certificates (MC).
Prelab:
Turn in prelab at the beginning of each lab. No prelab will be accepted 15 minutes after the lab
begins. Prelab will not be return to the students until the end of semester. The purpose of prelab is to
encourage student to read through lab manual before coming to the lab.
Logbook:
Students are required to prepare a logbook for the purpose of recording the data and discussing the
results from each informal experiment. The logbook MUST be presented to the instructor and signed
at the end of each laboratory session. Marks will be given for each experiment done in the session.
Collect the lab front page cover from the lab technician if you are assigned to write a formal report.
Laboratory Assessment:
Students are required to prepare a logbook for the purpose of recording the data and discussing the
results from each experiment. The logbook MUST be presented to the instructor and signed at the end
of each laboratory session. Marks will be given for each experiment done in the session. Collect the
lab front page cover from the lab technician if you are assigned to write a formal report.
Formal Reports:
There are a total of 2 individual formal reports that need to be completed by each student throughout
the course. The formal reports should be written for the following experiments.
Experiment 2: Velocity Measurement.
Experiment 6: PID Controller.
Duration of one-week period is provided for formal report and should be submitted during the next
lab. Report should be submitted to the lab technician personally. Grade will be deducted from the late
report as follows (except with valid reason) : Late submission penalty : Late 1 day : 90%, Late 2
days : 80 %, Late 3 days : 70%, More than 3 days: 50% of earned mark.
Plagiarism is not acceptable. It will result in half of the total grade being deducted or zero grade for
the lab report or for the whole course. In addition, poor report writing will result in meeting the
instructor for improvement in future report writing. Please use the font of Arial or Times New
Roman only.
Before submitting your hardcopy formal report to the instructor, you need to upload your
softcopy report into TURNITIN program, to check for similarity (report with silmilarity higher
than 50% will not be accepted). You will be given ID and password to upload the softcopy of
your formal report by the respective instructors.
Experiment Group:
Students will perform experiment in-group. Each experiment group consists of 3-5 students.
Group number consists of Section number, follows with number appointed. For example, the first
group from section 1A will have group number of 1A1; the second group in the same section will be
designated as 1A2 and so on.
Report must be submitted using front page supplied.
Criteria
Title Page
With name, SID, group no., lab no., date performed, date submitted.
Conclusion
Summary of the experiment. Conclusion drawn from results in the light of the
stated objective.
Criteria
Title Page
With name, SID, group no., lab no., date performed, date submitted.
Table of Content
Summary/Abstract
The concise overview of the report.
Theory
With brief but clear background and theory related to the experiment.
Equipment
Diagram of the apparatus and specification.
Procedure
A step by step explanation of what was done in the lab and why each step was
performed.
10
Conclusion
Summary of the experiment. Conclusion drawn from results in the light of the
stated objective.
11
2. What is the mechanical equipment used to measure small changes in length? What is the principle
used in strain gauge, theoretical formula to calculate strain and explain the terms in the formula?
5. In measuring the torsion strain, how can the axial or bending strain be eliminated? Sketch to
explain.
Experiment I
Measurement of Axial Strain
1.1 Objective
This experiment student will learn to measure strain of a cantilever beam. In addition, student
will be able to understand the relationship between stress, strain, and Youngs Modulus of
Elasticity.
1.2 Theory
A material will be deformed to certain extend when external forces act on it. This deformation
will cause changes in length and diameter of the material. The strain produced is directly
proportional to the stress at a limited region, which is called the limit of proportionality (i.e. there
is linear relation between the two). The stress-strain graph is a straight line in this region. In this
experiment, we are going to study the performance of an electrical resistance strain gauge as well
as to verify its accuracy on measuring the strain of a bending material.
Hooke's Law, which relates stress and strain, can be applied in the limit of proportionality
region. Young's Modulus of Elasticity is the gradient of straight line in the stress-strain graph.
The mathematical relationship is:
dL
L
where,
dL
:
:
P
:
E
:
:
P
EA
(1)
change in length L
strain
force on cross section area A
Youngs Modulus of Elasticity
axial stress
10
When the length and the diameter of a material change, the electrical resistance of the material
will change too. The relationship between the change in the dimension to the electrical resistance
of the material can be related mathematically as equation shown:
L
A ..(2)
where,
R
electrical resistance
length
From the relationship, it is clear that the resistance will increase when the material is
stretched. Conversely, compression will cause the resistance to decrease. Strain gauge uses
this principle to measure the strain.
1.3 Calculation of axial strain
Theoretically, the strain value can be calculated using the theory of bending at the
point of attachment of the strain gauge. For a rectangular cross-sectional area cantilever beam,
M
I
E
R
My
I
..(3)
Where,
M
I
bd 3
=
(Width b and thickness d)
12
axial stress
modulus of elasticity
=d
11
dL
L
y
R
.(4)
M
EI
.(5)
Hence, the theoretical strain value is
y
R
My
EI
(6)
From the dimension of cantilever beam, M = 150* Load (N.mm)
Measurement of the resistance is usually done using the Wheatstone Bridge. The gauge is
attached to the material using a high-grade adhesive. Since temperature will affect the resistance,
this factor must be taken into consideration too
R1
R2
R4
12
R1 will be the strain gauge attached to the material. It is also called an active gauge. R2 is a
similar strain gauge to R1. But, it is attached to an unstressed part of the material. The effect of
temperature on R1 and R2 will be similar. R3 and R4 are high stability resistors of equal value.
M is a digital voltmeter or a purpose designed high stability high gain amplifier with a digital
meter and a zeroing circuit. Voltage applied to A and C is a constant DC voltage. Normally it is
1-2 volts. External zeroing is applied in Wheatstone Bridge. External zeroing means the meter M
will show zero reading. This is done by having a variable resistor at D. Zeroing can be done by
varying the variable resistor. Zeroing is required because factor like weight of the material can
affect the results.
1.5 Apparatus
The apparatus above is a direct read-out strain meter in a base box to which a pillar carrying
an aluminum alloy cantilever has been fixed. An electrical resistance strain gauge has been fixed
to the top surface of the cantilever 150 mm from the loading point. The cross section of the
cantilever is 25.4 x 3.2 mm. The modulus of elasticity of the cantilever is 69 000 N/mm2. A
temperature compensation (dummy) gauge is supplied fixed to a small piece of aluminum alloy.
The basic circuit of the Wheatstone bridge is laid out on top of the base, showing the use of a
zeroing control. An analogue meter with a center zero scale has been designed to read true strain
in units of micro-strain.
13
1.6 Procedure
1. Connect the strain gauge leads from the cantilever strip and dummy gauge leads to the
terminals, switch on the apparatus.
