Universidad Autónoma de Zacatecas

“Francisco García Salinas”

Unidad Académica de Ciencias Químicas
Programa de Ingeniería química

DINÁMICA Y CONTROL
TAREA ORDINARIO

TEORÍA

Moreno Cabrera Daniel.

9no semestre, Grupo A

Dr. en C. Benito Serrano Rosales

Docente de la materia de Dinámica y Control

Universidad Autónoma de Zacatecas, Unidad Académica de Ciencias Químicas,

Programa de Ingeniería Química. Nuevo Campus UAZ Siglo XXI Edificio 6, Km.
6s/n Carr. Zacatecas-Guadalajara. Ejido “La Escondida”, C.P. 98160, Zacatecas,
Zac.

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1.- Cuales son los componentes de un sistema de control?
1. Process (stirred-tank heater)
2. Measuring element (thermometer).
3. Controller.
4. Final control element (variable transformer or control valve).

2.- Que es un diagrama de bloques?

R.- El diagrama de bloques es la representación gráfica del funcionamiento interno de un sistema, que se hace
mediante bloques y sus relaciones, y que, además, definen la organización de todo el proceso interno, sus
entradas y sus salidas.

3.- Que es la retro alimentación negativa?

R.- Negative feedback ensures that the difference between TR and T, is used to adjust the control element so
that the tendency is to reduce the error

4.- Que es la retro alimentación positiva?, qué características tiene el sistema?

R.- If the signal to the comparator were obtained by adding TR and Tm we would have a positive feedback
system, which is inherently unstable. To see that this is true, again assume that the system is at steady state
and that T = Tm = TR.

5.- Que es el problema Servo?

R.- The control system of Fig. 9.2 can be considered from the point of view of its ability to handle either of
two types of situations. In the first situation, which is called the servomechanism-type (or servo) problem.

6.- Que es el problema regulador?

R.- The other situation will be referred to as the regulator problem. In this case, the desired value TR is to
remain fixed and the purpose of the control system is to maintain the controlled variable at TR in spite of
changes in load Ti. This problem is very common in the chemical industry, and a complicated industrial
process will often have many selfcontained control systems, each of which maintains a particular process
variable at a desired value. These control systems are of the regulator type

7.- Cuál es el diagrama de bloques para un proceso?. Por favor asegúrese de entender también la deducción.
2 represents the functional relationship existing between the input and output of a particular component. In the
previous chapters, such inputoutput relations were developed in the form of transfer functions. In block-
diagram representations of control systems, the variables selected are deviation variables, and inside each
block is placed the transfer function relating the input-output pair of variables.
8.- Cuál es el diagrama de bloques de un elemento de medición?
The temperature-measuring element, which senses the bath temperature T and transmits a signal Tm to the
controller, may exhibit some dynamic lag.

9.- Encontrar la función de transferencia del proceso, cuando cambian la variable de carga y la variable de
punto fijo.

10.- Encontrar la función de transferencia del proceso cuando cambia solo una variable y la otra se mantiene
constante.

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11.- Encuentre la función de transferencia del elemento de medición.

12.- Encuentre la función de transferencia del controlador y del elemento final de control.

13.- Encuentre el diagrama de bloques del controlador proporcional.

14.- Como puede considerarse al controlador y al elemento final de control.

For convenience, the blocks representing the controller and the final control element are combined into one
block. In this way, we need be concerned only with the overall response between the error and the heat input
to the tank. Also, it is assumed that the controller is a proportional controller

15.- Como eran los controladores antes de 1960?

Up to about 1960, most controllers were pneumatic. Although pneumatic controllers are still in use and
function quite well in many installations, the controllers being installed today are electronic or computer-
based instruments.

16.- Por favor indique que conversión se efectúa en los siguientes equipos: transductor, controlador –
regulador, convertidor y válvula de control.
transfer functions will be presented for simplified or idealized versions of the control valve and the
conventional controllers. These transfer functions, for practical purposes, will adequately represent the
dynamic behavior of control valves and controllers. Hence, they will be used in subsequent chapters for
mathematical analysis and design of control systems.

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17.- Describir que ocurre en la figura 10-2 de las notas.

Figure 10.2 shows that a thermocouple is used to measure the temperature; the signal from the thermocouple
is sent to the transducer, which produces an output in the range of 4-20 ma, which is a linear function of the
input. The output of the transducer enters the controller where it is compared to the set point to produce an
error signal.
18.- Encuentre la función de transferencia de una válvula de control.

19.- Que es un consolador proporcional?

The proportional controller produces an output signal (pressure in the case of a pneumatic controller, current
or voltage for an electronic controller) that is proportional to the error E

20.- Encuentre la función de transferencia de un controlador proporicional.

21.- Explique el término “banda proporcional”.

