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%TO := %
%CO := %
Kd := K
U(s)
R(s) + E(s)
Gc(s)
G2(s)
M(s)
G1(s)
G1 ( s) =
K := 2.5
%TO
1 := 5min
%CO
( 1 s + 1) ( 2 s + 1) ( 3 s + 1)
2 := 0.8min
1 + Gc( s)
C(s)
Gc( s) = Kcu
3
3 := 0.2min
K
( 1 s + 1) ( 2 s + 1) ( 3 s + 1)
=0
s = u i
2
A u i B u + C u i + 1 + KKcu = 0 + 0 i
where
A := 1 2 3
B := 1 2 + 1 3 + 2 3
C := 1 + 2 + 3
2
B = 5.16 min
Imaginary part:
A u + C u = 0
2
B u + 1 + KKcu = 0
Real part:
u :=
C
A
Tu :=
2
u
2
1
Kcu := B u 1
A = 0.8 min
C = 6 min
Tu = 2.29 min
%CO
Kcu = 15.1
%TO
Gc( s) = Kc
Kc :=
Kcu
%CO
Kc = 7.5
%TO
I s
Kcu
Kc :=
2.2
I :=
Tu
1.2
%CO
Kc = 6.9
%TO
I = 1.9 min
(c) Quarter decay ratio tuning parameters for a series PID controller.
Gc( s) = Kc 1 +
s + 1
(D )
I s
Kcu
Kc :=
1.7
I :=
Tu
2
D :=
%CO
Kc = 8.9
%TO
Tu
8
I = 1.1 min
D = 0.29 min
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
A s + B s + C s + 1 + Gc( s) K = 0
with
A = 0.8 min
B = 5.16 min
C = 6 min
K = 2.5
%TO
%CO
(a) Roots of the characteritic equation, dominant roots, damping ratio and decay
ratio.
a) Proportional controller
1 + K Kc
C min 1
5.8883
polyroots
= 0.2808 2.0282i
min 2
B
0.2808 + 2.0282i
min 3
A
Damping ratio:
1
Decay ratio:
%CO
Kc := 7.5
%TO
Gc( s) = Kc
2.0282
1
T = 3.098 min
0.2808
:=
Roots of:
0.2808 + 2.0282
= 0.419
Gc( s) = Kc 1 +
2.0282min
= 0.137
Period: T :=
(2.0282 ) 2 = 0.28082(1 2)
0.2808
0.2808min
I s
%CO
Kc := 6.9
%TO
A s + B s + C s + 1 + K Kc s +
K Kc
I
I := 1.9min
=0
K Kc
min
I
5.776
1 + K Kc
0.555
1 =
polyroots
min
C
0.06 + 1.881i
0.06 1.881i
B min 2
A min 3
0.06
Damping ratio:
0.06 + 1.881
1.8814min
T = 3.34 min
Decay ratio:
= 0.032
T :=
0.06min
= 0.818
Roots of:
%CO
Kc := 8.9
%TO
s + 1
(D )
I s
A s + B s + C + K Kc D s + 1 + K Kc 1 +
K Kc
min
4.531
1 + K Kc 1 + D
0.952
polyroots
=
0.483 2.372i
1
( C + K Kc D) min
0.483 + 2.372i
2
B min
A min
Damping ratio:
0.483
2
0.483 + 2.372
= 0.2
Decay ratio:
K K
c
s +
=0
I
I
T :=
2.372min
T = 2.649 min
0.483min
= 0.278
(b) Simulate tye loop and plot responses to a unit step change in set point.
The linear loop is simulated with one Simulink transfer function block to simulate the process
and another block to simulate the controller. The controller block, G c(s), is obtained from
The plots for the three controllers, using the tuning parameters determined in Problem 7-2, are:
The responses are for the proportional (gold), PI (purple), and series PID (green). Notice how the
periods of oscillation and decay ratios closely match the analytical results of part (a) of this
problem. The proportional controller shows a very small offset:
1%TO
1 + K Kc
= 0.043 %TO
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
U(s)
R(s) + E(s)
Gc(s)
G2(s)
M(s)
G1(s)
G1 ( s) =
K e
t0 s
)(
1 s + 1 2 s + 1
K := 1.25
%TO
%CO
1 := 1min 2 := 0.6min
2
= 0.6
Gc( s) = Kc 1 +
t0e := t0 + t0
I s
0.9 1
Kc :=
P
K u
C(s)
t0 := 0.20min
t0e
Pu = 0.447
%CO
Kc = 1.6
%TO
I := 3.33 t0e
I = 2 min
Kc :=
0.984
Pu
K
0.986
I :=
P
0.608 u
0.707
%CO
Kc = 1.7
%TO
I = 1.2 min
Kc :=
0.758
K
Pu
0.861
I :=
1.02 0.323 Pu
%CO
Kc = 1.2
%TO
I = 1.5 min
0.5 1
Kc :=
P
K u
I :=
%CO
Kc = 0.89
%TO
I = 1.3 min
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
Gc( s) = Kc 1 +
s + 1 Parallel PID:
( D )
I s
t0e
Gc( s) = Kc 1 +
Pu = 0.447
1
I s
+ D s
Kc :=
1.2
P
K u
I := 2 t0e
Kc = 2.1
%CO
%TO
D := 0.5 t0e
Parallel PID: Kc := Kc 1 +
I := I + D D :=
D = 0.3 min
I D
%CO
Kc = 2.7
= 1.5 min
%TO I
I + D
D = 0.24 min
Kc :=
1.435
Pu
K
0.921
I :=
I = 1.2 min
P
0.878 u
0.749
D := 0.482 Pu
%CO
Kc = 2.4
%TO
1.137
I = 0.82 min
D = 0.25 min
Kc :=
1.086
Pu
K
0.869
I :=
%CO
Kc = 1.7
0.740 0.130 Pu
%TO
0.914
I = 1.9 min
D = 0.22 min
Kc :=
0.5
P
K u
Parallel PID: Kc := Kc 1 +
t0e
I := D :=
2
I := I + D D :=
Kc = 0.89
I D
%CO
%TO
I = 1.3 min
D = 0.3 min
%CO
= 1.6 min
I + D Kc = 1.1
%TO I
D = 0.24 min
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
T := 0.1min
T
2
:= 1.32min
t0e
Pu :=
Pu = 0.485
I s
0.9 1
Kc :=
P
K u
%CO
Kc = 1.5
%TO
I := 3.33 t0e
I = 2.1 min
Kc :=
0.984
K
Pu
0.986
I :=
0.707
P
0.608 u
%CO
Kc = 1.6
%TO
I = 1.3 min
Kc :=
0.758
Pu
K
0.861
I :=
1.02 0.323 Pu
%CO
Kc = 1.1
%TO
I = 1.5 min
0.5 1
Kc :=
P
K u
I :=
%CO
Kc = 0.82
%TO
I = 1.3 min
Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
( 1 s + 1) ( 2 s + 1)
)(
1 s + 1 2 s + 1
1
1
1
1
1 + 1 s + 1
Gc( s) =
=
=
2
K
G( s) c s
c s
K c
1 s
Gc( s) = Kc 1 +
Kc =
s + 1
( D )
I s
I = 1
K c
D = 2
K e
t0 s
( 1 s + 1) ( 2 s + 1)
C( s )
Gc( s) =
G( s)
C( s)
R( s )
C( s)
R( s)
( 1 s + 1) ( 2 s + 1)
G ( s) =
Substitute:
K e
R( s)
t0 s
t0 s
c s + 1
t0 s
c s + 1 e
t0 s
This is a PID controller with dead-time compensation. To eliminate the dead-time compensation
term use the Pad approximation:
t0 s
1
=
1+
Substitute:
t0
2
t0
2
s
1e
s
t0 s
1+
=
t0
2
s 1 +
1+
t0
2
t0
2
s
=
t0 s
1+
t0
2
Gc( s) =
)(
1 s + 1 2 s + 1
K
1+
t0
2
t0
c s 1 +
s + t0 s
2
( 1 s + 1) ( 2 s + 1) 20 s + 1
c t 0
K s c + t0 +
e =
t0
s + 1
1
1
2
Gc( s) =
1 +
( 2 s + 1)
e s + 1
K ( c + t0 )
1 s
c t 0
2 c + t0
This is a series PID controller with a lead-lag unit attached. The corresponding tuning parameetrs
are:
Kc =
1
K c
I = 1
D = 2
t0
and a second derivative with D2 =
2
In practice astandard PID controller is used with the tuning parameters of Problem 7-4.
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
Two additional blocks have been added to calculate the integral of the absolute value of the error.
Students are encouraged to adjust the controller parameters to minimize the IAE. However, they
should also observe the time response of the controller output and the controlled variable.
A sample plot to a unit step change in set point at 1 minute is:
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
%CO
Kcu := 250
%TO
Tu := 3.01min
Kcu
Kc :=
2.2
I :=
Tu
1.2
%CO
Kc = 114
%TO
I = 2.5 min
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
Gain:
10.1%TO
5%CO
K = 2.02
%TO
%CO
:= 1.5 t2 t1
t0 := t2
= 6 min
t0 = 3 min
From Table 7-2.1, the quarter-decay ratio tuning parameters for a series PID controller are:
1.2 t0
Kc :=
K
I := 2 t0
D :=
t0
2
%CO
Kc = 1.2
%TO
I = 6 min
D = 1.5 min
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
K :=
Gain:
5%CO
K = 2.24
%TO
%CO
:= 1.5 t2 t1
t0 := t2
0.9 t0
Kc :=
K
I := 3.33t0
%CO
Kc = 2.8
%TO
= 4.2 min
t0 = 0.6 min
I = 2 min
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
c
5%CO
K = 4.8
%TO
%CO
Two-point method:
0.283 c = 6.792 %TO
t1 := ( 7.5 1 )min
0.632 c = 15.168 %TO
t2 := ( 15 1 )min
:= 1.5 t2 t1
t0 := t2
0.9 t0
Kc :=
K
%CO
Kc = 0.77
%TO
I := 3.33 t0
1 + KT Kc 1 +
where
1
I s
Kv
v s + 1
2 2
KA + KB s + K3 s
( s + 1)3
%TO gal
lb
=0
gal
Kv := 2.46
min %CO
= 11.25 m
t0 = 2.75 mi
I = 9.2 min
KA := 0.0075
)(
lb min
gal
KB := 0.0075
s v s + 1 s + 3 s + 3 s + 1 + KT Kc Kv s +
3 3
2 2
3 5
lb min
gal
K3 := 0.0025
A := 3 v +
KL
v = 12.5 min
E := 1 + KL +
3
A = 132.5 min
K + K s + K 2 s2 = 0
A
B
3
=0
B := 3 v + 3 + KT Kc Kv K3
C := v + 3 + KT Kc Kv KB
gal
v s + A s + B s + C s + E s +
where
lb min
KL := KT Kc Kv KA
KT Kc Kv KB
KL = 1.415
I
2
B = 88.293 min
C = 22.176 min
E = 3.188
KL
min
E
9.905
0.39
1
min
= 0.112 + 0.164i
polyroots C
0.112
0.164i
B min
0.082
A min 3
3 min 4
v
T :=
T = 38.3 min
0.164min
Damping ratio:
0.112
2
0.112 + 0.164
Decay ratio:
0.112 min
= 0.564
= 0.014
There is essentially no oscillation in the response. The response is complete in less than one
complete oscillation. Students should verify this with the simulation of Problem 13-23 and
experiment with other tuning parameters. A higher controller gain is indicated by these results.
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
kscf := 1000ft
PC
T := 1.2s
Gsc( s) =
m(t)
SC
Ksc
sc s + 1
sc := 2.5s
Steam
kscf
PT
Ksc := 0.36
min %CO
Gp ( s) =
Kp
Suction
p := 7.5s
p s + 1
fc(t)
Discharge
ps(t)
fi(t)
psi min
Kp := 0.5
kscf
Ultimate gain and period:
%CO
Kcu := 15.9
%TO
Tu := 8.91s
I :=
Tu
%CO
Kc = 7.2
%TO
1.2
I = 7.4 s
KT
T s + 1
Kc 1 +
Ksc
Kp
I s sc s + 1 p s + 1
)2 (
T sc p s + T sc + T p + sc P s + T + sc + p s + 1 KL s
where
KL := KT Kc Ksc Kp
Find roots:
KL = 6.505
=0
KL
I
=0
KL
sec
I
1.16
1 KL
0.135
=
1
polyroots
sec
( T sc p)
0.036 0.498i
0.036 + 0.498i
( T sc + T p + sc p) sec 2
T sc p sec
Damping ratio:
0.036
2
0.036 + 0.498
= 0.072
Decay ratio:
T :=
0.498sec
T = 12.62 s
0.036sec
= 0.635
The damping ratio is too low and the decay ratio is too high. To reduce the oscillations a smaller
gain is required.