2. Adjust the zero offset knob (variable resistor) on the apparatus to zero the meter.
3. Note whether any drift of the zeroed reading occurs as the strain gauges warm up
4. To show the effect of temperature, warm the temperature compensation gauge by placing
one's finger on it.
5. Suspend the C hook and load hanger in the groove at the end of the cantilever.
6. You may need to re-zero the meter. Record the meter reading.
7. Press downward on the end of the cantilever and observe the direction in which the meter
reads in the reverse direction. You should notice that the polarity of the reading indicates
whether the gauge is in tension or compression.
8. Load the cantilever to 30 N by 5 N increments. Read and record the meter reading at each
increment
9. Unload the cantilever from 30 N to 0N and record the readings at each decrements.
10. Repeat step 8 and 9 and record the second set of reading in order to obtain the average of the
readings.
1.7 Results
Table 1 Cantilever experiment result
Theoretical
Load (N)
Strain
Stress
(
Increasing
Load
Actual
Stress
(N/mm2)
%Error
(N/mm )
Decreasing
Load
%Error
(Increasing
Load )
0
5
10
15
20
25
30
Calculate the theoretical strain and stress for each load and then compare the theoretical result
with experimental result for both increasing-load and decreasing-load result. Compare your
%error
results by calculating the % error between the theoretical and the experimental values.
14
Plot the strain( ) against axial stress( ) for the theoretical and experimental values on the same
graph. Draw the best fit linear line and find its slope. What can you relate the gradient of the line
and Youngs Modulus of Elasticity?
Discuss the results. Are the readings for increasing and decreasing load the same? Why?
Why the system was connected to the dummy gauge ?
Include error analysis.
15
Experiment II
Measurement of Torsion Strain
2.1 Objective
In this experiment, student will learn to measure torsion strain and understand the relationship
between torque and strain.
2.2 Theory
Having studied the use of a strain gauge for measuring tensile(axial) strain and stress,
a more complicated application can now be considered. Reverting to the diagram of the
standard bridge there are further ways of exploiting the measuring technique. In this
experiment, we are going to study the measurement of torsion strain.
Suppose the temperature compensation gauge used as R, can be attached to the structural
element being tested in such a way it is subjected to an equal but opposite strain to the R, gauge.
This will double the meter reading while providing the temperature compensation and is known
as reversed active strain gauging. This could have been done in the case of bending by attaching
a strain gauge on the underside of the cantilever where the compression due to bending equals the
tension where the top surface gauge is fixed. The leads from the underside gauge would then
replace the leads from the dummy gauge. Now consider a hollow round tube used as a cantilever.
16
In bending there is a neutral axis at the horizontal axis, so any gauge fixed symmetrically
about this neutral axis will not record a strain, By applying torque at the free end of the
cantilever, a uniform shear is induced along the whole length. This in turn produces diagonal
tension and compression stresses of equal value along the corresponding 450 helical directions.
Hence by fixing two strain gauges at A and B as shown the following conditions are satisfied:
(1)
Temperature compensation
(2)
(3)
The meter will therefore indicate twice the diagonal strain from which the stress can be
derived using the modulus of elasticity.
2.3 Calculation of torsion strain
Hookes Law
E
..(7)
For the torsion specimen the comparable theoretical equation is
T
J
G
L
Tr
J
..(8)
where
T
Do
outside diameter
Di
inside diameter
: modulus of rigidity
32
Do
D1
17
q
E
Tr
EJ
(9)
Apparatus
The torsion accessory consists of an aluminum alloy tube 9.5 mm O/D and 6.3 mm I/D
with a loading arm welded across one end. A clamp is provided to enable the tube to replace
the clever strip used above, the loading arm being set horizontally. A load hanger can be
suspended on the vertical axis of the tube, or at horizontal eccentricities of 50 or 100 mm. The
strain gauge leads from the strip cantilever and the dummy gauge are removed from the
terminals so that the pairs of leads from the torsion specimen can be connected instead.
2.5
Procedure
1. Connect the two pairs of leads from the torsion tube to the pairs of terminals.
2. Switch on the apparatus and adjust the offset knob to zero the meter. Re-zero if drift
occurs as the gauges warm up.
3. Place the load hanger at zero eccentricity and add two 10 N weights. Note any meter
reading, and check that the meter returns to zero when the loads are removed.
4. Move the load hanger to 50 mm offset. Zero the meter. Record the strain readings as the
30 N load is added by 5 N increments to the hanger. Repeat the readings as the weights are
removed. Use a table of results as shown.
5. Repeat the above for 100 mm offset. It will be necessary to hold the base box to prevent it
being toppled over by the eccentric load.
6. Repeat step 4 and 5 and record the second set of reading to get the average.
18
2.6
Results
Table 2.1 Diagonal Strains on a Torsion Specimen
Theoretical
Load
Eccentricity
(N)
(mm)
(
Strain
Diagonal Strain(
Actual
Shear
)
Shear
Average Meter
Reading
Stress
stress
Increase
Load
Decrease
Load
Increase
load
10
20
30
50
5
10
15
20
25
30
100
5
10
15
20
25
30
Calculate the theoretical value for the diagonal/torsion strain and compare with the meter
readings by stating the percent error. (Remember, the meter reading is twice the actual value.)
Plot a graph of strain vs. shear stress (increase load only) for theoretical and actual on the
same graph and use the best fit straight lines to determine the relationship between shear
stress and torsion strain.
Why the diagonal strain at eccentricity 0 mm are zero?
How successful is the technique (two strain gauges) for eliminating bending stress from the
readings?
Why used two strain gauges?
What the system is not connected to dummy gauge?
Include error analysis.
19
1. Draw a diagram and explain briefly how to measure pressure using pitot tube?
4. Describe three different flow characteristics and what determines each characteristic?
5. What is orifice plate is use for ? Gives 2 examples UNITS for measuring flowrate?
20
1.
Experiment I
Velocity Measurement Using Pitot Tube
1.1. Objective
This experiment allows student to learn the method of measuring air flow velocity using pitot
tube. The student will understand the working principle of pitot tube as well as the importance of
Bernoulli equation in deriving and calculating the velocity.
1.2. Theory
A pitot tube is used to explore the developing boundary layer in the entry length of a pipe which
has air drawn through it. With pitot tube, the velocity distribution profiles can be determined at a
number of cross-sections at different locations along a pipe. With pitot tube, air flow velocities in
the pipe can be obtained by first measuring the pressure difference of the moving air in the pipe
at two points, where one of the points is at static velocity. The Bernoulli equation is then applied
to calculate the velocity from the pressure difference.
