Ejercicio 9.

9-4. Consider the jacketed continuous stirred tank reactor (CSTR) sketched in Fig.
5. The following information is obtained from testing the reactor and its control
system. The transfer function of the reactor temperature to the jacket temperature
is a first-order lag with a gain of 0.6 °C/°C and a time constant of 13 min. The
transfer function of the jacket temperature to the coolant flow is a first-order lag
with a gain of -2.0°C/(kg/s) and a time constant of 2.5 min. The control valve is
linear with constant pressure drop and is sized to pass 12 kg/s when fully opened.
Its time constant is negligible. The reactor temperature transmitter is calibrated for
a range of 50 to 100°C and has a time constant of 1 min. The jacket temperature
transmitter is calibrated for a range of 0 to l00°C, and its time constant is negligible.

(a) Decide on the proper fail position of the control valve and the action of the
controller for a simple feedback control loop with the reactor temperature controller
manipulating the position of the coolant valve. Draw the block diagram showing all
transfer functions, and write the closed-loop transfer function of the reactor
temperature to its set point. Pay particular attention to the signs, which must
correspond to the fail position of the valve and the controller action.

(b) Write the characteristic equation for the single feedback loop and calculate its
ultimate gain and period by direct substitution.

(c) Design a cascade control system for the reactor temperature with the jacket
temperature as the intermediate process variable, specifying the action of both
controllers. Draw the complete block diagram for the cascade control system
showing all transfer functions and their signs.

(d) Assuming a proportional slave controller with a gain of 2%/%, write the transfer
function for the jacket temperature loop and redraw the block diagram with the
jacket temperature loop as a single block.

(e) Using the simplified block diagram from part (d), write the characteristic
equation of the reactor temperature loop in the cascade control system and
calculate the ultimate gain and period of the loop by direct substitution.
 Figure 5. Jacketed reactor for problem 9-4

Solution

a.) Función de transferencia de la válvula, la valvula es abierta en falla por tanto la

ganancia es negativa

𝐹𝑚𝑎𝑥
𝐾𝑉 = −
100%𝐶𝑂
𝐾𝑔
12 𝑠 𝐾𝑔/𝑠
𝐾𝑉 = − = −0,12
100% 𝐶𝑂 % 𝐶𝑂
𝐾𝑔/𝑠
𝐺𝑉 (𝑠) = 𝐾𝑉 = −0,12
% 𝐶𝑂

Función de transferencia del Reactor

0,6
𝐺𝑅 (𝑠) =
13𝑠 + 1
La función de transferencia de la chaqueta

−2
𝐺𝐽 (𝑠) =
2,5𝑠 + 1

Función de transferencia del sensor 1

 100 − 0 %𝑂𝑇 %𝑂𝑇
𝐾𝑇1 = =2
100 − 50 ℃ ℃
2
𝐺𝑇1 (𝑠) =
𝑠+1
Función de transferencia del sensor 2

100 − 0%𝑂𝑇
𝐾𝑇2 = =1
100 − 0 ℃
La constante de tiempo se considera despreciable por tanto

𝐺𝑇2 (𝑠) = 1

El diagrama de bloques

La función de transferencia de lazo cerrado para el proceso simple

𝐾𝑠𝑝 𝐺𝐶 𝐺𝑉 𝐺𝑅 𝐺𝐽
𝑇𝑅 (𝑠) = 𝑇 𝑠𝑒𝑡 (𝑠)
1 + 𝐺𝐶 𝐺𝑉 𝐺𝑅 𝐺𝐽 𝐺𝑇 𝑅

−2 0,6
𝐾𝑠𝑝 𝐺𝐶 (−0,12) ( ) (13𝑠 + 1)
2,5𝑠 + 1
𝑇𝑅 (𝑠) = 𝑇𝑅𝑠𝑒𝑡 (𝑠)
−2 0,6 2
1 + (−0,12) ( )( )( )𝐺
2,5𝑠 + 1 13𝑠 + 1 𝑠 + 1 𝐶
𝑇𝑅 (𝑠) 0,144𝐾𝑠𝑝 𝐺𝐶
=
𝑇𝑅𝑠𝑒𝑡 (𝑠) 1 + 0,288𝐺𝐶
(2,5𝑠 + 1)(13𝑠 + 1)(𝑠 + 1)

𝑇𝑅 (𝑠) 0,144𝐾𝑠𝑝 𝐺𝐶 (𝑠 + 1)
𝑠𝑒𝑡 =
𝑇𝑅 (𝑠) (2,5𝑠 + 1)(13𝑠 + 1)(𝑠 + 1) + 0,288𝐺𝐶
b.) El polinomio característico y Haciendo 𝐺𝐶 = 𝐾𝐶