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
degC := Kd
Tset(t)
KFC
FC := 0.1min
FC s + 1
f(t)
H( s) =
KT
Ti(t)
Tc(t)
T := 0.6min
T s + 1
m(t)
TT
KFC := 0.008
min %CO
TC
SP
FC
%TO
KT := 2
degC
G1 ( s) =
FT
K2 K3
( 1 s + 1) ( 2 s + 1) K2 K4
1 := 13.77min 2 := 3.03min
K2 := 0.725
K3 := 28.94
Tci
fc(t)
T(t)
degC min
3
K4 := 0.525
%CO
Kcu := 86.7
%TO
Tu := 8.32min
I :=
Tu
%CO
Kc = 39
%TO
1.2
I = 6.9 min
KT
T s + 1
5
Kc 1 +
KFC
A := T FC 1 2
I s FC s + 1 1 s + 1 2 s + 1 K2 K4
A s + B s + C s + D s + E s
where
)(
K2 K3
KL
I
=0
=0
B := T FC 1 + T FC 2 + FC 1 2 + T 1 2
= 2.503 min
C := T FC 1 K2 K4 + T 1 + T 2 + FC 1 + FC 2 + 1 2 A
3
B = 30.214 min
)(
D := T + FC 1 K2 K4 + 1 + 2
E := 1 K2 K4 KL
KL := KT Kc KFC K2 K3
2
C = 53.52 min
E = 13.849
KL = 13.23
D = 17.234 min
min
I
E 9.993
1.882
1
D min
polyroots
=
0.154
2
C min 0.02 0.512i
0.02 + 0.512i
B min 3
min 4
A
KL
T :=
Tu = 8.32 min
0.512min
0.02
Damping ratio:
0.02 + 0.512
Decay ratio:
0.02min
= 0.039
= 0.782
The damping ratio is too low and the decay ratio is too high. The controller gain should be
decresaed to reduced the very oscillatory behavior.
Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
lbmole := 433.59mole
KT
T s + 1
cA2set(t)
cA1(t)
T := 0.5min
%TO gal
KT := 222
lbmole
G1 ( s) =
K4 1 s + 1 + K5 K1
V
fA(t)
DA
( 1 s + 1) ( 2 s + 1)
1 := 2.222min 2 := 1.429min
K1 := 0.006123
K4 := 0.00127
fi(t)
cAi(t)
AC
AT
V LT
LC
c A2(t)
lbmole min
2
gal
lbmole min
gal
K5 := 0.286
Gain: K :=
4.7
K = 0.94
%TO
%CO
Two-point method:
0.283 4.7%TO = 1.33 %TO
t 1 := ( 2.5 1 )min
0.632 4.7 %TO = 2.97 %TO
t 2 := ( 4 1 )min
:= 1.5 t 2 t 1
= 2.3 min
t 0 := t 2
t 0 = 0.8 min
Kc :=
K
I := 3.33 t 0
%CO
Kc = 2.9
%TO
I = 2.5 min
1+
KT
T s + 1
Kc 1 +
s
K K4 ( 1 + 1) + K5 K1 = 0
v
I s
( 1 s + 1) ( 2 s + 1)
)3 (
)2 (
T 1 2 s + T 1 + T 2 + 1 2 s + T + 1 + 2 + A s + 1 + KL s +
where
A := KT Kc Kv K4 1
KL := KT Kc Kv K4 + K5 K1
KL
=0
KL
min
I
1.204
1 + KL
1.204
1 =
polyroots
min
( T 1 2 A)
0.371
0.371
( T 1 + T 2 + 1 2) min 2
T 1 2 min
Damping ratio:
0.371
2
0.371 + 0.435
= 0.649
0.813i
+ 0.813i
T :=
0.435i
0.435min
+ 0.435i
Decay ratio:
T = 14.44 min
0.371 min
= 0.00471
The damping ratio is high and the decay ratio is small, with practically no oscillations. The
controller gain should be higher. The reason is that the quarter-decay ratio formulas are based on fit
1, not fit 3 (the two-point method), to determine the open-loop time constant and dead time.
Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
%TO := %
%CO := %
AC
M
AT To
incinerator
Ferric
Chloride
Sludge
0
1
m := 12.5%CO
1.5
2.5
First column is time in
minutes
3.5
Second column is outlet %
4.5
moisture in the solids
5.5
6.5
7.5
8.5
txm := 9.5
Problem data:
10.5
x in := 95%
x o := 75%
11.5
13.5
Transmitter (AT):
15.5
25.5
29.5
33.5
Filtrate
75.0
75.0
75.0
75.0
74.9
74.6
74.3
73.6
73.0
72.3
71.6
70.9
70.3
69.3
6.6
68.0
67.6
67.4
67.1
67.0
67.0
x in := 0.5%
0
1
2
3
4
5
6
7
8
9
10
txi :=
11
12
13
14
15
17
19
21
25
29
33
75.0
75.0
75.0
75.0
75.0
75.1
75.3
75.4
75.6
75.7
75.9
76.1
76.2
76.3
76.4
76.6
76.7
76.8
76.9
77.0
75.0
77.0
Xin(s)
Xoset(s)
KT
R(s) + E(s)
-
Gc(s)
G2(s)
M(s)
C(s)
G1(s)
Xo(s)
KT
x m = 8 %
K1 :=
x m
%TO
KT K1 = 1.6
%CO
72.736 txm
8, 1
txm
% + 0.283 x m = 72.736 %
0, 1
t1 := txm
+ tx
txm
8 , 0 m9 , 0
8 , 0 txm
txm
% + 0.632 x m = 69.944 %
0, 1
t2 := txm
+ tx
txm
12 , 0 m13 , 0
12 , 0 txm
t1 = 7.877
t2 = 12.212
69.944 txm
12 , 1
13 , 1
1 := 1.5 t2 t1 min
x i := txi
txi %
0 , 1
21 , 1
x i = 2 %
5.71s
6.5 s + 1
x i
%TO
%CO
%TO
KT K2 = 10
%
x in
t1 := txi
+ tx
txi
9 , 0 i 10 , 0
9 , 0 txi
10 , 1
txi
9, 1
76.264 txi
14 , 1
txi
% + 0.632 x i = 76.264 %
0, 1
t2 = 13.64
K2 :=
1.6e
txm
12 , 1
75.566 txi
9, 1
txi
% + 0.283 x i = 75.566 %
0, 1
t1 = 8.66
txm
8, 1
9, 1
t2 := txi
+ tx
txi
14 , 0 i 15 , 0
14 , 0 txi
2 := 1.5 t2 t1 min
15 , 1
txi
14 , 1
%TO
10e
KT G2 ( s) =
7.47 s + 1 %
(c) Discuss the controllability of the loop and the controller action.