2 p
or
2 gh'
(1)
p
The pressure difference between the pitot tube and the wall pressure tapping measured
using manometer bank provided ( g x where x is the level of fluid used in the manometer).
h The pressure difference expressed as a 'head' of the fluid being measured (air)
The air density at the atmospheric pressure and temperture of that day.(kg/m3)
g gravitational acceleration constant (9.81 m/s2)
When fluid flows past a stationary solid wall, the shear stress set up close to this boundary due to
the relative motion between the fluid and the wall leads to the development of a flow boundary
layer. The boundary layer may be either laminar or turbulent in nature depending on the flow
Reynolds number.
The growth of this boundary layer can be revealed by studying the velocity profiles at selected
cross-sections, the core region still outside the boundary layer showing up as an area of more or
less uniform velocity.
21
If velocity profiles for cross-sections different distances from the pipe entrance are compared, the
rate of growth of the boundary layer along the pipe length can be determined. Once the boundary
layer has grown to the point where it fills the whole pipe cross-section this is termed "fully
developed pipe flow".
The Reynolds number is a measure of the way in which a moving fluid encounters an obstacle. It's
proportional to the fluid's density, the size of the obstacle, and the fluid's speed, and inversely
proportional to the fluid's viscosity (viscosity is the measure of a fluid's "thickness"--for example,
honey has a much larger viscosity than water does).
vd
Re
fluid density
v
: fluid velocity
: obstacle size
coefficient of fluid dynamic viscosity
A small Reynolds number refers to a flow in which the fluid has a low density so that it responds
easily to forces, encounters a small obstacle, moves slowly, or has a large viscosity to keep it
organized. In such a situation, the fluid is able to get around the obstacle smoothly in what is
known as "laminar flow." You can describe such laminar flow as dominated by the fluid's
viscosity--it's tendency to move smoothly together as a cohesive material.
A large Reynolds number refers to a flow in which the fluid has a large density so that it doesn't
respond easily to forces, encounters a large obstacle, moves rapidly, or has too small a viscosity
to keep it organized. In such a situation, the fluid can't get around the obstacle without breaking
up into turbulent swirls and eddies. You can describe such turbulent flow as dominated by the
fluid's inertia--the tendency of each portion of fluid to follow a path determined by its own
momentum.
The transition from laminar to turbulent flow, critcal flow, occurs at a particular range of
Reynolds number (usually around 2500). Below this range, the flow is normally laminar; above it,
the flow is normally turbulent.
p=
gh
(2)
22
Manometer tubes
1(static pressure*)
2(stagnation pressure)
X1
X2
Angle of inclination,
=0
pressure term is used since this reading is in mm of manometer fluid and not the pressure of unit
Pa.
Therefore the equivalent vertical separation of liquid levels in manometer tubes,
h = (x1 - x2)cos
If
(3)
is the density of the kerosene in the manometer, the equivalent pressure difference p is:
p=
g h=
(4)
= 787 kg/m3 and g = 9.81 m/s2. If x1 and x2 are read in mm, then:
p = 7.72(x1 - x2)cos
[N/m2]
(5)
The p obtained is then used in second equation (1) to obtain the velocity.
To use the first equation (1), convert this into a 'head' of air, h. Assuming a value of 1.2 kg/m 3
for this gives:
h'
k
air
( x1 x2 )
. cos
1000
[N/m2]
(6)
23
1.5 Apparatus
e)
f)
g)
h)
Five mounting positions are provided for the pitot tube assembly. These are: 54 mm, 294
mm, 774 mm, 1574 mm and 2534 mm from the pipe inlet
Ensure that the standard inlet nozzle is fitted for this experiment and that the orifice plate is
removed from the pipe break line.
Set the manometer such that the inclined position is at 00.
Mount the pitot tube assembly at position 1 (at 54mm, nearest to the pipe inlet). Note that
the connecting tube, the pressure tapping at the outer end of the assembly, is connected to a
convenient manometer tube. Make sure that the tip, the L-shape metal tube of the pitot tube
is facing the incoming flow.
Note that there is a pipe wall static pressure tapping near to the position where the pitot tube
assembly is placed. The static pressure tapping is connected to a manometer tube.
Position the pitot tube with the traverse poisition of 0mm. Start the fan with the outlet
throttle opened.
Starting with the traverse position at 0mm, where the tip is touching the bottom of the pipe,
read and record both manometer tube levels of the wall static and the pitot tube until the
traveverse position touching the top of the pipe.
Repeat the velocity traverse for the same air flow value at the next positon with the pitot
tube assembly. Make sure that the blanking plugs is placed at the holes that are not in use.
24
1.7 Results
Data Sheet for Velocity Measurement Using Pitot Tube
Traverse
Position
(mm)
Pitot Tube at 54 mm
Static 'Pressure' Reading
____________(mm)
Stagnation
'Pressure'
Reading
(mm)
x
(mm)
velocity Stagnation
p
2
'Pressure'
(N/m ) (m/s)
Reading
(mm)
x
(mm)
p
(N/m2)
Velocity
(m/s)
0
10
20
30
40
50
60
70
80
Traverse
Position
(mm)
x
(mm)
velocity Stagnation
p
'Pressure'
(N/m2) (m/s)
Reading
(mm)
x
(mm)
p
(N/m2)
Velocity
(m/s)
0
10
20
30
40
50
60
70
80
25
Stagnation
'Pressure'
Reading(mm)
x
(mm)
p
(N/m2)
velocity
(m/s)
Calculate air velocity at each point using equations (1), (5) or (6).
Plot the traverse velocity profiles in one graph (Velocity against traverse position). Note
that the boundary layer grows in the pipe to fill the whole cross-section; fully developed
pipe flow most likely occurred by the third or fourth position.
Give your comments on the velocity profiles.
Include error analysis.
26
Experiment II
Determination of Discharge Coefficient
2.1 Objective
This experiment will ask student to determine the discharge coefficients, CD for orifice plate
and the small nozzle.
2.2
Introduction
An orifice plate meter forms an accurate and inexpensive device for measuring the discharge
for the flow of liquids or gases through a pipe. The orifice provided can be inserted into the
suction pipe at the flanged joint approximately half way along its length. The multi-tube
manometer provided is used to measure the pressure drop across the orifice and this is related to
the discharge determined independently.
In this experiment, we are going to determine the discharge coefficient experimentally for an
orifice plate in an airflow pipe. Also using the static pressure tapings provided, we are
determining the pressure distribution along the pipe downstream of the orifice plate. From the
obtained CD of the orifice plate, we will determine the CD of a small nozzle.
