Professional Documents
Culture Documents
Instrumentation and Process Control Sample Chapters
Instrumentation and Process Control Sample Chapters
Material
For
GATE PSU
Chemical Engineering
Instrumentation and Process Control
GATE Syllabus
TABLE OF CONTENTS
Chapter 1
1.1 Temperature
1.1.1 RTD
1.1.2 Thermocouple
1.2 Pressure
1.2.1 Bellow Type Detectors
1.2.2 Bourdon Tube Type Detectors
1.3 Level
1.3.1 Gauge Glass
1.3.2 Ball Float
1.4 Flow
1.4.1 Head Flow Meter
1.4.1.1 Orifice Plate
1.4.1.2 Venturi Tube
1.4.1.3 Pitot Tube
1.4.2 Area Flow Meter
1.4.2.1 Rota Meter
1.4.3 Displacement Meter
1.4.3.1 Nutating Disc
3
3
3
4
5
5
5
6
6
7
7
7
8
9
9
10
10
11
11
Chapter 2
LAPLACE TRANSFORMATION
2.1 Definition
2.2 Laplace Transforms of Some Basic Functions
2.2.1 Forcing Function
2.2.1.1 Step Function
2.2.1.2 Ramp Function
2.2.1.3 Impulse Function
2.2.1.4 Exponential Function
2.2.1.5 Sinusoidal Function
2.3 Transforms of Derivatives
2.4 Transforms of Integrals
2.5 Theorems
2.5.1 Final Value Theorem
2.5.2 Initial Value Theorem
2.6 Laplace Inversion
Chapter 3
3.1 Transfer Function
3.2 Time Constant
3.3 First Order System
3.3.1 Mercury Thermometer
i
13
13
13
14
14
15
15
16
17
20
21
21
21
21
22
25
25
25
25
26
27
29
30
30
31
33
35
35
36
36
38
38
40
40
42
42
43
44
44
44
44
45
45
Chapter 4
CONTROLLERS
57
57
58
59
60
61
63
63
63
64
65
65
65
65
50
50
51
System
6.4.4 P Controller for Regulator Mechanism For First Order System Having Unit Feedback
System
6.4.5 PI Controller for Servo Mechanism
6.4.6 PD Controller for Servo Mechanism
6.5 Effect of Controllers on Process Order
6.5.1 Effect of P Controller on First Order System
6.5.2 Effect of P Controller on Second Order System
6.5.3 Effect of I Controller on First Order System
6.5.4 Effect of D Controller on First Order System
67
68
70
71
71
72
73
74
Chapter 7
STABILITY OF CONTROLLERS
7.1 Characteristic Equation
7.2 Stability Criteria for Linear System
7.3 Routh Test
7.3.1 Steps
7.3.2 Limitations
7.4 Root Locus
7.4.1 Steps
7.5 Bode Plot
7.5.1 First Order Systems
7.5.2 Pure Capacitive Systems
7.5.3 Two First Order Systems in Series
7.5.4 Second Order Systems
7.5.5 Transportation Lag
7.5.6 P Controllers
7.5.7 PI Controllers
7.5.8 PD Controllers
7.5.9 PID Controllers
7.5.10 Bode Stability Criteria
7.5.11 Cross Over Frequency
7.5.12 Rules To Plot Bode Diagrams
Chapter 8
FREQUENCY RESPONSE
75
75
76
76
76
77
78
78
81
82
83
83
84
85
85
86
86
87
87
87
87
91
91
92
93
93
94
94
97
97
Chapter 10
LEVEL 1
LEVEL 2
101
119
UNSOLVED QUESTIONS
142
151
151
153
155
159
163
165
167
169
171
172
174
176
SOLUTIONS
178
Chapter 11
Chapter 12
2004
2005
2006
2007
2008
2009
2010
2011
2012
2013
2014
2015
Chapter 13
iv
CHAPTER
3
systems.
a2
d 2y
dt 2
a1
a2 d 2 y
a0 dt 2
2
d 2y
dt 2
where
dy
dt
a1 dy
a0 dt
b
f (t )
a0
dy
dt
2
2
bf (t )
a0 y
a2
,2
a0
k p f (t )
a1
a0
and
kp
b
a0
The general transfer function for second order systems are as follows:
G( s )
1
2 s 1
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
Hookes constant.
2. The viscous friction force (acting to the left) of C.dY / dt, where C is a positive
constant called the damping coefficient.
The external force F(t) (acting toward the right).
3.
Newtons law of motion, which states that the sum of all forces acting on the mass is
equal to the rate of change of momentum (mass W acceleration), takes the form
d 2y
dy
C
Ky F
2
dt
dt
d 2y
dy
W 2 C
Ky F
dt
dt
Dividing by K , we get
W d 2y
K dt 2
2
2 d y
2
dt 2
Comparing with
C dy
F
y
K dt
K
dy
y k pf (t )
dt
we get
2
W
,2
K
and
C
K
and
kp
F
K
C
2 mK
water bath at 100 0C, How long will it take to reach the thermometer reading at 90 0C.