The loop is difficult to control by feedback control because its ratio of dead time to time constant is
high:
t01
= 0.878
1
The controller must direct acting: an increase in moisture increases the controller output; this
increases the speed of the pump and the rate of ferric chloride addition; filtration becomes more
efficient and the moisture content of the product decreases.
(d) Gain of a proportional controller for minimum IAE response and offset to a 1%
increase in inlet moisture.
From Table 7-2.2:
Offset =
KT x o
set
t01
Kc :=
KT K1 1
0.902
K2 x in
Offset :=
1 + KT Kc K1
%CO
Kc = 0.64
%TO
0 K2 1 %
1 + KT Kc K1
t01
Kc :=
KT K1 1
0.9
I := 3.33 t01
%CO
Gc( s) = 0.64
%TO
Offset = 2 %TO
Offset
KT
= 0.789 %
%CO
Kc = 0.64
%TO
I = 19 min
%CO
1
Gc( s) = 0.64
1 +
%TO
19 s
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.
ppm := 10
SP
y max := 200ppm
Air Out
Negligible lag.
AC
AT
Water In
gal
fmax := 500
min
Negligible lag.
Air In
NH3 solution
(b) Block diagram of the loop and transfer function of each block. Use fit-3 on
response data (two-point method).
Yin(s)
set
o
Y (s)
KT
R(s) + E(s)
Transmitter (AT):
Control valve:
Gc(s)
M(s)
Kv
C(s)
F(s)
G2(s)
G1(s)
Yo(s)
KT
100%TO
KT :=
y max y min
%TO
KT = 0.5
ppm
fmax
Kv :=
100%CO
gal
Kv = 5
min %CO
The control valve fails closed (air-to-open) to prevent overflowing the absorber on instrument power
failure.
0
20
30
40
50
60
70
80
ty := 90
100
110
120
130
140
160
180
250
f := 50
50.00
gal
min
50.00
50.12
50.60
50.77
50.90
51.05
51.20
51.26
51.35
51.48
51.55
51.63
51.76
51.77
51.77
50.30
y o := ty
K1 :=
16 , 1
)ppm
ty
y o = 1.77 ppm
0, 1
y o
K1 = 0.035
y o1 := ty
0, 1
ppm + 0.283 y o
3, 0
y o2 := ty
+ ty
0, 1
4, 0
ty
3, 0
y o1 ppm
3, 1
4, 1
7, 0
Fit 3
+ ty
1 := 1.5 t2 t1 sec
8, 0
ty
7, 0
t1 = 46.7
3, 1
y o2 = 51.12 ppm
1
t2 := ty
ty
ty
ty
ppm + 0.632 y o
gal
y o1 = 50.5 ppm
1
t1 := ty
ppm min
y o2 ppm
ty
t01 := t2 sec 1
8, 1
ty
7, 1
ty
t2 = 84.58
1 = 0.95 min
7, 1
G1 ( s) =
0.035 e
0.46s
0.95 s + 1
ppm min
gal
(c) Quarter decay ratio tuning for proportional controller and offset to a set-point
change of
( 60 50)ppm = 10 ppm
From Table 7-2.1:
t01
Kc :=
KT Kv K1 1
1
%CO
Kc = 23
%TO
%CO
Gc( s) = 23
%TO
The controller is direct acting (negative gain): increasing outlet gas composition increases the
controller output; this opens the valve increasing the flow of water to he absorber and absorbing
more ammonia. The ammonia composition in the outlet gas decreases.
Offset :=
KT 10ppm
1 + KT Kc Kv K1
Offset
KT
= 3.3 ppm
(d) Quarter decay ratio tuning of series PID controller and offset.
From Table 7-2.1:
Kc = 28
%CO
%TO
t01
Kc :=
KT Kv K1 1
1.2
I = 0.93 min
I := 2 t01
D = 0.23 min
t01
D :=
2
%CO
1
Gc( s) = 28
( 0.23s + 1 )
1 +
%TO
0.93s
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.
degF := R
SP
0
0.5
1.0
2.0
2.5
3.0
3.5
4.0
4.5
5.0
tt :=
5.5
6.0
7.0
8.0
9.0
10.0
11.0
12.0
14.0
20.0
425.0
425.0
425.0
426.4
428.5
430.6
432.4
434.0
435.3
436.6
437.6
439.4
440.7
441.7
442.5
443.0
443.5
444.1
425.0
445.0
First column is
time in minutes
Second column
is temperature
in F
TT
Fuel
Air
Fin(s)
Toset(s)TC
KT
EF
TC
Process
air
R(s) + E(s)
%TO
TC
scfh
Gc(s)
C(s)
%TO
G2(s)
M(s) Furnace
%CO
KT
G1(s)
TT
To(s)
EF
100%TO
KT :=
Tmax Tmin
T := tt
T1 := tt
0, 1
19 , 1
degF + 0.283T
)degF
tt
degF + 0.632T
+ tt
7, 0
tt
6, 0
T1 degF
tt
7, 1
tt
6, 1
t1 = 3.517
tt
6, 1
T2 = 437.64 degF
t2 := tt
11 , 0
Process by fit 3:
%TO
KT K1 = 2
%CO
T1 = 430.66 degF
6, 0
0, 1
K1 :=
0, 1
t1 := tt
T2 := tt
%TO
KT = 0.5
degF
1 := 1.5 t2 t1 min
+ tt
12 , 0
tt
11 , 0
T2 degF
t01 := t2 min 1
tt
tt
11 , 1
12 , 1
tt
11 , 1
t2 = 6.022
%TO
2e
KT G1 ( s) =
3.76s + 1 %CO
Kc = 1
%CO
%TO
t01
Kc :=
KT K1 1
1.2
I = 4.5 min
I := 2 t01
D = 1.1 min
t01
D :=
2
%CO
1
Gc( s) = 1
( 1.1s + 1 )
1 +
%TO
4.5s
Kc = 0.42
%CO
%TO
t01
Kc :=
KT K1 1
0.5
I = 3.8 min
D = 1.1 min
I := 1
t01
D :=
2
%CO
1
Gc( s) = 0.42
( 1.1s + 1 )
1 +
%TO
3.8s
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
T3set(t)
TC
N2
TT
p2 = 40 psia
3 ft
Steam
fs(t)
AO
hset(t)
LT
LC
AO
h(t)
5 ft
T
Condensate
T1(t)
p1(t)
vp2(t) T3(t)
p3(t)
Quarter decay ratio tuning parameters of series PID temperature controller TC.