2.3 Theory
The orifice plate meter forms a jet, which expands to fill the whole pipe, some diameter
distance downstream. The pressure difference between the two sides of the plate is related to
the jet velocity, and therefore the discharge, by the energy equation:
Q
where
A jv j
Q =
Aj =
Ao =
vj =
Cc =
Cv =
g =
h =
I)
A oCc v j
A oCc Cv 2gh
discharge (volume/time)
jet cross-section area at minimum contraction (vena contracta)
2
orifice cross/4: d = orifice size)
jet velocity at minimum contraction (vena contracta)
coefficient of contraction of jet
coefficient of velocity of jet
gravitational acceleration (9.81 ms -2)
pressure difference 'head' of air across orifice (refer to equation (6) of Exp.
These two coefficients are normally combined to give a single coefficient of discharge: CD =
Cc.Cv Equation (1) now becomes
Q
C D Ao 2 gh
(2)
If Q can be determined independently, then the discharge coefficient can be determined as
follows:-
CD
Q
A o 2gh
(3)
Values of Qi can be determined if the standard nozzle is fitted at the pipe inlet.
Qi
A i C ' D 2gh i
(4)
27
If hi = the drop in pressure head across the inlet, the discharge = ( k/ air )* (xbefore nozzle xafter nozzle):
in which Ai = standard nozzle cross-section area (= d2 /4) and CD assumed to be 0.97. Values of
h I are obtained from the manometer tube levels connected to the pipe inlet pressure tapping and
open to the atmosphere.
Qo
Ao 2 gho
(5)
Where
2.5 Apparatus
Measure the diameter of the orifice plate, and the pipe for computing the cross sectional
area and Reynolds number.
2.7 Results
Table 5.1 Static Pressure Readings when using Standard Nozzle (80 mm)
Damper Openings (% Openings)
0%
25%
Points
50%
75%
100%
mm of kerosene
Room
pressure
After nozzle
54mm
294mm
774mm
Before
Orifice
After Orifice
1574mm
2534mm
Table 5.2 Static Pressure Readings when using Small Nozzle (50 mm)
Damper Openings (% Openings)
0%
Points
25%
50%
75%
100%
mm of kerosene
Room
pressure
After nozzle
54mm
294mm
774mm
Before
Orifice
After Orifice
1574mm
2534mm
29
From table 5.1using equation (4) calculate the Qi, then using equation (3) where Q=Qi
calculate the CD for orifice plate for each damper opening.
For data in table 5.2, using similar procedures, but this time using the value of C D for
orifice found previously, you need to calculate the CD for small orifice for each damper
opening.
For each case, plot values of CD obtained against corresponding values of Reynolds
number (Re) obtained using the relationship:
Re
vd
..(6)
where
Also plot longitudinal pressure profiles for both tables from the manometer readings.
(mm kerosene against tapping position)
Discuss what happen as the air flow past through the orifice plate.
Discuss the CD obtained for orifice and small nozzle.
What happen to the CD when you increase the damper opening?
What happen to the manometer reading when the damper opening changes. Discuss.
Any obstruction such as an orifice plate would actually cause a pressure drop but by
analyzing the graph below or from your data you should see that the reading in mm of
kerosene is increased. Explain.
mm Kerosene
Air Flow
30
1. Describe the working principle of a thermistor and resistance thermometer. What are the
differences?
31
Experiment I
Time Constant
1.1
Objective
To compare the time constant of differnet type of temperature measuring devices with reference
to mercury filled thermometer. Understanding the concept of resistance thermometer (or RTD)
and thermistor using the PT100 and NTC probes. Students should be able to understand the
relationship between resistance and temperature, and main difference between resistance
thermometer and thermistor.
1.3
Theory
Scale
Melting Ice
Boiling Water
0 0C
100 0C
Fahrenheit
32 0F
212 0F
273 K
373 K
In this experiment you will be familiarized with the following temperature measurement
devices:
1.4
a) Resistance thermometer
(TYPE K)
b) Thermistor
(NTC)
consists of a capillary tube with a bulbous end . clean , dry mercury is introduced and the
thermometer heated to drive off the air. The end is then scaled leaving mercury and mercury
vapour only.
On heating, the mercury expands relative to the glass container and a column is pushed along
the bore of the tube. A scale along the tube, calibrated in units of temperature, gives a direct
reading of temperature. The mercury-in-glass thermometer is an accurate device but is very
fragile and care should be exercised in use. This type of thermometer should not be used in
applications such as the food industry where mercury poisoning could occur in the event of
breakage.
The mercury may be replaced by other fluids according to the application. For example,
alcohol is cheaper and may be used at low er temperatures than mercury. A mercury-in-glass
thermometer is supplied with the Temperature Measurement Bench due to its stable and
accurate performance.
For accurate measurement of temperature using a liquid filled thermo meter, it is important that
the
thermometer is immersed into the medium being measured by the correct amount. The depth of
immersion is usually stated on the stem of the thermo meter and defines the condition under
which calibration is maintained. The immersion depth may be partial or total and is
independent of filling or range
1.5
33
1.6
Expansion of solids may be used to measure te mperature but direct measure ment is
impractical due
to the very small move ments involved. How ever, if two thin met al strips, having d if f erent coeff
icients of linear expression, are mechanically fastened together, the result is a strip which
bends significantly when heated. This combination is called a Bi-metal strip and the sensitivity
may be increased by coiling the strip int o a spiral. One end of the strip is f ixed to the case and
a pointer is attached to the other end. L inear scale may be obtain ed by suitable cho ice of metals.
This type of thermometer is very robust and has many applications throughout industry where
accuracy of measurement is not imp ortant.
The bi- metal thermometer supplied w ith the bench is mounted on th e back-board and gives a
direct reading of ambient a ir temperature.
1.7
Resistance Thermometer
The resistance of a material changes with temperature. Resistance thermometer uses this
relationship in measuring the temperature. If high accuracy is required, the material used in
resistance thermometer is platinum. Nickel is used in general operation and monitoring. Copper
is also suitable but only in a restricted temperature range of approximately 250 oC, because
copper tends to corrode more severely when subjected to oxidation.
Figure 3.1 shows the resistance change of the metals as a function of the temperature T.
They have a positive temperature coefficient . For the purpose of comparison a resistance
characteristics of a thermistor (NTC) was added, which runs much more non-linearly, and in
contrast to the metals, demonstrates a negative coefficient .
For small temperature ranges we may assume that linear relationships exist between
resistance and temperature. From figure 3.2 one can deduce the temperature-dependent
resistance ratio R(T) caused by the resistance change R is:
R(T) = Ro + R
(1)
Knowing that,
(2)
R(T) = Ro + R, thus:
34
R(T) = Ro + m T
= Ro (1 + m/Ro T)
= Ro (1 +
R / Ro
T
T)
= Ro (1 + 1 T)
Ni 100
(3)
where, 1 =
R / Ro
T
Pt100
Cu100
Figure 3.1
1 is the linear temperature coefficient of the resistive material. It provides the relative change in
NTC
resistance ( R/ Ro) for a certain temperature change ( T), for example 0.4% change in resistance
R(T)
R
per degree.
