Universidad de Cartagena

Fecha Entrega: Taller Final, Junio.

Sede Piedra Bolívar 12 de 2012 (antes de 11:00 a.m)

Nombre:

Nota:

1. Realizar los siguientes ejercicios del libro Corripio (versión Ingles):

8-3 (10%) Consider the pressure control system shown in Fig. 1. The pressure in the tank can be described
by:

The valve can be described by the following transfer function:

The pressure transmitter has a range of 0 to 185 psig. The dynamics of the transmitter are negligible.

(a) Draw the block diagram for this system, including all the transfer functions.

(b) Sketch the root locus diagram.

(c) Determine the gain of the controller at the breakaway point.

(d) Determine the ultimate gain and ultimate period.

(e) Calculate the tuning of a P controller so as to obtain a damping factor of 0.707 for the dominant roots.

(f) Explain graphically how adding reset action to the controller affects the stability of the control loop. Use
.

(g) Explain graphically how adding rate action to the PI controller of part (f) affects the stability of the
control loop.

Figure 1. Pressure control system for Problem 8-3

9-1 (10%) For the paper drying process of Fig. 2, the following information is available: The flow control
loop (FIC47) can be represented by a first-order lag with a gain of 4 gpm/%CO and a time constant of 0.1
min. The transfer function of the air heater outlet temperature to the fuel flow is a second-order lag with
time constants of 2 min and 0.8 min. A change in fuel flow of 1 gpm causes a change of 2°F in the outlet air
temperature. The drier can be represented by a first-order lag with a time constant of 5 min. A change of
1°F in inlet air temperature causes a change in outlet moisture of 0.5 mass percent. The moisture transmitter
(MT47) has a range of 0 to 6 mass percent and a negligible time constant.
(a) For the control scheme shown in Fig. 2, draw the block diagram of the moisture control loop showing
the transfer functions. Decide on the fail position of the control valve and the controller action, and make
sure that the signs in your block diagram correspond to your decisions. Determine the ultimate gain and
period of oscillation of the moisture control loop, and then use these values to tune a PID controller for the
moisture controller (MC47) for quarter decay ratio response.

(b) Consider a cascade control scheme using an outlet temperature sensor with a range of 250 to 300°F
installed on the air line from the heater to the drier and a temperature controller to manipulate the fuel flow
set point; the output of the moisture controller (MC47) sets the set point of the outlet air temperature
controller. Draw the instrumentation diagram and the block diagram of the cascade control scheme. Show
the defined transfer functions on the block diagram, and specify the action of each controller.

(c) Determine the ultimate gain and period of oscillation of the slave temperature control loop, and use
these values to tune a P controller for quarter decay ratio response; then calculate the ultimate gain and
period for the master moisture control loop, and the quarter decay ratio response tuning parameters for a
PID moisture controller. Comparing these parameters with those you obtained in part (a), briefly comment
on the advantages of cascade control for this application.

Figure 2. Drier for problem 9-1

9-2 (18%) This is a real process with real data. Consider the heater shown in Fig. 3. In this process, the
heater is actually a reactor where the catalytic reaction of C 3H8, and steam takes place to form H2 and CO2.
The temperature of the product gas is controlled by manipulating the flow of fuel. It was suspected that the
controllers were not correctly tuned. This suspicion was confirmed by looking at the unstable response,
shown in Fig. 4, of the reactor after an upset (a change in feed flow) entered the reactor. On the basis of this
response, it was decided to re-tune the controllers. Both controllers were set in manual, and after the
process reached a steady condition, shown in Fig. 4, the output from the flow controller to the valve was
changed by - 5%. The flow and temperature responses are given in Table P9-1. Interestingly, although the
plant personnel were expecting a 20°F change in temperature, the actual change was about 230°F. Figure 4
also shows this temperature response. After the temperature reached bottom, the flow controller output was
changed by + 5% to bring the temperature back to its desired operating condition. On the basis of the
process response, both controllers were tuned and set in automatic. Figure 4 shows the response under
automatic control with the new settings and for the same upset. Obtain the settings for the controllers using
Austin’s method, which is outlined in this chapter. The temperature transmitter range is 0 to 2000”F, and
that of the flow transmitter is 0 to 24 mscfh.
 Figure 3. Heater for problem 9-2