From the solution to Problem 6-24, the ultimate gain and period are:
%CO
Kcu := 38.9
%TO
Tu := 1.116min
Kc = 23
%CO
%TO
Kc :=
Kcu
1.7
I = 0.56 min
Tu
I :=
2
Tu
D :=
8
D = 0.14 min
%CO
1
Gc( s) = 23
( 0.14s + 1 )
1 +
%TO
0.56s
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.
SP
TC
Reactants
Steam
SP
LT LC
TT
Water
Products
Problem data:
:= 50
Tmin := 150degF
:= 55
lb
ft
Design conditions:
p v := 10psi
gal
fd := 200
min
Tmax := 350degF
ft
Gf :=
62.4lb
gal
fpump := 400
min
Gf = 0.881
T := 275degF
(constant)
vp := 5%
T := 4.4degF
%CO
Kcu := 16
%TO
Tu := 24min
(a) Size control valve for 100% overcapacity. Valve fail-safe position and controlle
action.
Cvmax := 200% fd
Gf
p v
Cvmax = 119
gal
min psi
gal
min psi
The valve must fail closed (air-to-open) to prevent by-passing too much hot oil on instrument power
failure that would overheat the reactor.
The controller must be reverse acting (positive gain): an increase in reactor temperature
decreases the controller output closing the by-pass valve; this reduces the by-pass flow of hot oil
decreasing the oil temperature and the reactor temperature.
(b) Valve position at design conditions and maximum flow through the valve when
fully opened.
Assume
the pressure drop through the boler tubes varies with the square of oil flow through the tubes
the pump flow is constant as the valve position changes
the pressure drop across the valve is the same as the pressure drop across the boiler tubes.
fv = Cv
p va
fpump
p va = p v
fpump
Gf
fv
fv
= Gf
fd
Cv
Cv = Cvmax
vp 1
Cv
At design conditions:
Cv := fd
ln
Gf
p v
p v fpump fvmax
Cvmax C = 59.4
v
ln( )
vp := 1 +
fvmax
vp = 69.6 %
min psi
Let
k v := Cvmax
Gf
fpump fd Cvmax
kv
fv :=
f
1 + k v pump
gal
p v
Gf
1
fpump fd
gal
fv = 306.6
min
k v = 3.284
Fin(s)
Tset(s) TC
KT
EF
R(s) + E(s)
%TO
TC
lb/hr
Gc(s)
M(s) Furnace
%CO
C(s)
KT
%TO
100%TO
KT :=
Tmax Tmin
ln( ) fd
Kv :=
100%CO
%TO
KT = 0.5
degF
G2(s)
G1(s)
To(s)
EF
TT
gal
Kv = 7.824
min %CO
(d) Calculate the process gain atb design conditions, including the control valve an
( )
p
g
the temperature transmitter.
K1 :=
T
vp
%TO
KT K1 = 0.44
%CO
K1 = 88 degF
(e) Quarter decay tuning parameters for series PID temperature controller.
From Table 7-1.1:
Kc = 9.4
Kcu
Kc :=
1.7
%CO
%TO
Tu
I :=
2
= 0.083
repeats
min
Tu
D :=
8
D = 3 min
repeats := 1
%CO
0.083
Gc( s) = 9.4
( 3s + 1
1 +
%TO
s
(f) Quarter-decay ratio tuning of proportional temperature controller and offset for a
set point change of -10F.
From Table 7-1.1:
Offset :=
Kc :=
KT ( 10degF)
1 + KT Kc K1
Kcu
2
%CO
Kc = 8
%TO
Offset = 1.11 %TO
%CO
Gc( s) = 8
%TO
Offset
KT
= 2.21 degF
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
weight% := %
Vapors
Vapors
Steam
SP
FT
SP
FC
12
LT
SP
LC
Cond.
13
AT
Feed
Problem data:
LC
LT
12
Product
Feed := 50000
lb
hr
x F := 5weight%
x min := 10weight%
x F := 0.75weight%
x max := 35weight%
25
24.5
24
23.5
23
22.5
22
21.5
21
0
100
200
300
400
500
600
700
Time, sec
m := 2.5%CO
25
24.5
24
23.5
23
22.5
22
21.5
21
0
100
200
300
400
500
Time, sec
600
700
800
900
1000
(a) Block diagram of the composition control loop, transfer functions, cntrol valve fa
safe position, and controller action.
XF(s)
Xset(s) AC
wt% KT
AC
R(s) + E(s)
%TO
Gc(s)
M(s)
%CO
C(s)
KT
%TO
Analyzer transmitter:
G2(s)
wt%
100%TO
KT :=
x max x min
X(s)
G1(s)
wt%
AT
%TO
KT = 4
weight%
K1 :=
( 24.7 21.5)weight%
m
weight%
K1 = 1.28
%CO
t1 := 256sec
t2 := 419sec
1 := 1.5 t2 t1
min
) 60sec
t01 := t2 1
min
) 60sec
1 = 4.08 min
KT G1 ( s) =
Change in feed composition:
K2 :=
( 24.7 21.5)weight%
x F
K1 = 1.28
t1 := 143sec
t2 := 237sec
min
) 60sec
t02 := t2 2
min
) 60sec
5.12e
4.08s + 1
2 = 2.35 min
KT G2 ( s) =
2.91s
%TO
%CO
%TO
KT K2 = 17.07
weight%
2 := 1.5 t2 t1
%TO
KT K1 = 5.12
%CO
17.07e
2.35s + 1
%TO
weight%
Note: Students should be encouraged to try also fits 1 and 2 and compare the answers.
