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11.1
11.2
1
Gc ( s ) = K c 1 +
τI s
The closed-loop transfer function for set-point changes is given by Eq. 11-
1
36 with Kc replaced by K c 1 + ,
τI s
1 1
K c K v K p K m 1 +
H ′( s ) τ I s (τs + 1)
=
′ (s)
H sp 1 1
1 + K c K v K p K m 1 +
τ I s (τs + 1)
H ′( s ) (τ I s + 1)
=
′ (s)
H sp τ 3 s + 2ζ 3 τ 3 s + 1
2
11-1
ft 3 / min min psi
K OL = K c K v K p K m = (4) 0.2 1.0 2 1.7 = 1.36
psi ft ft
τ τ I (3 min)(3 min)
τ3 = = = 6.62 min 2
2
K OL 1.36
1 + K OL 2.36
2 ζ3 τ3 = τ I = × 3 = 5.21 min
K OL 1.36
H ′( s ) 3s + 1 1
= =
′ ( s ) (3.0s + 1) + (2.21s + 1) 2.21s + 1
H sp
(3 − 2) 1
For H sp′ ( s ) = =
s s
h′(t ) = 1 − e −t / 2..21
t = −2.21ln[1 − h′(t )]
Therefore,
h(t → ∞) = 3.0 ft
11-2
11.3
Gc ( s ) = K c = 5 ma/ma
20 ma − 4 ma
Km = = 0.32 ma/ 1 F
50 1 F
5
K v = 1.2 , K IP = 0.75 psi/ma , τ =5 min , Tsp′ ( s ) =
s
7.20 K 2
T ′( s ) =
s (5s + 1 + 1.440 K 2 )
7.20 K 2
T ′(∞) = lim sT ′( s ) =
s →0 (1 + 1.440 K 2 )
11-3
11.4
a)
b) Gm ( s) = K m e − θm s assuming τm = 0
(20 − 4)ma − 2 s ma − 2 s
Gm ( s) = e = 2.67 e
lb sol lb sol/ft 3
(9 − 3) 3
ft
1
Gc ( s ) = K c 1 +
τI s
G IP ( s ) = K IP = 0.3 psi/ma
USgallons dh
7.481 A = q1 + q 2 − C v h (1)
ft 3 dt
d (hC 3 )
7.481 A = q1c1 + q 2 c 2 − (C v h )c3 (2)
dt
11-4
dh ′ C
7.481 A = q 2′ − v h′
(3)
dt 2 h
dh′
7.481 A c3
dt
dc′ C
+ h 3 = c2 q′2 + q2c′2 − c3 v
dt
( )
h′ − Cv h c3′
2 h
7.481 Ah
dc3′
dt
( )
= (c 2 − c3 ) q ′2 + q 2 c ′2 − C v h c3′
K1 K2
C 3′ ( s ) = Q2′ ( s ) + C 2′ ( s )
τs + 1 τs + 1
where
c 2 − c3 lb sol/ft 3
K1 = = 0.08
Cv h USGPM
q2
K2 = = 0.6
Cv h
7.481A h
τ= = 15 min
Cv
2 2
q q + q2
h = 3 = 1 = 4 ft
Cv Cv
Therefore,
0.08
G p ( s) =
15s + 1
0 .6
Gd ( s) =
15s + 1
11-5
c) The closed-loop responses for disturbance changes and for setpoint
changes can be obtained using block diagram algebra for the block
diagram in part (a). Therefore, these responses will change only if any of
the transfer functions in the blocks of the diagram change.
11.5
a)
One example of a negative gain process that we have seen is the liquid
level process with the outlet stream flow rate chosen as the manipulated
variable
c
LT
h p
11-6
11.6
Assume that the level transmitter and the control valve have negligible
dynamics. Then,
Gm ( s) = K m
Gv ( s ) = K v
The block diagram for this control system is the same as in Fig.11.8.
Hence Eqs. 11-26 and 11-29 can be used for closed-loop responses to
setpoint and load changes, respectively.