Figure 4. Temperature response for problem 9-2

Table P9-1. Table for problem 9-2

9-4 (15%) 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

2. (10%) Realizar el ejercicio IV.50 (ver enunciado en archivos adjuntos). Pertenece al libro de George
Stephanopoulos.

Consider the system of the two stirred tank heaters shown in Figure 6. We want to maintain temperature T 3
at the desired set point value using one of the steam flow rates Q 1 or Q2 as the manipulated variable. Make
the necessary computations and decide which manipulated variable is better using the mínimum offset as
selection criterion. The following information is given:

(a) Flow rates F1, F2, and F3 remain constant at their steady state values.
(b) Temperature T1 is the main disturbance.
(c) The dynamics of the two heaters are given by the following equations:

(d) Consider a 10% step increase in the value of the disturbance T 1 in order to compute the offset of the
closed-loop responses.
(e) The controller is proportional, while the thermocouples and control valves have a transfer functions
equal to unity.
(f) The following restrictions must be satisfied by the controller gain
 Figure 6. Stirred tanks for problema IV.50

3. (3%) Para que un lazo cascada sea apropiado, que característica debe tener la variable secundaria y el lazo
interno

4. La Figura 2 muestra la respuesta Escalón para la temperatura de una reacción. La Figura 2 fue obtenida
aplicando un cambio escalón del 13% (step change) en la señal de salida del controlador, y registrando la
salida del sensor-transmisor versus el tiempo. El sensor-transmisor tiene un rango de 0 a 70 0C.

Figura 7. Cambio Escalón para la temperatura de la reacción

a) (8%) Determinar el tiempo muerto (to), la ganancia del proceso (K) y la constante de tiempo (  ).
b) (8%) Determinar la ganancia proporcional (Kc) y el tiempo integral (  I ) de un controlador PI.
5. preguntas tipo ECAES del año 2010

58. (3%) En un proceso, una de las ventajas del tipo de controlador PI es la ausencia del error de estado
estacionario (OFFSET) PORQUE en un proceso la acción proporcional en el controlador hace que la señal de
salida del mismo sea proporcional.

59. (3%) Las condiciones iniciales para las variables de perturbación o desviación son todas iguales a cero para
un sistema cualquiera PORQUE para un sistema cualquiera el punto inicial (t=0) del análisis dinámico de la
respuesta, en lazo abierto o cerrado, corresponde a las condiciones de estado estacionario.

60. (3%) El venturi es el medidor de flujo de fluidos más recomendado para la medición de velocidades de
fluidos con sólidos en suspensión PORQUE en el venturi prácticamente no se presentan zonas muertas en el
campo de flujo debido a que por su diseño el fluido es conducido a través de él con mínima caída de presión.
47 (3%) Un diagrama de tubería e instrumentación PID incluye:

1. el material de la tubería
2. la longitud de la tubería
3. el diámetro de la tubería
4. los accesorios de la tubería

48. (3%) Los diagramas de tubería e instrumentación (PID) se emplean en la elaboración de:

1. recorridos de tubería
2. estudios de riesgos y operabilidad, HAZOP
3. isométricos de tubería
4. procedimientos de arranque de planta

49. (3%) La ganancia de un transmisor neumático de presión con salida estándar, el cual tienen un span
(intervalo de trabajo) de 120 psig y un cero de 100 psig, es:

A. 12/120 (psig/psig)
B. 15/120 (psig/psig)
C. 100/120 (psig/psig)
D. 12/100 (psig/psig)
E. 12/20 (psig/psig)