(2,5𝑠 + 1)(13𝑠 + 1)(𝑠 + 1) + 0,288𝐾𝐶 = 0

32,5𝑠 3 + 48𝑠 2 + 16,5𝑠 + 1 + 0,288𝐾𝐶 = 0

Haciendo una sustitución 𝑠 = 𝑖𝑤𝑢 y 𝐾𝐶 = 𝐾𝐶𝑢

32,5𝑖 3 𝑤𝑢3 + 48𝑖 2 𝑤𝑢2 + 16,5𝑖𝑤𝑢 + 1 + 0,288𝐾𝐶𝑢 = 0

Sabemos que 𝑖 2 = −1

32,5𝑖 3 𝑤𝑢3 − 48𝑤𝑢2 + 16,5𝑖𝑤𝑢 + 1 + 0,288𝐾𝐶𝑢 = 0

32,5𝑖 3 𝑤𝑢3 + 16,5𝑖𝑤𝑢 = 0 (1)

−48𝑤𝑢2 + 1 + 0,288𝐾𝐶𝑢 = 0 (2)

Despejando la parte imaginaria para encontrar los valores de 𝑤𝑢

32,5𝑖 3 𝑤𝑢3 + 16,5𝑖𝑤𝑢 = 0

(32,5𝑖 2 𝑤𝑢2 + 16,5𝑤𝑢 )𝑖𝑤𝑢 = 0

32,5𝑖 2 𝑤𝑢2 + 16,5 = 0

Hacemos la sustitución 𝑖 2 = −1

−32,5𝑤𝑢2 + 16,5 = 0

Por formula cuadrática

−𝑏 ± √𝑏 2 − 4𝑎𝑐
2𝑎

±√−4(−32,5)(16,5)
2(−32,5)

+√−4(−32,5)(16,5)
= −0,712
2(−32,5)

−√−4(−32,5)(16,5)
= 0,712
2(−32,5)

Los valores para 𝑤𝑢 son

 𝑤𝑢 = 0 𝑚𝑖𝑛−1

𝑤𝑢 = −0,712 𝑚𝑖𝑛−1

𝑤𝑢 = 0,712 𝑚𝑖𝑛−1

Con la primera el resultado de 𝐾𝐶 es negativa por tanto no escogemos esa y por

tanto el valor para 𝑤𝑢 es 0,712

Reemplazando en (2):

−48(0,712)2 + 1 + 0,288𝐾𝐶𝑢 = 0

𝐾𝐶𝑢 = 81,02

Hallando el 𝑇𝑢

2𝜋
𝑇𝑢 =
𝑤𝑢

2𝜋
𝑇𝑢 =
0,712 𝑚𝑖𝑛−1

𝑇𝑢 = 8,82 𝑚𝑖𝑛

c.)

d.) hallando la función de transferencia para el primer lazo de control

𝐺𝐶2 = 2

La función de transferencia de la chaqueta

 −2
𝐺𝐽 (𝑠) =
2,5𝑠 + 1

La función de transferencia de la válvula

𝐾𝑔/𝑠
𝐺𝑉 (𝑠) = 𝐾𝑉 = −0,12
% 𝐶𝑂

Función de transferencia del sensor 2

100 − 0%𝑂𝑇
𝐾𝑇2 = =1
100 − 0 ℃
La constante de tiempo se considera despreciable por tanto

𝐺𝑇2 (𝑠) = 1

Hallando la función de transferencia del lazo cerrado

𝐺𝐶2 𝐺𝑉 𝐺𝐽
𝑇1 (𝑠) = 𝑀 (𝑠)
1 + 𝐺𝐶2 𝐺𝑉 𝐺𝐽 𝐺𝑇 1

−2
(2)(−0,12) ( )
2,5𝑠 + 1
𝑇1 (𝑠) = 𝑀1 (𝑠)
−2
1 + (2)(−0,12) ( ) (1)
2,5𝑠 + 1
0,48
2,5𝑠 + 1
𝑇1 (𝑠) = 𝑀1 (𝑠)
0,48
1+
2,5𝑠 + 1

𝑇1 (𝑠) 0,48
=
𝑀1 (𝑠) 2,5𝑠 + 1,48

𝑇1 (𝑠) 0,324
=
𝑀1 (𝑠) 1,69𝑠 + 1
e.) hallando la función de transferencia para lazo de control resumido