The term proportional band is commonly used among process control engineers in place of the term gain.
Proportional band (pb) is defined as the error (expressed as a percentage of the range of measured variable)
required to move the valve from fully closed to fully open
22.- Que es el control “on – off”?
A special case of proportional control is on-off control. If the gain K, is made very high, the valve will move
from one extreme position to the other if the pen deviates only slightly from the set point. This very sensitive
action is called on-off action because the valve is either fully open (on) or fully closed (off); i.e., the valve
acts like a switch.
23.- Que es un controlador integral – proporcional PI?
In this case, we have added to the proportional action term, K&, another term that is proportional to the
integral of the error. ,The values of K, and q may be varied by two knobs in the controller
24.- Encuentre la función de transferencia de un controlador integral – proporcional PI.

25.- Que es un controlador proporcional – derivativo PD?

In this case, we have added to the proportional term another term, which is proportional to the derivative of
the error. The values of K, and 70 may be varied separately by knobs on the controller. Other terms that are
used to describe the derivative action are rate control and anticipatory control
26.- Encuentre la función de transferencia de un controlador proporcional derivativo PD.

27.- Represente gráficamente que pasa si a un controlador proporcional – integral se le perturba con una
función escalón unitario del error,   1 ?

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28.- Represente gráficamente la respuesta de un controlador proporcional derivativo si es perturbado con la
función   t   At .

29.- Que es un controlador proporcional – integral – derivativo?

In this case, the controller contains three knobs for adjusting.
30.- Encuentre la función de transferencia de un controlador PID.

31.- Ilustre gráficamente el efecto de los diferentes tipos de controladores, en la respuesta de un sistema de
control.

32.- De que depende la selección de un tipo de controlador?

With proportional action only, the control system is able to arrest the rise of the controlled variable and
ultimately bring it to rest at a new steady-state value. The difference between this new steady-state value and
the original value is called o&?. For the particular system shown, the offset is seen to be only 22 percent of
the ultimate change that would have been realized for this disturbance in the absence of control.
33.- Considere el ejemplo dado en el capitulo 11 de sus notas.
a) Cuál es el objetivo del problema?
Conocer cuáles son las variables que se pueden controlar
b) Realizar el balance de materia del reactor 1.

c) Encuentre la función de transferencia del reactor 1.

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d) Encuentre la función de transferencia del reactor 2.

e) Encuentre la función de transferencia de la válvula de control

.
f) Encuentre la función de transferencia del elemento de medición.

g) Encuentre la función de transferencia del controlador.

h) Encuentre la función de transferencia de la línea de muestreo.

i) Dibuje el diagrama bloques del sistema global.

j) Cuál es el problema del diseño de control para este sistema de dos reactores?
based controller, the block for the controller in Fig. 11.2 would be replaced by two blocks; one for the
electronic controller and one for the converter, which converts the controller output (ma) to the pneumatic
signal (psig). An equivalent diagram is shown in Fig. 11.3 in which some of the blocks have been combined.

34.- Por favor hacer la lista de símbolos y funciones de transferencia estándar, usados en los diagramas de
bloques.

35.- Hacer el diagrama de bloques de un sistema de control típico.

36.- Que es la función de transferencia del ciclo abierto?

In more complex systems, the block diagram may contain several feedback \ paths and several loads. An
example of a multiloop system, which is shown in Fig. 12.2, is cascade control.
37.- Reducir el diagrama de bloques de la figura 12-2.

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38.- Encuentre la función de transferencia global para cambios en el punto fijo.

39.- Encuentre la función de transferencia global para cambios en la variable de carga.

40.- Resolver el ejemplo 12-2.

41.- Encuentre la función de transferencia global para un sistema con controlador proporcional y cambio en el
punto fijo.

42.- Que es el “offset”?

The desired change is, of course, 1. Thus, the ultimate value of the temperature T’(a) does not match the
desired change. This discrepancy is called o&t and is defined as offset.

43.- Encuentre la función de transferencia global para un sistema con controlador proporcional y cambio en la
variable de carga.

44.- Encuentre la función de transferencia global para un sistema con controlador integral – proporcional y
con perturbación en la variable de carga.

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45.- Encuentre la función de transferencia global para un sistema con controlador integral proporciona y con
perturbación en el punto fijo.

46.- Cuando una respuesta es inestable?

From these response curves, it is seen that, as K, increases, the system response becomes more oscillatory. In
fact, beyond a certain value of K,, the successive amplitudes of the response grow rather than decay; this type
of response is called unstable.
47.- Que es un sistema estable? Y cuando es inestable?
The purpose of this section is to translate the stability definition into a more simple criterion, one that can be
used to ascertain the stability of control systems
48.- Que es la funcion de transferencia de ciclo abierti?
We call G the open-loop transferfunction because it relates the measured variable B to the set point R if the
feedback loop
49.- Que es la ecuacion caracteristica?
is a function that arises in the rearrangement to the right-hand form of Eq. (14.6). Equation (14.7) is called the
characteristic equation for the control
50.- Explique porque el tipo de raices de la ecuacion caracteristica definen si el sistema es o no lineal.
in the right half of the complex plane, the response C(t) will contain a term that grows exponentially in time
and the system is unstable. If there are one or more roots of the characteristic equation at the origin, there is an
s”’ in the denominator of Eq. (14.6) (where m 2 2) and the response is again unbounded, growing as a
polynomial in time. This condition specifies m as greater than or equal to 2, not 1, because one of the s terms
in the denominator is accounted for by the fact that the input is a unit-step (l/s) in Eq.