Ro = R(To)
T=T-To (To=00C)
Ro
T
Figure 3.2
R=R(T)-Ro
From Figure 3.1 we can see that for large measurement ranges no linear relationship between
resistance R and temperature T can be assumed. In this case we must take into consideration,
apart from the linear temperature coefficient
1 , also
To
T the square temperature coefficients 2, and
35
for very large temperature changes T also the cubic temperature coefficients 3, and if
necessary the biquadratic value 4.
R (T)
Ro 1
T2 ...
Tn
(4)
where, T T To
1.8
Thermal Response
The thermal response of a thermo meter to changes in te mperature is probably the most
important characteristic to consider w hen selecting instrumentat ion f or a particular application.
A thermo meter may be extremely accurate and stable in performance but totally unsuitab le f or
use in a dynamic situation, due to a time lag betw een system temperature and thermometer
reading.
The d iagra m below shows typical response curves f or a thermo meter when step changes in te
m- perature are applied .
The response of the thermo meter is def ined by the t ime ta ken f or the te mperature reading to
change by 63.2% of the step change. For any thermometer, this time will be a constant value
irrespective of step change and is def ined as the "t ime constant" f or the thermometer. Th e
time constant and re- sponse profile f or a thermometer will change if the system is modif ied.
For example, t he speed of response of a thermometer will be slowed down if it is protected f
rom the system being measured by a ther mo meter. The response will also be af f ected by the
thermal contact between the thermometer and pocket, f luid f illing of the pocket resulting in a
reduction in time constant.
36
The response of the thermometer is def ined by the t ime taken f or the te mperature reading to change
by 63.2% of the step change. For any thermometer, this time will be a constant value irrespective of
step change and is def ined as the "time constant" f or the thermo meter. Th e time constant and response prof ile for a thermometer will change if the system is modified. For example, the speed of
response of a thermometer will be slowed down if it is protected from the system being m easured by a
thermometer. The response will also be af f ected by the thermal contact between the thermometer and
pocket, f luid f illing of the pocket resulting in a reduction in time constant.
37
1.9
Setup
1.10 Procedure
Note: To discharge the hot water from the pot, request assistant from lab technician.
38
1.6
Result
Plot the graph of T against time for each type of temperature measuring devices.
Calculate and plot the time constant for each thermometer.
Discuss on the plotted graph? Which type of temperature measuring device has
smallest time constant?
Experiment II
Type K thermocouple
2.1
Objective
2.2
Thermistor
39
If the CuO2 is mixed with the ingredients of a ferroelectric material (e.g. BaTi), the
temperature coefficient is initially negative only for low temperatures. After reaching a
threshold temperature the temperature coefficient becomes very strongly positive in a narrow
temperature range. For even higher temperatures the temperature coefficient reverts back to
negative. Because of the clearly delineated positive temperature coefficient range, these sensors
are called PTC resistors. They are mainly used for trigger purposes.
2.3
NTC sensors possess a high sensitivity, which is easily 10 times higher than that of
metal resistance thermometers. The non-linearity of NTCs and their broad manufacturers'
tolerances exclude them from use for precision instruments. In the temperature range between 60oC and +150oC they are frequently used in the area of household appliances and medical
technology because of their high sensitivity and corresponding simple circuitry.
The effect of NTCs, whereby the resistance lowers as the temperature increases, is
explained by the semiconductor mechanism. In semi-conductors (as opposed to metal
conductors) the valency electrons have relatively strong bonds to the atomic nuclei of the
crystal lattice. A rise in temperature loosens this bond and more and more electrons enter into
the conduction band, where they are available for charge transport (i.e. for increased current),
thus reducing the ohmic resistance.
PTCs behave in the same manner below the threshold temperature. The
resistance lies only somewhat higher than for NTCs, because, due to the mixture of a
ferroelectric material to the semiconductor material an additional resistance of both
components results (series connection). However, with increasing temperature a
strong increase in resistance is observed within a narrow temperature range, which is
caused so rapidly by the sudden cancelling of a uniform orientation of all magnetic
forces in the ferroelectric material. Through thermal motion an amorphous crystal
structure is produced, which results in a considerable prolongation of the current
paths, on which the electrons move through the PTC. If this transition is completed,
the resistance then drops again as the rise in temperature continues. Thus the
function R(T) of the PTC follows the characteristic of its semiconductor components,
supplemented by the characteristics of its ferroelectric components.
They are generally intended for applications where a considerable change of
esistance is required as a function of themperature, or of dissipated power, for
example: heating elements, temperature indication, control or alarm, time-delay of
relays, circuit protection etc.
40
2.4
RT = AeB/T
(5)
The material constant B is given in Kelvin, e.g. B = 3800 K. The constant A gives
the resistance for infinitely high temperature. As the sensor cannot register this
temperature, the constant A cannot be used as a practical parameter. The
requirements for practical application can be better satisfied with the following
dependency RT. For this the reference temperature To = 20oC is used, for which the
resistance has its nominal value Ro. Due to the fact that in the above equation only A
is unknown, the equation is then solved for A, which is inserted into RT:
R(To) = Ro
= AeB/To
A = Roe-B/To
(6)
RT = RoeB(1/T - 1/To)
(7)
41
2.4
Procedure
2.5
Result
Table 2.1 Type K experiment result
Type K
Time (min)
Voltage(mV)
Temp(oC)
0
2
4
6
8
10
12
14
Explain the results of this measurement. How does the temperature effect the
voltage output?
Plot the temperature against time and voltage against temperature.
Is the graphs linear? If it is a linear get the slope of the best fit line.
Include error analysis.
42
Experiment III
Humidity
3.1
Objective
3.2 Introduction
Humidity is the amount of water vapor in the air. Relative humidity is defined as the ratio of the
partial pressure of water vapor in a parcel of air to the saturated vapor pressure of water vapor at
a prescribed temperature. Humidity may also be expressed as specific humidity. Relative
humidity is an important metric used in forecasting weather. Humidity indicates the likelihood
of precipitation, dew, or fog. High humidity makes people feel hotter outside in the summer
because it reduces the effectiveness of sweating to cool the body by reducing the evaporation of
perspiration from the skin. This effect is calculated in a heat index table
Hygrometers are instruments used for measuring humidity. A simple form of a hygrometer is
specifically known as a psychrometer and consists of two thermometers, one of which includes
a dry bulb and the other of which includes a bulb that is kept wet to measure wet-bulb
temperature. Modern electronic devices use temperature of condensation, changes in electrical
resistance, and changes in electrical capacitance to measure humidity changes. Hygrometers
measure humidity while psycrometers measure realative humidity in the air.
