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P ' (s )
1
= K c 1 +
E (s )
Is
where
~
x 'sp (t )
denotes
internal
set
point
composition
~
E (s ) = X 'sp (s ) X m ' (s )
PPT 170 (Instrumentation and Process Control for the Pulp and Paper Industry)
BLOCK DIAGRAM REPRESENTATION
Block diagram provides a convenient representation of the flow of information around
a feedback control loop
Consider the following stirred-tank blending process
x1
w1
x 'sp (t ) = K m x 'sp (t ) related by Km since x 'sp (t ) and x m ' (t ) output should come out at
~
Thus,
x 'sp (s )
= Km
Block diagram
x2
w2
pt
I/Pp
x
w
p
AT
xm
AC
Pt ' (s )
= K IP
P ' (s )
Block diagram
xsp
Develop transfer functions for each of the elements in the feedback control loop.
SOLUTION
Process: x ' (s ) =
V
w
1 x
K2
K1
w 2 ' (s ) where =
, K1 = 1 , and K 2 =
x 1 ' (s ) +
s + 1
s + 1
w
w
w
Control valve:
w 2 ' (s )
Kv
=
Pt ' (s ) v s + 1
Block diagram
x m ' (s )
Km
=
x ' (s )
ms + 1
YSP
SP
Km
Gc
GV
Ym
GP
Yu
Gm
Yu = change in Y due to U
Yd = change in Y due to D
Gc = controller transfer function
Gv = TF for final control element
Gp = process TF (denotes effect of MV on CV)
Gd = disturbance TF (denotes effect of DV on CV)
Gm = TF for measuring element and transmitter
Km = steady-state gain for Gm
Note: The signal path from E to Y through blocks Gc, Gv, and Gp represents a forward
path, while the signal path from Y to the comparator through Gm is referred to as
feedback path.
Y =
Gd
1 + G pGv G c G m
D+
G pGv G c K m
1 + G p Gv G c G m
Y sp
let G p Gv G c G m = G OL
Cases:
1. servo-mechanism problem (D=0) set point changes
Y =
G p Gv G c K m
1 + G OL
Y sp
2. regulator problem (Ysp = 0) disturbance or load changes occur (since the process is
to be regulated at a constant set point)
Y =
Gd
1 + G OL
In general, the closed-loop transfer function for more complicated block diagrams can
be described as
f
z
=
zi
1 + e
where z output variable f product of transfer functions in the forward path from z
to zi
zi input variable
e product of transfer functions in the feedback loop
NOTE: The equation is applicable only to portions of a block diagram that include a
feedback loop with negative sign in the comparator