a) Substituting for Gc, Gm, Gv, and Gp into Eq. 11-26 gives
1
KmKcKv −
Y
= As
=
1
Ysp 1 τs + 1
1+ Kc Kv − K m
As
A
where τ = − (1)
Kc Kv Km
M / s
Y (t → ∞) = lim sY ( s ) = lim s =M
s →0 s →0
τs + 1
Offset = Ysp (t → ∞) − Y (t → ∞) = M − M = 0
11-7
For a step change in the disturbance, D( s ) = M / s
− M /( K c K v K m ) −M
Y (t → ∞) = lim sY ( s ) = lim s =
s →0 s →0
s (τs + 1) Kc Kv Km
−M
Offset = Ysp (t → ∞) − Y (t → ∞) = 0 − ≠ 0
Kc Kv Km
11.7
Y = G d D + G pU (1)
[ ~
(
U = Gc Ysp − Y − G pU )] (2)
Gc Ysp − Gc Y
From (2), U= ~
1− Gc G p
[1 + G (G
c p
~
] ~
− G p ) Y = Gd (1 − Gc G p ) D + G p Gc Ysp
Therefore,
Y G p Gc
= ~
Ysp 1 + Gc (G p − G p )
and
Y Gd (1 − Gc G1 p )
=
D 1 + Gc (G p − G1 p )
11-8
11.8
1. The outlets of both the tanks have flow rate q0 at all times.
2. To ( s ) = 0
T ′(t ) 2
= 1 − e −t / τ1 or = 1 − e −12 / τ1 , τ1 = 10 min
T ′(∞) 3
Therefore
T1 ( s ) 31 F /(−0.75 gpm) 4
= =−
Q0 ( s ) 10 s + 1 10 s + 1
T3 ( s ) q0 / q 0 1
= =
T2 ( s ) τ 2 s + 1 10.0s + 1
V3 ( s )
6. = 0.15
T3 ( s )
30
7. T2 (t ) = T1 t − = T1 (t − 0.5)
60
11-9
T2 ( s )
= e −0.5 s
T1 ( s )
a)
Q0
V1 + -2.67
+
-4 T1 T2 +
e-0.5s +
10s+1
T3sp V3sp V2
1 T3
0.15 +- Gc +
2.5 +
10s+1
V3
0.15
b)
V2
-2.5
Q0
+
-2.67 +
1
T3sp V3sp V1 T1 T2 1 T3
0.15 +- Gc + -4 +
+ e-0.5s +
10s+1 10s+1
V3
0.15
11-10
c) The control configuration in part a) will provide the better control. As is
evident from the block diagrams above, the feedback loop contains, in
addition to Gc, only a first-order process in part a), but a second-order-
plus-time-delay process in part b). Hence the controlled variable responds
faster to changes in the manipulated variable for part a).
11.9
P Gc
= Gc′ = ~ ~
E 1 + Gc G * (1 − e − θs )
Y Gd G
=
D 1 + Gc′ G
Substitute for G c′ ,
Y Gd G
=
D Gc G
1+ ~* ~
1 + Gc G (1 − e − θs )
Y
=
( ~ ~
Gd G 1 + Gc G * (1 − e − θs ) )
~* ~
D 1 + Gc G (1 − e − θs ) + Gc G
11-11
11.10
a) Derive CLTF:
Y = Y3 + Y2 = G3 Z + G2 P
Y = G3 ( D + Y1 ) + G2 K c E
Y = G3 D + G3G1 K c E + G2 K c E
Y = G3 D + (G3 G1 K c + G2 K c ) E E = − K mY
Y = G3 D − K c (G3 G1 + G2 ) K mY
Y G3
=
D 1 + K c (G3 G1 + G2 ) K m
b) Characteristic Equation:
1 + K c (G3G1 + G2 ) K m = 0
5 4
1 + Kc + =0
s − 1 2 s + 1
5(2 s + 1) + 4( s − 1)
1 + Kc =0
( s − 1)(2 s + 1)
2 s 2 − s − 1 + K c (10 s + 5 + 4 s − 4) = 0
2 s 2 + (14 K c − 1) s + ( K c − 1) = 0
For a 2nd order characteristic equation, these conditions are also sufficient.
Therefore, K c > 1 for closed-loop stability.
11-12
11.11
a)
c) Transfer Line:
3.93 m 3
Time delay in the line = = 0.52 min
7.5 m 3 /min
GTL ( s ) = e −0.52 s
Composition Transmitter:
(20 − 4) ma ma
Gm ( s) = K m = = 0.08
(200 − 0) kg/m 3
kg/m 3
Controller
P ′( s ) = K c 1 +
1
[ ~
]
E ( s ) + K c τ D s C sp′ ( s ) − C m′ ( s )
τI s
~
In the above equation, set C sp′ ( s ) = 0 in order to get the derivative on the
process output only. Then,
11-13
1
G PI ( s ) = K c 1 +
τI s
G D (s) = − K c τ D s
I/P transducer
Control valve
Kv
Gv ( s ) =
τv s + 1
5τ v = 1 , τ v = 0.2 min
pv −3
dq A
Kv = = 0.03(1 / 12)(ln 20)(20) 12
dp v pv = pv
pv − 3
pv −3
0.03(20) 12
= 0.5 − 0.17 = 0.33
m 3 /min
K v = (1 / 12)(ln 20)(0.33) = 0.082
psig
0.082
Gv ( s ) =
0 .2 s + 1
Process
dc
V = q A c A + q F c F − ( q A + q F )c (1)
dt
11-14
Linearizing and writing in deviation variable form
dc ′
V = c A q ′A + q F c ′F − (q A + q F )c ′ − c q ′A
dt
11.12
The stability limits are obtained from the characteristic Eq. 11-83. Hence
if an instrumentation change affects this equation, then the stability limits
will change and vice-versa.
