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Ziegler-Nichols
Cohen-Coon
CHR,(set point, no
overshoot)
CHR,(set point, 20%
overshoot)
CHR,(load disturbance, no
overshoot)
CHR,(load disturbance, 20%
overshoot)
Proportio
Integral
Gain,
nal gain,
gain, I ,
Kc, (s-1)
P
99.2852
85.47
739
255.5
584
(s)
4.3437
2.1624
1.0072
1.1699
1.5653
0.3913
149.2
315
1.3044
0.6701
149.2
315
5.2176
0.6701
127.7
955
3.0000
0.7825
set to manual mode firstly. Then the MV value was increased by 5% from
46.5% to 51.5 % and holds for 3 sec after change the controller to
automatic mode. The process respond was observed until it stable at set
point or oscillated to infinity. The result obtain was plotted in table below.
Method
Terminology
Ziegl
Cohe
CHR,(load
er-
n-
point,
point,
disturbanc
disturbanc
Nicho Coon
no
20%
e, no
, 20%
ls
oversho
oversho
overshoot) overshoot
ot)
ot)
23.5
162.4
1.6
stable
7.2
oscillatin
6.5
83.5
3.9
56.6
3.9
stable
2.2
1.95
1.87
time,Ts(s)
Overshoot,
g
0.1
OV(m3/h)
Undershoot,US(
m3/h)
UCL(m3/h)
2.01
2.05
LCL(m3/h)
1.99
1.95
*UCL=upper control limit , LCL=lower control limit
The value for overshoot, undershoot, UCL and LCL in the graph show
the value at the set point in (m3/h). The dash, -indicating no value for
given terminology. For an example, at Cohen-Coons method there is dash
in both overshoot and undershoot value column, means that for CohenCoons method, there is straight increase in value to the set point without
shooting out value before it stable while dash in UCL and LCL means that
for Cohen-Coons method, there are no oscillation occur before reaching to
the stable value.
From the table above, it can be conclude that from the 6 method
that was tested, the most stable and reliable method goes for CohenCoons method with faster rise time 1.6s. it is about 14 time faster than
Ziegler-Nicholss method and 2 time faster for CHRs of (load disturbance,
no overshoot) method. There is also no oscillation occur to reaching the
stable value. And without overshoot, undershoot, UCL, and LCL for CohenCoons method. The process respond curve shown in the appendix.