The control valve must fail closed (air-to-open) to prevent overheating the evaporator on instrument
power failure.
The controller must be reverse acting (positive gain): increasing product composition decreases
the controller output closing the steam control valve; this decreases the rate of evaporation reducing
the product composition.
t01
Kc :=
KT K1 1
0.9
I := 3.33 t01
%CO
Kc = 0.25
%TO
Quarter decay ratio tuning is based on fit 1 parameters. From the figure above:
min
t01 := 130sec
1 := 580sec t01
60sec
t01
Kc :=
KT K1 1
0.9
I := 3.33 t01
%CO
Kc = 0.61
%TO
I = 9.7 min
1 = 7.5 min
I = 7.2 min
This is over twice the gain and 25% faster reset than with fit 3 parameters.
t01
Kc :=
KT K1 1
0.5
I := 1
%CO
Kc = 0.34
%TO
I = 7.5 min
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.
psia := psi
TC
11
Coolant
Product
P1
Tmax := 230degF
P2
:= 50
Equal-percenage valve:
Open-loop test:
TT
gal
fcw := 10
min
Feed
TR := 5.2degF
%CO
Closed-loop test: Kcu := 8.0
%TO
Tu := 14min
(a) Size control valve for 100% overcapacity, valve gain at design flow, valve
fail-safe position.
p v := p 1 p 2 p L
Gf := 1
Gf
p v
k L :=
p L
Gf fcw
Cvmax = 313.05
gal
min psi
p v = 5 psi
ln( )
Kv :=
100%CO
k L = 8.163 10
Cv := fcw
Cvmax := 400
fcw
1 + k L C v
Gf
p v
psi
Cv = 156.5
min
gal
gal
min psi
gal
min psi
gal
Kv = 4.564
min %CO
The valve must fail open (air-to-close) to prevent overheating the reactor on loss of instrument
power. This is why the gain is negative.
Fin(s)
lb/hr
TC
Tset(s) TC R(s) E(s)
+
M(s)
EF
%CO
KT
Gc(s)
%TO -
KT
%TO
K1 :=
TR
fcw
Fcw(s)
Gv(s)
C(s)
100%TO
KT :=
Tmax Tmin
G2(s)
gpm
TR(s)
EF
TT
%TO
KT = 2.5
degF
%TO
KT K1 Kv = 5.933
%CO
G1(s)
K1 = 0.52
degF min
gal
repeat := 1
(c) Quarter-decay ratio tuning of PID temperature controller and controller action.
From Table 7-1.1:
Kc :=
1
I
Kcu
1.7
= 0.14
Tu
I :=
2
repeat
min
Tu
D :=
8
100%CO
Kc
= 21 %TO
100%CO
0.14
D = 1.75 min Gc( s) =
( 1.75s + 1 )
1 +
21%TO
s
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
Stack
AC
Feed
AT
Dry
phospahates
Fuel
Air
Design conditions:
x F := 15weight%
x := 3weight%
XF(s)
Xset(s) AC
wt% KT
R(s) + E(s)
%TO
AC
Gc(s)
C(s)
%TO
Transmitter AT:
100%TO
KT :=
x max x min
G2(s)
wt%
M(s)
%CO
KT
G1(s)
X(s)
AT
%TO
KT = 25
weight%
m := 8%CO
wt%
Product moisture,wt %
4.5
3.5
2.5
0
50
100
150
200
250
300
350
400
Time, sec
x := ( 4.5 3 )weight%
From the graph:
K1 :=
t01 := 70sec
min
1 := t2
t01
60sec
m
min
60sec
weight%
K1 = 0.188
%CO
%TO
KT K1 = 4.688
%CO
KT G1 ( s) =
x F := 3weight%
4.688e
t2 := 190sec
1.17s
2.0s + 1
%CO
%TO
5.5
4.5
3.5
2.5
0
50
100
150
200
250
300
350
400
Time, sec
x := ( 5.0 3.0)weight%
From the graph:
K2 :=
t02 := 65sec
min
2 := t2
t02
60sec
weight%
K2 = 0.667
weight%
x F
min
%TO
KT K2 = 16.67
weight%
60sec
KT G2 ( s) =
16.67e
t2 := 170sec
1.08s
1.75s + 1
%CO
weight%
(c) Minimum IAE tuning of parallel PID moisture controller on disturbance inputs a
controller action.
t01
From Table 7-2.2: Kc :=
KT K1 1
1.435
100%CO
Kc
= 199 %TO
0.921
I = 1.5 min
t01
I :=
0.878 1
D = 0.52 min
0.749
t01
D := 0.482 1
1
1.137
100%CO
1
Gc( s) =
+ 0.52s
1 +
199%TO
1.5s
The controller is reverse acting (positive gain): increasing product moisture content decreases the
controller output; this decreases the table feeder speed and the feed rate reducing the moisture
input to the drier and the moisture content of the product.
(d) New moisture content of the product when the feed moisture content decrease
by 2 weight%. Controller is proportional only tuned for quarter decay ratio respons
From Table 7-2.1:
Offset :=
t01
Kc :=
KT K1 1
1
KT 0 KT K2 ( 2 weight%)
1 + KT Kc K1
%CO
Kc = 0.37
%TO
Offset
KT
3weight%
= 0.49 weight%
Offset
KT
= 2.51 weight%
(e) Controller output required to avoid offset for the disturbance of part (d).
For the change in outlet moisture to be zero:
m K1 + K2 ( 2 weight%) = 0
m :=
K2
K1
( 2 weight%)
If the initial controller output is 50%CO, the final steady state is:
m = 7.11 %CO
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.
SP
LC
fi (t)
LT
h(t)
fo(t)
Block diagram of the level control loop and required controller action.
Fo(s)
Cset(s)
%TO
ft3/min
E(s)LC
-
Gc(s)
M(s)
%CO
C(s)
%TO
Gv ( s) =
Kv
v s + 1
Gv(s)
KT
1/As
Fi(s)
ft3/min
1/As
H(s)
ft
LT
The only difference between this diagram and the one of Fig. 7-3.1 is that
the controller manipulates the inlet flow instead of the outlet flow.
