Team Flow Eric Parker Jason Gunn Nathan Funk. Outline zBackground zPrevious Work zModeling zResults...
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Team Flow Eric Parker Jason Gunn Nathan Funk
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Transcript of Team Flow Eric Parker Jason Gunn Nathan Funk. Outline zBackground zPrevious Work zModeling zResults...
Team Flow
Eric Parker Jason Gunn Nathan Funk
Outline
BackgroundPrevious WorkModelingResults and ConclusionsQuestions
FLOW SYSTEM
Flow Background
Storage Tank
Pump
Flow Meter
Flow Background
Input = % motor speed
Output = mass flow rate (lbs/min)
SSOC Operating Range 10% - 90%
SSOC vs. COC
y = 0.64x - 1.12
0
10
20
30
40
50
60
0 20 40 60 80 100
Input (% motor speed)
Ou
tpu
t (l
b/m
in)
Controller Operating Curve
21 lb/min
30 lb/min
Previous Work
Modeling Step InputFOPDT ModelTransfer Function Parameters
tau=0.4sec K=0.66 (lbs/min)/% to=0.3 sec where
G=(Ke^(to*s))/(tau*s+1)
First Order Step Response
0
10
20
30
40
50
60
70
80
90
100
15 17 19 21 23 25 27
Time (sec)
% M
oto
r In
pu
t
0
10
20
30
40
50
60
70
Flo
w R
ate
(lbs/
min
)
Input
Experimental Output
Model Output
Previous WorkModeling Sine InputFOPDT ModelTransfer Function Parameters
tau=0.4sec K=0.7 (lbs/min)/% to=0.3 sec
Bode Plots
Frequency response
35
40
45
50
55
60
65
25 30 35 40 45 50
Time (sec)
% IN
PU
T
10
15
20
25
30
35
40
45
OU
TP
UT
(lb
s/m
in)Delta Y
Delta M
Input
Exp. Output
Model Output
Bode Plots
Two Types
Phase Angle vs Frequency
AR vs Frequency
Bode Plot
-360
-270
-180
-90
0
0.01 0.1 1 10
Frequency (Hz)
Ph
ase
An
gle
Fu
Model
Experimental
Bode Plot
0.1
1
0.01 0.1 1 10
Frequency (HZ)
AR
1/Kcu
Fu
-m = order
ExperimentalModel
Bode Results
Apparent Order is 1.8
Kcu = 2.6 (lbs/min)/%
Fu = 0.8 Hz
Modeling
Root Locus
ROOT LOCUS PLOT
-10
-8
-6
-4
-2
0
2
4
6
8
10
-7 -6 -5 -4 -3 -2 -1 0
REAL AXIS
IMA
GIN
AR
Y A
XIS
Ultimate
Critical
Quarter Decay
Theoretical Results
K cd= .22
K qd=3.4
K cu=5.2
Experimental Results
K cd=<.1
K qd=1.6
K cu=2.3
Kcd=.1
17
17.5
18
18.5
19
19.5
20
20.5
21
25 25.5 26 26.5 27 27.5 28 28.5 29 29.5 30
Time (sec)
Lb
/min
Kqd=1.6
20
22
24
26
28
30
32
34
36
38
40
29 29.5 30 30.5 31 31.5 32 32.5 33 33.5 34
Time (sec)
Lb
/min
4.0
1
Verification
1st peak = 4.02nd peak = 1.01/4 = .25 decay
Frequency1/(31.7-
30.5)=.83hz
Kcu=2.3
18
23
28
33
38
57 58 59 60 61 62 63 64 65
Time (sec)
lb/m
in
5 3.5
Calculations
1st peak=37.5 - 32.5=52nd peak=36-32.5=35Decay=(3.5/5)= .70
Frequency1/(59.2-57.9)
= .77hz
Experimental Results
K cd=<.1
K qd=1.6
K cu=2.3
Discussion
Theory ExperimentalKcd=.22 Kcd<.1
Kqd=3.4 Kqd=1.6
Kcu=5.2 Kcu=2.3
Conclusions
Critical damped Kc value .1
Quarter decay Kc value 1.6
Ultimate Kc value 2.3
QUESTIONS ?