In a psychrometer, there are two thermometers, one with a dry bulb and the other with a wet
bulb. Evaporation from the wet bulb lowers the temperature, so that the wet-bulb thermometer
usually shows a lower temperature than that of the dry-bulb thermometer, which measures drybulb temperature. When the air temperature is below freezing, however, the wet bulb is covered
with a thin coating of ice and yet may be warmer than the dry bulb. Relative humidity is
computed from the ambient temperature as shown by the dry-bulb thermometer and the
difference in temperatures as shown by the wet-bulb and dry-bulb thermometers. Relative
humidity can also be determined by locating the intersection of the wet- and dry-bulb
temperatures on a psychrometric chart. One device that uses the wet/dry bulb method is the
sling psychrometer, where the thermometers are attached to a handle or length of rope and spun
around in the air for a few minutes.
43
3.2 Procedure
Dy Bulb
Initial Reading
Final Reading
Humiditiy from psychrometeric
Chart
Humidity reading from dail gage
- Compare the humidity measurements between hunidity dail gage and the psycrometric chart
- Error analysis
44
a.
b.
c.
45
Introduction.
In this lab, the students are to be expose to several type of photo transducer with their
characteristic that are related to Inverse Square Law and Lamberts Cosine Law.
1.1
Objective
To understand the photo transducers effect and its relations with Inverse Square Law and
Lamberts Cosine Law. Students will measure the effect of the incident light on the behavior of
a photodiode, phototransistor and photo conductive cell.
1.2
Theory
When light falls onto certain material, its energy will be given up as being described by the
principle of photo-electric transducer. The energy will become energy in the form of electric
current. Human eyes is an example of a photo-electric transducer. Eyes act as a transducer by
converting light energy to signals that will be sent to the brain for further process.
Experimentally, one can know the intensity of the light falls on an object by measuring the
corresponding electric current caused by the light. In this experiment, you will learn to use
photo-electric transducer to measure the intensity of light in relation to the induced current and
resistance.
The variety of colors existing in this world is due to the fact that sun-light has different
components of light. Color of light is determined by its frequency, which in turn proportional to
the reciprocal of its wavelength. The relationship between light frequency, speed of light and
v
f
1
= frequency
The spectrum for light with its wavelength has been measured experimentally as shown below.
46
v
f
v
1.3
47
d2
Hence, the illumination on a surface is inversely proportional to the square of its distance
from the source. The illuminance, E (lux) is given as,
Where
d
1.4
distance (m)
Incident
Light
= Illumination surface 1
Illumination surface 2
Figure 4.1
E
1.5
d2
cos
Conduction band
doNor
level
photon
Impurity
excitation
Intrinsic
excitation
Energy gap
Eg
AccePtor
level
Valence band
Figure 4.2 Effect of photons in energy bands of a semiconductor with both P & N type impurities
An electron/'hole pair may be generated by a high energy photon as described above. The
electron jumps the gap into the conduction band. This is called intrinsic excitation.
An electron in the doNor level" (for N type) may be excited into the conduction band.
A valence electron may fill a hole in the accePtor level (for P type).
49
These last two transitions are known as impurity excitations and require less energy than
intrinsic excitations. However, the density of states in the conduction and valence bands greatly
exceeds the density of impurity states. At room temperature, most of the impurity atoms are
ionised in any case. Thus, photoconductivity is due principally to intrinsic excitation. Impurities
however do have advantages as discussed later. Our transducer is actually an N-type semiconductor.
The carriers generated by the photo-excitation will move if an external voltage is applied to
the device. This superimposes a regular drift on their random diffusion motion colliding with
others. They may however, recombine with an available hole or electron before they reach the
edges of the material. This may affect the response time of the device, cut down the available
current (loss of sensitivity) or introduce non-linearities. Those carriers remaining will constitute
the device current which thus depends initially on the number of photons.
The actual process is extremely complicated and depends on several factors, including the
density of the states in the energy bands, the probability that a photon will excite an electron,
and other factors, including carrier lifetime and mobility which depends upon recombinations
and trappings. Thermal effects also play a part.
1.6
1. Only plug the banana plug into the banana socket according to the experiment manual when
doing experiment, plugging the plug into the wrong socket may damage the electronics
component inside the control box.
2. Check the wiring connection between banana socket first before turn on the control box.
3. Do not connect the positive terminal of the power supply to negative terminal of the power
supply without connecting to any load between them.
4. Make sure the connection between the measurement point and the measurement meter are
in correct polarity.
5. Make sure the connection of the lamp to the power source are in correct polarity.
6. If the experiment is conducted during day light, take the reading as soon as possible in case
the day light varies. Also keep your hand away from the rig when taking readings in case
they cause unwanted reflections of light onto the transducers.
7. While the lamp is turn on, avoid touching the lamps body.
8. Before using the multi-meter to do voltage/current measurement, make sure the correct
measurement range is selected on the multi-meter. Also make sure the banana plug is
connected to correct terminal of the multi-meter.
Pre-experiment procedure
1. Read the safety instruction given before conducting the experiment.
2. Read and understand the theory of photo transducer before lab session.
3. Read and understand the theory of Inverse Square Law and Lamberts Cosine Law before
lab session.
4. Prepare the accessories needed for the experiment.
50
Experiment 1: Photodiode
2.1.
PROCEDURES
4. Repeat the procedure 3 for the angles as shown in the table below.
5. After finish the experiment, switch off the lamp power supply and the main power supply
switch on the control box.
2.2.
Current (A)
Resistance ()
1000
900
800
700
600
500
400
300
200
100
Switch Off the
lamp
For each distance, calculate the resistance of the transducer by applying Ohms law and
dividing the applied voltage by the current flowing, R = Vdc/I
What is the relationship between resistance and distance at constant voltage?
Why the current did not become zero when the lamp is switch off?
How can you relate the result obtained with Inverse Square Law? Plot graph if required?
Plot a graph of current flowing against distance. Label your graph with the value of applied
voltage. Discuss the shape of the graph.
52
Angle (Degrees)
Current (A)
Resistance ()
30 (ACW)
25
20
15
10
5
0
10 (CW)
5
10
15
20
25
30
53
Current (mA)
Voltage
(Volt)
Device Resistance
()
1000
900
800
700
600
500
400
300
200
100
Off of the lamp
55
Angle (Degrees)
Current (A)
Resistance ()
30 (ACW)
25
20
15
10
5
0
5
10
15
20
25
30
56
Experiment 3: Phototransistor
4.1 Procedure
Part 1: Phototransistor - Inverse Square Law
1. Make sure the control boxs main switch is turn off first before start doing wiring
connection.
2. Unplug all the banana plug from the banana terminal first before assembling out the
circuit.