The controller must be reverse acting (positive gain): increasing level decreases the controller
output; this closes the control valve decreasing the inlet flow and the level drops.
C( s) =
where
K=
K Gc( s)
s v s + 1 + K Gc( s)
Kv KT
%TO
%CO min
set
( s)
Ku v s + 1
s v s + 1 + K Gc( s)
Fo ( s)
KT %TO
Ku =
A
3
ft
The formulas of Section 7-3 apply to this case also. Only the action of the controller is different.
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.
h d := 2m
Level transmitter:
h min := 1m
fi(t)
h max := 3m
SP
LC
LT
m
f1d := 0.003
s
h(t)
v := 5s
fo(t)
f1(t)
Proportional controller:
Gc( s) = Kc
(a) Model as in Section 4-1.1, draw the block diagram, determine the transfer
functions and the maximum gain of a proportional controller for non-oscillatory
response. Determine the effective time constants of the closed-loop at that gain,
and the offset caused by a 0.001 m3/s.
The model of Section 4-1.1 must be modified to account for the variable valve position.
2
Mass balance:
Valve equation:
D
4
d h( t)
dt
= fi( t) fo ( t) f1 ( t)
f1 ( t) = Cvmax vp( t)
p v ( t)
min
264.2gal 60sec
Gf
Assume valve exit is at the level of the bottom of the tank and at the same pressure.
p v ( t) = g h ( t)
1.45 10
psi
m
Gf =
1000kg
3 eqns. 3 unks.
Pa
g = 9.807
m
fd = 0.013
s
s
1Pa
264.2gal 60sec
4
1000kg g h d
3
min
1.45 10 psi
m
gal
Cvmax = 56.4
min psi
Cvmax := 110
Let
where
gal
min psi
f1 ( t) = k v vp( t) h ( t)
1000kg
k v := Cvmax
1.45 10
D
4
vpd :=
d h( t)
dt
psi
Pa
min
k v = 8.275 10
264.2gal 60s
f1d
3
3 m
s m
vpd = 25.6 %
kv hd
= fi( t) fo ( t) k v vp( t) h ( t)
D
4
d H( t)
dt
= Fi( t) Fo ( t) k v h d VP ( t )
where
:=
2 2 h
d
D
4
k v vpd
d H( t)
dt
2 hd
H( t)
= 9425 s
K1 = 1.3 10
min
H( s) = G1 ( s) Fi( s) Fo ( s) G2 ( s) VP ( s)
3 s
G1 ( s) =
K1
s + 1
G2 ( s) =
K2
s + 1
m
= 157.08 min K2 = 0.156
%CO
60s
where
H( 0 ) = 0
+ H( t) = K1 Fi( t) K1 Fo ( t) K2 VP ( t )
2 hd
K2 :=
vpd
2 hd
K1 :=
k v vpd
k v vpd
Fi(s) - Fo(s)
Cset(s)
%TO
E(s)LC
Gc (s)
m3/sec
M(s)
Gv(s)
%CO
C(s)
KT
%TO
Proportional controller:
%VP
Valve positioner:
Gc( s) = Kc
Kp := KT K2
VP(s)
Gv ( s) =
KT = 50
H(s)
1
v s + 1
%CO
m
%TO
Kp = 7.801
%CO
Ku := KT K1
G2(s)
LT
100%TO
KT :=
h max h min
Let
G1(s)
Ku = 6.667 10
4 %TO s
3
The control valve must fail closed (air-to-open) to prevent emptying the tank on instrument power
failure.
The controller is direct acting (negative gain): increasing level increases the controller output
opening the valve and increasing the flow out of the tank; this decreases the level.
Closed-loop transfer function:
C( s) =
Kp Kc
( v s + 1) ( s + 1) Kp Kc
set
( s) +
Ku v s + 1
( v s + 1) ( s + 1) Kp Kc (
Fi( s) Fo ( s)
v s + v + s + 1 Kp Kc = 0
r1 =
v + +
( v + )2 4 v (1 Kp Kc)
2 v
v + 2 v + 4 v + 4 v Kp Kc = v
)2 + 4 v Kp Kc
As the (negative) controller gain is increased, this term decreases. When the term is negative the
roots are complex and the response is oscillatory. The maximum gain at which the response is not
oscillatory is when the term is zero:
Kcmax :=
)2
%CO
Kcmax = 60.3
%TO
4 v Kp
The equivalent time constants of the closed loop at this gain are two identical roots at:
e :=
2 v
e = 9.995 s
v +
Ku
Offset :=
0.001
1 Kp Kcmax
Offset
KT
= 2.826 10
(b) Repeat part (a) modeling the tank as in section 7-3.1 (integrating process).
The model now neglects the effect of the level on the flow out of the tank:
f1 ( t) = Cvmax vp( t)
p v
min
= k v h d vp( t)
Gf 264.2gal 60sec
D
d h( t)
dt
= fi( t) fo ( t) k v h d vp( t)
D
4
Laplace transform:
H( s) =
d H( t)
dt
4
= Fi( t) Fo ( t) k v h d VP ( t )
1
2 s
(Fi(s) Fo(s) kv
h d VP ( s)
H( 0 ) = 0
= G1 ( s) Fi( s) Fo ( s) G2 ( s) VP ( s)
where
G1 ( s) =
G2 ( s) =
2 s
4
2
kv hd
The block diagram is the same as in part (a) with these transfer functions.
Let
Kp :=
4
2
k v h d KT
Ku :=
4
2
KT
Kp = 8.278 10
Ku = 0.071
%TO
%CO sec
%TO
3
%CO m
Kp Kc
s v s + 1 Kp Kc
set
( s) +
Ku v s + 1
(Fi( s) Fo(s))
s v s + 1 Kp Kc
v s + s Kp Kc = 0
r1 =
1 +
1 4 v Kp Kc
2 v
1 + 4 v Kp Kc
The controller is, like before, direct acting (negative gain). As the negative controller gain
increases in magnitude, the term inside the radical decreases and, when it becomes negative, the
roots are complex and the response is oscillatory. At the maximum gain for non-oscillatory
response, the term in the radical is zero:
Kcmax :=
%CO
Kcmax = 60.4
%TO
4 v Kp
The equivalent time constants of the closed loop are identical for this gain (the radical is zero):
e := 2 v
e = 10 s
Offset :=
Ku
Kp Kcmax
0.001
m
s
= 2.829 10
These results are identical to those of part (a),showing that for the purposes of the level controller,
the effect of the level on the outlet flow is negligible. Notice that the results are the same although
the models look quite different.