a) The transmitter gain, Km, changes as the span changes. Thus Gm(s)
changes and the characteristic equation is affected. Stability limits would
be expected to change.
b) The zero on the transmitter does not affect its gain Km. Hence Gm(s)
remains unchanged and stability limits do not change.
c) Changing the control valve trim changes Gv(s). This affects the
characteristic equation and the stability limits would be expected to
change as a result.
11-15
11.13
Kc K
a) Ga ( s) =
(τs + 1)( s + 1)
K c K (τ I s + 1)
b) Gb ( s ) =
τ I s (τs + 1)( s + 1)
For a)
D( s ) + N ( s ) = (τs + 1)( s + 1) + K c K = τs 2 + (τ + 1) s + 1 + K c K p
Stability requirements:
For b)
D( s ) + N ( s ) = τ I (τs + 1)( s + 1) + K c K (τ I s + 1)
= τ I τs 3 + τ I (τ + 1) s 2 + τ I (1 + K c K p ) s + K c K p
τI τ τ I (1 + K c K p )
τ I (τ + 1) Kc K p
τ I (τ + 1)(1 + K c K p ) − τ I τK c K p
2
τ I (τ + 1)
Kc K p
τ I (τ + 1)(1 + K c K p ) − τ( K c K p ) > 0
11-16
τ I (τ + 1) + τ I (τ + 1) K c K p − τK c K p > 0
[τ I (τ + 1) − τ]K c K p > −τ I (τ + 1)
Case 1:
τ
If τ I (τ + 1) − τ > 0 i.e., τ I > τ + 1
− τ I (τ + 1)
then KcKp > 0 >
τ I (τ + 1) − τ
In other words, this condition is less restrictive than KcKp >0 and doesn't
apply.
Case 2:
τ
If τ I (τ + 1) − τ < 0 i.e., τ I < τ + 1
− τ I (τ + 1)
then KcKp <
τ I (τ + 1) − τ
− τ I (τ + 1)
0 < KcKp <
τ I (τ + 1) − τ
c) Note that, in either case, the addition of the integral mode decreases the
range of stable values of Kc.
11-17
11.14
4
(0.5) s + 3 2
1 + Kc 1
=0
4 s − 1 s + 10
1 + (0.5) s + 3
that is,
2 2 1
1 + Kc =0
s + 5 s − 1 s + 10
Simplifying,
s 3 + 14 s 2 + 35s + (4 K c − 50) = 0
1 35
14 4Kc-50
490 − (4 K c − 50)
14
4Kc – 50
490 − (4 K c − 50)
>0 or Kc < 135
14
11-18
11.15
Kc K
K K /(1 + K c K )
= 1 − τs =
Y ( s) Kc K
a) = c
Ysp ( s ) K K 1 − τs + K c K τ
1+ c − s +1
1 − τs 1 + Kc K
τ
For stability − >0
1+ KcK
1+ Kc K < 0
K c K < −1
K c < −1 / K
Kc K
Note that K CL =
1+ Kc K
c) K = 10 and τ = 20
τ
and we want − = 10
1+ KcK
or − 20 = 10 + (10)(10) K c
− 30 = 100 K c
K c = −0.3
(−0.3)(10) −3
Offset: K CL = = = 1.5
1 + (−0.3)(10) − 2
11-19
KcK
Y ( s) (1 − τs )(τ m s + 1) Kc K
d) = =
Ysp ( s ) Kc K (1 − τs )(τ m s + 1) + K c K
1+
(1 − τs )(τ m s + 1)
Kc K
=
− ττ m s + (τ m − τ) s + 1 + K c K
2
K c K /(1 + K c K )
= (standard form)
ττ m τ −τ
− s2 + m s +1
1 + Kc K 1 + Kc K
For stability,
ττ m τm − τ
(1) − >0 (2) >0
1+ Kc K 1+ Kc K
Y ( s) 1 .5 1 .5
= =
Ysp ( s ) (20)(5) 2 (5 − 20) 50 s + 2.5s + 1
2
− s + s +1
1− 3 (1 − 3)
11-20
11.16
1
Gc ( s ) = K c 1 +
τI s
Kv − 1 .3
Gv ( s ) = =
(10 / 60) s + 1 0.167 s + 1
1 1 gal
G p ( s) = − =− since A = 3 ft 2 = 22.4
As 22.4 s ft