3. Start connecting the circuit using banana plug to respective banana socket, by using
circuit diagram below as reference:
57
900
800
700
600
500
400
300
200
100
Voltage
(V)
Current (mA)
0
1
2
5
10
58
Angle (Degrees)
Current (A)
Resistance ()
30 (ACW)
25
20
15
10
5
0
5
10
15
20
25
30
Plot graph and write the analysis according to the objective of the experiment.
59
1. What are the examples of flow measurement techniques that use obstruction.
2. Draw the cross section of a venturi meter and label the throat, upstream, and recovery cone.
4. What is discharge coefficient ? What are Cd for orifice plate and venturi meter ? What
does the Cd value tells us ?
________________________________________________________________________
________________________________________________________________________
5. What does smaller discharge coefficient tells us?
60
Objective
In this experiment, students will learn different types of flow meters devices to measure
liquid (water) volume flow rate. The flow meters used on the apparatus are venturi meter,
variable area meter and orifice plate. From these three devices, you will be able to compare the
advantages and accuracy of each device.
1.1
Theory
The theory behind this experiment is similar to the air flow rig in experiment 2. From the
pressure drop on the orifice or the venturi meter, the flowrate of the fluid can be calculated.
Applying Bernoulli equation:
V12
2g
For same elevation, Z1 = Z2
P1
g
V22
Z1
V12
V22
P1
g
2g
P2
g
2g
Z2
P2
g
2g
P1 P2 V2 V1
g
g 2g 2g
1
1 2
P1 P2
V
g
2g 2
For an ideal flow :
V12
Q A1V1 A 2 V2
A2
V1
V2
A1
SubstituteV1 int o
1
(p1
g
1
(p1
g
p1
1
V2
2g 2
p2 )
V22
p2
1
(V 2
2g 2
p2 )
A2
A1
V12 )gives :
A2
A1
V22
V22
2(p1
A2
A1
V2
p2 )
2(p1
1
p2 )
A2
A1
61
Qideal A 2
2(p1 p 2 )
1
A2
A1
The above is for an ideal flow. For venturi tube and the orifice, the equation must be
multiplied with the coefficient of discharge, Cd:
Qactual
Cd Qideal
Qactual
Cd A 2
2( p1
1
Where,
Cd
Q
A2
A1
P
:
:
:
:
:
A2
A1
discharge coefficient
3
volume flowrate (m /s)
throat diameter for venturi, or orifice diameter for orifice plate
upstream pipe diameter
(P1-P2) pressure drop across the venturi meter or the orifice ( g h)
1.2
p2 )
Discharge Coefficient
What is really a discharge coefficient? You have observed in the previous experiments on
the airflow rig where the discharge coefficient is always used in relation to the orifice plate and
the nozzle. Similarly, discharge coefficient will be applied to venturi tube too. Discharge
coefficient basically tells how much the actual flow defers from the ideal flow:
Cd
Qactual
Qideal
A smaller value of discharge coefficient tells that the actual flow is smaller compare
to the ideal or theoretical value. The discharge coefficient for the orifice plate is 0.63
while for the venturi meter it is 0.98. There is more resistance to the flow imposed by
the orifice plate, and subsequently it causes some loses through the meter. This loss can
be observed from the large pressure drop across the orifice compares to the pressure
drop across the venturi meter.
62
1.3 Apparatus
The hydraulic bench and the apparatus are as shown above. The flow meter apparatus
is set up on top of the hydraulic bench. The apparatus above consists of venturi meter,
variable area meter and orifice plate and 8 bank manometer. Pressure readings of the
water flow will be taken from the 8 bank manometer.
1.3.1 Technical Data:
Venturi meter
Upstream pipe diameter
hence A1
Throat dia.
hence A2
Upstream taper
Downstream taper
1.4
=
=
=
=
=
=
31.75 mm
-4
2
7.92 x 10 m
15 mm
-4
2
1.77 x 10 m
0
21 inclusive
0
14 inclusive
Orifice plate
Upstream pipe diameter
hence A1
Orifice diameter
=
=
=
hence A2
= 3.14 x 10-4 m2
31.75 mm
-4
2
7.92 x 10 m
20 mm
Procedure
1. Observe that the apparatus is placed on the hydraulic bench. The inlet pipe of the apparatus
is connected to the hydraulic bench supply, while the apparatus outlet pipe is connected to
the pipe going to the volumeter tank.
2. Note that the hydraulic bench inlet valve is in shut position.
63
3. Switch on the pump then slowly open the hydraulic bench inlet valve.
4. At the same time open the flow control valve, the outlet valve on the apparatus.
5. To disperse air trapped in the flow system, close flow control valve, open air bleed screw
and prime manometer and tappings. When done, close back the air bleed screw.
6. Switch off the pump and adjust the levels of the manometer by adjusting the air bleed screw.
Try to get initial manometer level at a comfortable level so that when experiment is carried
out there will be enough room for the water column in the manometer to move up and down.
Close back the air bleed screw when done. Switch on the pump again.
7. Adjust the inlet and outlet valves so that variable meter gives the flow rate of 2 Liter/min.
Record the manometer reading. Increase the flow rate until 22 Liter/min.
8. Measure a certain volume of the reservoir, using stop watch measure the time taken to fill
that portion.
9. Repeat step 7 to get another set of data.
1.5
Results
Get the manometer readings for the respective flow rates of the variable meter.
Table 1 Experiment Result
Variable
Meter
Flow rate
Manometer Readings (mm)
(Liter/min)
1
2
3
4
5
6
7
2
5
10
12
15
18
20
22
Seconds
Why the heights should different in relation to the others in the manometer?
Why velocity at P2 and P7 are different?
Which flow meters devices as the smallest error? Include error analysis.
Venturi
Flowrate
3
m /s
Oriface
Flowrate
3
m /s
Flowrate
using
stopwatch
3
m /s
Venturi
%
Oriface
%
Stopwatch
%
Velocity at
P7
m/s
Reynolds
Number
at
P2
Velocity at
P2
m/s
Reynolds
Number
at
P7
65
Lab No.6
Name: _____________________
3. Describe what do you understand about the control actions: proportional, derivative and Integral.
4. Draw an example of a system response with depict peak overshoot, settling time, rise time and
steady state error.
5. What are the three types of response for a second order system?
47
Lab No.6
Objective
This experiment consists of two sections. In the first section, you will learn the importance of
the vital system characteristics in the assessment of control loop efficiency. In the second
section, you will learn to evaluate the PID control elements using the PCU computer controlled
flow cycle.