51.- Para que sirve la prueba de Routh?

The Routh test is a purely algebraic method for determining how many roots of the characteristic equation
have positive real parts; from this it can also be determined whether the system is stable, for if there are no
roots with positive real parts, the system is stable.

52.- Que es el arreglo de Routh?

53.- Enuncie los teoremas de la prueba de Routh.

1. The necessary and sufficient condition for all the roots of the characteristic equation [Eq. (14.9)] to have
negative real parts (stable system) is that all elements of the first column of the Routh array (aa, a 1, b 1, c 1,
etc.) be positive and nonzero.
2. If some of the elements in the first column are negative, the number of roots with a positive real part (in the
right half plane) is equal to the number of sign changes in the first column.
3. If one pair of roots is on the imaginary axis, equidistant from the origin, and all other roots are in the left
half plane, all the elements of the nth row will vanish and none of the elements of the preceding row will
vanish. The location of the pair of imaginary roots can be found by solving the equation.

54.- Que es el metodo de la trayectoria de Root?

This criterion also yields the number of roots of the characteristic equation that am located in the right half of
the complex plane. In this chapter, we shall develop a graphical method for finding the actual values of the
roots of the characteristic equation, from which we can obtain the transient response of the system to an
arbitrary forcing function.
55.- Que son los polos de la funcion de transferencia de ciclo abierto?

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The product GH, which is the product of all transfer functions (G,GlGzH) in the loop, is called the open-loop
transfer function
56.- Explique la figura 15-2 del libro
The diagram in Fig. 15.3 should be compared with the one in Fig. 15.2 to see the effect of adding integral
action to the control system. Notice that the value of K = 3.84, above which the roots move into the right half
plane, is lower than the corresponding value of K = 60 for proportional control. The effect of
57.- Explique el metodo grafico de la trayectoria de Root.
Having introduced the concept of root locus by two examples, here are some rules that were first introduced
by Evans (1954, 1948) for plotting root-locus diagrams of characteristic equations of any order. Without these
rules, the time and effort / needed to plot root-locus diagrams would be too great to render them useful in
engineering computations
58.- Que es la relacion de amplitud y el angulo de fase?
: The trace of the locus is found entirely from the angle criterion of Eq. (15.14), which is independent of K.
After the locus is established, the gain K for any point on it may be obtained from Eq. (15.13), which we shall
refer to as the magnitude criterion
59.- Que es un diagrama de Bode?
There is a convenient graphical representation of their dependence on the frequency that largely eliminates
direct calculation. This is called a Bode diagram and consists of two graphs: logarithm of AR versus
logarithm of frequency, and phase angle versus logarithm of frequency. The Bode diagram will be shown in
Chap. 17 to be a convenient tool for analyzing control problems such as the one discussed in the preceding
section. The remainder of the present chapter is devoted to developing this tool and presenting Bode diagrams
for the basic components of control loops.
60.- Grafique el diagrama de Bode para un sistema de primer orden.

61.- Grafique el diagrama de Bode para una serie de sistemas de primer orden.

62.- Grafique el diagrama de Bode para un sistema de segundo orden.

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63.- Grafique el diagrama de Bode para un controlador PI.

64.- Cual es el criterio de Bode de la estabilidad?

It is tempting to generalize the results of the analysis of the tank-temperature control system to the following
rule. A control system is unstable if the open-loop frequency response exhibits an AR exceeding unity at the
frequency for which the phase lag is 180’. This frequency is called the crossover frequency. The rule is called
the Bode stability criterion
65.- Que son los margenes de ganancia y de fase?
Let us consider the general problem of selecting G Js) for the system of Fig. 17.5. Suppose the open-loop
frequency response, when a particular controller G,(s) is tried, is as shown in the Bode diagram of Fig. 17.6.
The crossover frequency, at which the phase lag is 1 80°, is noted as o,, on the Bode diagram. At this
frequency, the AR is A. If A exceeds unity, we know from the Bode criterion that the system is unstable and
that we have made a poor selection of G,(S). In Fig. 17.6 it is assumed that A is less than unity and therefore
the system is stable.
66.- Cuales son los criterios de Ziegler – Nichols?

Consider selection of a controller G, for the general control system of Fig. 17.5. We first plot the Bode
diagram for the final control element, the process, and the measuring element in series, GiG2H(ju).

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