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.
Fi(s)
Cset(s)
%TO
E(s)LC
Gc(s)
Gc( s) = Kc 1 +
PI controller:
I s
G1(s)
M(s)
G2(s)
%CO
G2 ( s) =
C(s)
+
-
Kv KT
A s v s + 1
%TO
KT
G1 ( s) =
A s
C( s) =
Gc( s) G2 ( s)
1 Gc( s) G2 ( s)
set
( s) +
G1 ( s)
F ( s)
1 Gc( s) G2 ( s) i
Kc I s + 1 Kv KT
C( s) =
set
( s)
A I s v s + 1 Kc I s + 1 Kv KT
KT I s v s + 1
A I s v s + 1 Kc I s + 1 Kv KT
Fi( s)
Kc Kv KT
0 Kc Kv KT
set
0
0 Kc Kv KT
fi = c
set
Offset = c
set
c = 0
A I v s + A I s Kc Kv KT I s Kc Kv KT = 0
(b) Roots of the characteristic equation when the integral time is set equal to the
valve time constant. Level response under these conditions.
For
) (
A v s v s + 1 Kv KT Kc v s + 1 = v s + 1 A v s Kv KT Kc = 0
I = v
r1 =
Kv KT Kc
r2 = i
r3 = i
A v
Kv KT Kc
A v
Root r 1 is cancelled by the zero in the numerator of the transfer function. The response of the level
is oscillatory with no damping, as the controller gain is negative (direct acting controller). The loop
gain does not affect the nature of the response, only the frequency of the oscillations that increases
as the square root of the loop gain. The response is:
C( t) = A sin( t + )
where
Kc Kv KT
A v
(c) For negligible valve time constant, determine the limits of the controller gain for
which the loop is oscillatory. Dominant time constant at high controller gain.
Characteristic equation:
Roots:
r1 =
A I s Kc Kv KT I s Kv KT Kc = 0
Kc Kv KT I +
The response i oscillatory when the term inside the radical is negative (complex conjugate roots).
Kc Kv KT
<
4
I
s + I s + 1 = I s + 1
So the dominant time constant is equal to the integral time of the controller. This pole however
cancels the zero in the numerator for set point changes:
C( s) = C
set
( s) +
I s
F ( s)
Kc Kv I s + 1 i
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
:= 98
lb
ft
Vapors
h T := 4ft
Steam
v := 2sec
SP
LC
LT
Condensate
f = 80
lb
Feed
min
AT
Product
Assume p v := 5psi
Solution:
Block diagram of the level control loop:
Ws(s)
lb/min
Fp(s)
Cset(s)
%TO
E(s)LC
-
Gc(s)
M(s)
%CO
C(s)
%TO
ft3/min
Gv(s)
KT
G2(s)
G1(s)
Fi(s)
ft3/min
- -
G1(s)
H(s)
ft
LT
The control valve fails closed (air-to-open) to prevent overflowing the evaporator on instrument ait
failure.
The controller is reverse acting (positive gain): increasing level decreases controller output to
close the valve and reduce the feed flow to the evaporator; this decreases the level.
100%TO
KT :=
Cvmax := 200%
KT = 25
h T
fd 7.48gal
ft
%CO
ft
Gc( s) = Kc
ft
3
Cvmax = 68.4
62.4lb p v
Cvmax := 110
3
7.48gal
100%CO
ft
Valve gain:
Gv ( s) =
Kv
1
G1 ( s) =
A s
v s + 1
G2 ( s) =
E 1
A s
gal
min psi
gal
min psi
3
ft
Kv = 0.262
min %CO
E = evaporator economy, lb
vapors/lb steam.
Kc Kv KT
A s v s + 1 + Kc Kv KT
set
( s)
KT
F ( s) + E W ( s)
p
s
A s ( v s + 1 ) + Kc Kv KT
A s v s + 1 + Kc Kv = A v s + A s + Kc Kv KT = 0
r1 =
r2 =
A +
A 4 A v Kc Kv KT
2 A v
A 4 A v Kc Kv KT
2 A v
The roots are non-oscillatory as long as the term in the radical is positive (real roots). The
maximum controller gain for which this is so is:
Kcmax :=
A
4 v Kv KT
%CO
Kcmax = 11.4
%TO
At this gain the term in the radical is zero and the effective time constants are identical to each
other and equal to:
e := 2 v
e = 4 s
= 0.011 ft
Offset := 0
KT
Kcmax Kv KT
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
Solution:
K 1 3 s
( 1 s + 1) ( 2 s + 1)
C( s )
1
Gc( s) =
G( s)
C( s)
R( s)
Gc( s) =
R( s )
C( s)
R( s)
1
c s + 1
( 1 s + 1) ( 2 s + 1) 1
c s
K ( 1 3 s)
This contains a positive pole which results in an unstable response when it doesn't exactly match
the time constant of the transfer function.
To avoid a postive pole in the controller, define:
Gc( s) =
Gc( s) =
C( s)
R( s)
1 3 s
c s + 1
1 3 s
( 1 s + 1) ( 2 s + 1)
K ( 1 3 s)
c s + 1 1 + 3 s
1
1 + 1 s + 1
(2 )
K ( c + 3 )
1 s
K c + 3
I = 1
D = 2
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.
Fit 3 model:
t1 := ( 6.5 1 )min
t2 := ( 12 1 )min
:= 1.5 t2 t1
t0 := t2
= 8.25 min
G( s) =
2.05e
t0 = 2.75 min
2.75s
8.25s + 1
%TO
%CO
Kc :=
1.2 t0
Kp
I = 5.5 min
I := 2 t0
D = 1.4 min
t0
D :=
2
Kc = 1.8
%CO
%TO
%CO
1
Gc( s) = 1.8
( 1.4s + 1 )
1 +
%TO
5.5s
Kp t0
I = 8.3 min
I :=
D = 1.4 min
t0
D :=
2
Kc = 1.5
%CO
%TO
%CO
1
Gc( s) = 1.5
( 1.4s + 1 )
1 +
%TO
8.3s
By comparison, the gain is slightly smaller and the integral is 60% slower than for quarter-decay
ratio response.
Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.