1.1
Theory
A. Introduction to Control System
In the industrial world the field of control engineering is very crucial. Control systems are
designed to achieve specified objectives within a given set of constraints. The three common
control strategies are open-loop, feed forward and closed-loop control. The open-loop control
cannot compensate for either disturbances to the system or changes in plant parameters (Figure
7.1). For example an open-loop speed control system cannot compensate for load variation
(disturbance) and the bearings friction variation (plant parameter).
Input
(desired behavior)
Control
Output
Process
s
Action
(actual behavior)
Figure 6.1 Open Loop Strategy
Controller
The feedforward control attempts to compensate for disturbances before they have any
effect on the system output (Figure 6.2). This strategy can be effective if the disturbance can be
measured. However it cannot compensate for changes of the plant parameters which cannot be
measured and treated as a disturbance.
Disturbances
Measure Disturbances
Input
(desired behavior)
Controller
Control
Process
Action
Output
(actual behavior)
48
Lab No.6
Disturbances
Input
Controller
(desired behavior)
Control
Action
Process
Output
(actual behavior)
Measure
Output
Figure 6.3 The Closed-loop (feedback) Control Strategy
B. PID Controller
The term PID controller refers to proportional, integral and derivative controller. PID
controllers are the most common controller used in the industrial process control.
I) Proportional Control Mode
In this mode the output of the controller is proportional to the error between the set
point and the measured value. Proportional control may be expressed as either proportional
gain or proportional band. Mathematically ,
Mp =PG(SP-MV)+C = PG e(t) +C
Where,
PG
=
SP
=
MV
=
C
=
e(t)
=
Mp
=
Controller Output
Proportional Gain
Set point
measured value
Output with zero error
Error as a function of time.
The error band where the output is between 0% and 100% is called the proportional
band (PB), and given by PB = 100/PG. Thus the higher the gain the smaller the band. This
control mode rarely produce adequate control, where there usually an offset (permanent
error).
II) Integral Mode
This mode of control is often used to remove proportional offsets errors. The integral
mode determines an output based on the history of error. It is calculated by finding the net
area under the error curve versus time and multiplying by a constant called the integral
action time (IAT) in seconds. The controller output equation is:
Mi( t )
PG
e( t )dt
IAT
The integral Action time is defined as the time taken for the integral action to duplicate
the proportional action of the controller, if the error remains constant during this period. It is
used commonly to remove any steady state errors incurred when using a proportional
controller.
49
Lab No.6
Md
PG DAT
de( t )
dt
duplicate the instantaneous output of the derivative element is called derivative action time
(DAT). The controller output equation is:
The derivative control mode is never used alone as there is no controller output
corresponding to zero rate of change. So it is commonly used with Proportional controller
(PD). However, it can also exaggerate high frequency noise in the system.
C. System Response
Figure 6.4 shows the typical system response of a control system. There are three types
of response for a second order system, which are overdamped, underdamped, and critical
damped response. The system response depends on the PID gains set in the experiment. The
characteristics of the response is shown in Figure 6.5.
Figure 6.4
50
Lab No.6
Figure 6.5
Some of the important system performance parameters are:
Peak overshoot : is often expressed as percent overshoot at the first peak and given by (Peak
value- input value)/input value * 100
Settling time: The time taken to settle within 2% of the final value
Rise time: The time taken for the system to respond to a fraction of the final value on the initial
part. Typically 5-95% or 10-90%.
Steady state error : Any error between the set point and the controlled variable once the
system has stabilized.
1.2
Apparatus
51
Lab No.6
1.2.2 Description
LEGEND
A - Mains switch
G - Overflow pipe
H - Proportional valve
D - Bypass valve
E - Return valve
K - Water pump
L - Control panel
M - Level foot
52
Lab No.6
SAFETY / PRECAUTION
1. Ensure that there are sufficient water in the bottom reservoir tank before conducting the
experiments.
2. Make sure there are no leakages in the piping system before conducting the experiments.
3. Open the bypass valve before switching on the water pump and close it only after the flow is fully
circulated through the entire system for a brief period.
SETUP
1. Place the LS-33039 PID Controller Experiment Rig. on a level table and adjust the levelling foot
if necessary.
2. Connect the main power plug to electrical supply.
3. Connect the RS-485 cable from the computer to the control box.
4. Run the Data Acquisition Software from the computer
5. Switch on the mains switch on the control box
6. Ensure there is enough water in the bottom reservoir tank before switching on the pump.
7. The LS-33039 apparatus is ready to be used.
MAINTENANCE
1. Please check for signs of leakage in the piping system from time to time. Besides that there is no
major maintenance required for this apparatus
2. Kindly seek the assistance from the manufacturer if necessary.
1.2.3 Feedback
Feedback is an essential requirement for the control of any process. It consists of various
transducers measuring the conditions on the rig and feeding this information back to the
controlling microcomputer.
On the Process Control Unit the temperature at the sump, flowline and process tank are
measured using platinum resistance thermometers. The flowrate is measured by an in-line
flowmeter. These analogue signals are fed back to the signal conditioners on the Computer
Control Module (CCM) from where they are sampled by the microcomputer via an analogue to
digital converter (ADC). LED meters are used to display the temperatures and flowrate on the
system rig. Indicators are provided for the cooler, tank full sensor and drain/divener solenoids,
giving a status check when the Process Control Unit is in operation.
1.2.4
Flow measurement
The flow rate of the fluid is measured by means of a flow meter of the impeller type. The
fluid flows through the meter rotating the impeller, which has six blades. Mounted either side of
the impeller is an infra red transmitter and receiver producing an infra red beam which is
broken by the rotating impeller. Six pulses are therefore produced for one revolution of the
rotor, thus producing a frequency output 'which is proportional to the flowrate.
53
Lab No.6
Figure 6.8
1.2.5
Pump
The pump used is a centrifugal type. It is not a positive displacement type and thus its output
is not necessarily linearly proportional to speed, though variation in speed will, of course, vary
the output flow rate.
Activating Voltage : 12V D.C;
Maximum Continuous Current:
6 Amps
1.2.6
1.3 Procedure
1.3.1 Software Operation
a) Turn on both the computer system and the process control unit.
b) In the Windows desktop, select the LS-330390 PID icon.
c) In the program, follow the instructions in section 1 to familiarize yourself with the program.
54
Lab No.6
1.3.3 Results
Controller Settings
Steady
state
error
Under damped/
over damped/
Critical
Proportional
Integra
l
Derivative
0.1
3.5
0.01
0.05
0.5
Gain
Question : Comment on the difference between under damped, over damped and critical?
1.4
General Guidelines
The selection range of the PID elements is:
Proportional Gain: Between 1 to 10
Integral Action: Between 0 to 5
Derivative Action: Between 0 to 10
Compare and discuss the function of different types of controller.
Which type of controllers or combination of controller will give ideal control system that you
will recommend?
What is the optimum tuned PI controller?
Include error analysis.
55