La función de transferencia del reactor

0,6
𝐺𝑅 (𝑠) =
13𝑠 + 1
La función de transferencia de la válvula

𝐾𝑔/𝑠
𝐺𝑉 (𝑠) = 𝐾𝑉 = −0,12
% 𝐶𝑂

Función de transferencia del sensor 1

2
𝐺𝑇1 (𝑠) =
𝑠+1
Hallamos la función de transferencia de lazo cerrado

𝐺𝐶1 𝐺𝑉 𝐺𝑅
𝑇𝑅 (𝑠) = 𝑇 𝑠𝑒𝑡 (𝑠)
1 + 𝐺𝐶1 𝐺𝑉 𝐺𝑅 𝐺𝑇 𝑅

0,324 0,6
(𝐺𝐶1 ) (
1,69𝑠 + 1) (13𝑠 + 1)
𝑇𝑅 (𝑠) = 𝑇𝑅𝑠𝑒𝑡 (𝑠)
2 0,324 0,6
1 + (𝑠 + 1) (1,69𝑠 + 1) (13𝑠 + 1) 𝐺𝐶1

0,1944𝐺𝐶1
(1,69𝑠 + 1)(13𝑠 + 1)
𝑇𝑅 (𝑠) = 𝑇𝑅𝑠𝑒𝑡 (𝑠)
0,39𝐺𝐶1
1+
(1,69𝑠 + 1)(13𝑠 + 1)(𝑠 + 1)

0,1944𝐺𝐶1 (𝑠 + 1)
𝑇𝑅 (𝑠) =
(1,69𝑠 + 1)(13𝑠 + 1)(𝑠 + 1) + 0,39𝐺𝐶1

El polinomio característico

(1,69𝑠 + 1)(13𝑠 + 1)(𝑠 + 1) + 0,39𝐺𝐶1 = 0

𝐺𝐶1 = 𝐾𝐶1

(1,69𝑠 + 1)(13𝑠 + 1)(𝑠 + 1) + 0,39𝐾𝐶1 = 0

21,97𝑠 3 + 36,66𝑠 2 + 15,69𝑠 + 1 + 0,39𝐾𝐶1 = 0

Haciendo una sustitución 𝑠 = 𝑖𝑤𝑢 y 𝐾𝐶1 = 𝐾𝐶𝑢1

21,97𝑖 3 𝑤𝑢3 + 36,66𝑖 2 𝑤𝑢2 + 15,69𝑖𝑤𝑢 + 1 + 0,39𝐾𝐶𝑢1 = 0

Sabemos que 𝑖 2 = −1

21,97𝑖 3 𝑤𝑢3 − 36,66𝑤𝑢2 + 15,69𝑖𝑤𝑢 + 1 + 0,39𝐾𝐶𝑢1 = 0

21,97𝑖 3 𝑤𝑢3 + 15,69𝑖𝑤𝑢 = 0 (3)

−36,66𝑤𝑢2 + 1 + 0,39𝐾𝐶𝑢1 = 0 (4)

Despejando la parte imaginaria para encontrar los valores de 𝑤𝑢

21,97𝑖 3 𝑤𝑢3 + 15,69𝑖𝑤𝑢 = 0

(21,97𝑖 2 𝑤𝑢2 + 15,69𝑤𝑢 )𝑖𝑤𝑢 = 0

21,97𝑖 2 𝑤𝑢2 + 15,69 = 0

Hacemos la sustitución 𝑖 2 = −1

−21,97𝑤𝑢2 + 15,69 = 0

Por formula cuadrática

−𝑏 ± √𝑏 2 − 4𝑎𝑐
2𝑎

±√−4(−21,97)(15,69)
2(−21,97)

+√−4(−21,97)(15,69)
= −0,845
2(−15,69)

−√−4(−21,97)(15,69)
= 0,845
2(−21,97)

Los valores para 𝑤𝑢 son

𝑤𝑢 = 0 𝑚𝑖𝑛−1

𝑤𝑢 = −0,845 𝑚𝑖𝑛−1

𝑤𝑢 = 0,845 𝑚𝑖𝑛−1
Con la primera el resultado de 𝐾𝐶𝑢1 es negativa por tanto no escogemos esa y la
respuesta negativa no tiene sentido por tanto el valor para 𝑤𝑢 es 1,183

Reemplazando en (4):

−36,66(0,845)2 + 1 + 0,39𝐾𝐶𝑢1 = 0

𝐾𝐶𝑢1 = 64,55

Hallando el 𝑇𝑢

2𝜋
𝑇𝑢 =
𝑤𝑢

2𝜋
𝑇𝑢 =
0,845 𝑚𝑖𝑛−1

𝑇𝑢 = 7,43 𝑚𝑖𝑛