(a) 19.5 sec
Solution:
we know that for step change in input, the response function is given by
Y (t )
A(1 e
t/
Hence,
41
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
70(1 e
60
e
t
(100 30)(1 e
t /10
t /10
t /10
0.142857
19.5 sec
and it can be
3.10
can represent such a system by a series of two systems as shown in figure below.
42
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
Kp
L X (t )
L Y (t
L Y (t )
s 1
e
ds
Therefore, the transfer function between the input X(t) and the delayed output Y (t
) is
given by
L Y (t
K pe
L X (t )
ds
s 1
L Y (t
L X (t )
K pe
2
p
s2
ds
By Pade approximations
s
2
ds
2
1
e
ds
1
2
43
ds
s2
6 d s 12
6 d s 12
s
d
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
3.11.1 OVERSHOOT
Overshoot is a measure of how much the response
exceeds the ultimate value following a step change and
is expressed as the ratio A/B in above figure.
The overshoot for a unit step is related to
by the
expression
Overshoot
exp
Decay Ratio
44
exp
by the expression
2
1
Overshoot
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
tr, in above figure. The reader can verify from that tr increases with increasing .
value and remain there. The response time is indicated in above figure. The limits
percent are arbitrary and other limits have been used in other texts for defining a
response time.
(rad / time )
2 f , it follows
that
1
T
1
2
Where, T is the period of oscillations (time / cycle). In terms of above figure, T is the time
elapsed between peaks.
45
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
1
T
The corresponding natural cyclical frequency f , and period T, are related by the
expression
1
Tn
fn
1
2 .
temperature bath keeping at 100 C and is allowed to reach steady state. It is suddenly
transfer to another bath keeping at 150 0C at time t=0, and is left for 0.2 min, it is
immediately return to original bath at 100 0C. Calculate the thermometer reading at
time t=0.1 min.
Solution:
Y (t )
A(1 e
at t
0.1min
Y (t )
t/
(150 1000)(1 e
50(1 e
ys
19.667 100
119.67 0C
0.5
0.1/ 0.2
)
as y s
100
Example 3.3 Derive the transfer function H(s) / Q(s), for the liquid level system when
Data:
46
(i)
(ii)
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
A= 1 m2 , R= 0.5
Solution:
(i)
q qo
dh
dt
unsteady state
dhs
steady state
dt
d (h hs )
q qs A.
dt
dH
Q A.
dt
taking Laplace transforms, we get
qs
A.
qo
Q( s )
A.sH (s )
H (s )
Q( s )
(ii)
1
s
qo
qs
A.
qv
qos
q qs
dh
dt
A.
qvs
qv
unsteady state
qvs
dhs
dt
A.
steady state
d (h hs )
dt
dH
dt
H
dH
H
Q
A.
as Qv
R
dt
R
taking Laplace transforms, we get
Q Qv
A.
H (s )
A.sH (s )
R
H (s )
R
Q(s ) ARs 1
Q( s )
H (s )
Q( s )
47
0. 5
0.5s 1
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
Example 3.4 A step change of magnitude 4 is introduce into a system having transfer
function G(s) = 10 / (s2 + 1.6 s + 1), than find out the vales of Overshoot, Decay ratio,
maximum value of y(t).
Weve G ( s)
Solution:
10
1.6s 4
G( s)
10
4(0.25s
0.4s 1)
2. 5
0.25s 0.4s 1
comparing with,
G( s )
Kp
G( s )
s 1
we get ,
0. 5
0.4
0.4
and
exp
0.4
Overshoot
exp
Overshoot
0.2538
Decay ratio
Decay ratio
1 0. 4 2
Overshoot 2
0.25382
0.0644
We know that
48
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
G( s )
Y (s )
X (s )
Y (s )
10
s 0.25s 2
0.4s 1
A 10
y (t )max
A(1 Overshoot )
y (t )max
10(1 0.2538)
y (t )max
12.538
Example 3.4 if X(t) = 3 is a step change in input, for the transfer function
10
G ( s)
find out overshoot, decay ratio, frequency and y(t)max.
2
2s 0.3s 0.5
Solution:
49
Weve
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
10
0.3s
0.5
10
G( s )
2
0.5( 4s 0.6s 1)
20
G( s )
2
4s 0.6s 1
Comparing with
2s
G( s )
Kp
2
s2
s 1
we get ,
0.15
2 and
exp
Overshoot
0.15
Overshoot
exp
Overshoot
0.6209
1 0.152
(Overshoot )2
Decay ratio
Decay ratio
(0.6209)2
Decay ratio
0.3855
frequency ,
y (t )max
2 f
frequency , f
50
0.0787
A(1 Overshoot )
y (t )max
60(1 0.6209)
y (t )max
97.254
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
CHAPTER
4
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved
52
Visit us at
www.thegatecoach.institute, www.thegatecoach.com
Call us at
Mail us at
delhi.tgc@gmail.com
Like us at
www.facebook.com/TheGateCoach
Follow us at
www.twitter.com/thegatecoach
Visit us at, www.thegatecoach.institute, www.thegatecoach.co.in, | The Gate Coach | All Rights Reserved