Gm ( s) = K m = 4
Characteristic equation is
1 − 1.3 − 1
1 + K c 1 + ( 4) = 0
τ I s 0.167 s + 1 22.4 s
3.73τ I 5.2 K c τ I
22.4τ I 5.2 K c
5.2 K c τ I − 0.867 K c
5.2 K c
That is,
Kc > 0
τ I > 0.167 min
11-21
11.17
τ s + 1 5 N ( s)
GOL ( s ) = K c I =
τ I s (10s + 1)
2
D( s)
D( s ) + N ( s ) = τ I s (100 s 2 + 20 s + 1) + 5 K c (τ I s + 1) = 0
= 100τ I s 3 + 20τ I s 2 + (1 + 5 K c )τ I s + 5 K c = 0
Necessary conditions:
5K c > 0 → Kc > 0
1
(1 + 5 K c )τ I > 0 → τI > 0 and Kc > −
5
100τ I (1 + 5 K c )τ I
20τ I 5K c
20τ I (1 + 5 K c ) − 500τ I K c
2
20τ I
5K c
Then,
25K c
τ I (1 + 5 K c ) > 25 K c or τI >
1 + 5K c
11-22
7
6
Stability region
τI
4
0
0 1 2 3 4 5 6 7
Kc
c) Find τ I as K c → ∞
25K c 25
lim = Kclim =5
1 + 5K c
Kc → ∞ → ∞
1 / K c + 5
11.18
Gc ( s ) = K c
KV
GV ( s ) =
τV s + 1
dws 0.6 lbm/sec
Kv = = = 0.106
dp p =12 2 12 − 4 ma
5τ v = 20 sec τ v = 4 sec
−s
2.5e
G p ( s) =
10s + 1
(20 − 4) ma ma
Gm ( s) = K m = = 0 .4 1
(160 − 120) F
1
F
Characteristic equation is
11-23
0.106 2.5e
−s
1 + ( K c ) (0.4) = 0 (1)
4 s + 1 10s + 1
e-jω=cosω – j sin ω
gives
Kc = 139.7 = Kcu
1 − 0 .5 s
e −s ≈
1 + 0 .5 s
20 14.5 –0.053 Kc
47 1+ 0.106 Kc
14.07 – 0.098 Kc
1 + 0.106 Kc
11-24
For stability,
11.19
4(1 − 5s )
a) G (s) =
(25s + 1)(4 s + 1)(2 s + 1)
Gc ( s ) = K c
100 s 2 + 29 s + 1
2s + 1
200 s 3 + 58s 2 + 2 s
100 s 2 + 29 s + 1
Routh array:
200 31-20 Kc
158 1+4 Kc
1+ 4 Kc
11-25
b) (25s + 1)(4 s + 1)(2 s + 1) + 4 K c = 0
Routh array:
200 31
158 1 + 4 Kc
1+ 4 Kc
c) Because Kc can be much higher without the RHP zero present, the process
can be made to respond faster.
11.20
0.5 K c e −3s
1+ =0 (1)
10 s + 1
1 − (3 / 2) s
e −3 s ≈
1 + (3 / 2) s
in (1) gives
For stability,
11-26
Therefore − 2 < K c < 15.33
e −3 jω = cos(3ω) − j sin(3ω)
gives
Then,
tan(3ω) = -10ω
Eq. 4 has infinite number of solutions. The solution for the range π/2 < 3ω
< 3π/2 is found by trial and error to be ω = 0.5805.
The other solutions for the range 3ω > 3π/2 occur at values of ω for which
cos(3ω) is smaller than cos(3 × 5.805). Thus, for all other solutions of ω,
Eq. 2 gives values of Kc that are larger than 11.78. Hence, stability is
ensured when
11-27
11.21
Initially,
3K c e − (1.5+0.3+ 0.2 ) s 3K c e −2 s
GOL ( s ) = =
(60 s + 1)(5s + 1)(3s + 1)(2s + 1) (60s + 1)(5s + 1)(3s + 1)(2s + 1)
Then
3K c e −9.5 s
GOL ( s ) ≈
62.5s + 1
b) The only way to apply the Routh method to a FOPTD transfer function is
to approximate the delay term.
− 4.75s + 1
e −9.5 s ≈ (1st order Pade-approximation)
4.75s + 1
Then
N ( s) 3K c (−4.75s + 1)
GOL ( s ) ≈ ≈
D( s ) (62.5s + 1)(4.75s + 1)
11-28
Necessary conditions:
297 s 2 + 15.13 = 0
− 15.13
s2 =
297
11-29