, ....

.'

Ct\'e> \ 409

5F

Yl'(j- WL2.

.....

2. For the following system when a step inerease ofmagnitude 2 psi is sent to the steam va1ve for Q , the attaehed response for T3 is obtained. Tune a PI controller using this information.

5feam 1.00 psi

Q (lh/min)

Steam
300 :si

Q (lh/min)

. 0.35.

0.3

0.25

0.2
.!

0.15

0.1

0.05

0~~~5~--~1~O--~1~5--~2~O~~2~5~~3~0-------~----~--~ 45 35 40

50

-b~~
__0.-'-- __ ....
o'

.::

.. ..... . :.: .:'.',

.
' ;. ,

: ..

.',

'

..... :~.. .,.... ,':

;.

,
/

. '.

..~..

3.

Ge-

G
s-:L

..

Y'

Design a controller so that there is rio steady state offset, the closed loop system s stable; its set point response has no oscillations.

4.

Y(s) __ = U(s)

(s + 2) (s + l)(s + 6)

e -3s

a. .Let u(t)=4sin2t. Compute the steady state output y(t). b. Sketch u(t) and y(t) superimposed showing all the important numbers on the plots.

S. -"

kc.

O.5"S+1

---.

, os + i

2
Ca) (b) (c) Calculate the transfer function between Y and ysP . Find the value of the controller gain Kc for which the unit setpoint response s underdamped with damping coefficient = 0.5. For part (b) compute the steady state offset. Approximately sketch the response to a unit step change in set point showing all the important values.

Fecd) ~ ,Cf
1-----+

ProJd:

(t)

F~cd )

Tf)Cf

Exit reactor temperature is to be controlled by adjusting the heat input rate Q\t). Feed . temperature and feed concentration are disturbances. The temperature transmtter has unt gain and no dynamics. The following process model is available:

a)

Let Ci be a step change ofmagnitude 0.01. Give a sketch ofT(t) showing all the important values on the curve.

b)

Let

T = Osin(3t)

compute the steady solution T(t). Plot Tand

T showing all the important values. c) d) Draw the feedback control loop. Showall the important variables Design a PI controller using Ziegler Nichols rules.

(lo")

4. Explain c1early and briefly what the following mean:

a) b) c)

Reset windup Phase margin Velocity algorithm

--

(2..'5)

5. One way to control flooding in a distillation column is to design a feedback loop where the pressure drop across the trays is measured and controlled by adjusting the steam flowrate in the reboiler. Attached are the bode plots of the following transfer function : M where D.P is the pressure drop and S is the steam flowrate. The transfer S functions for the measurement device and the steam valve are given by : Gm = 1 Gv= 0.5 with the appropriate units. is the gain

Calculate the proportional controller gain using Ziegler Nichols settings.What margin equaJ to for the feedback system with this controller?

o-J __ ---------------------------------------------------10-2

10-2

10-1 Frequency, (j) (rad/min),. .

-50 ~
-100 ~
i

-iSO tl
i

-200 ~
-250 .-

-~

~--~--~~~--~~~~~~--~~~~~~--~~~~~
10-2

10-3

o-i

100

Frequency. w (red/min)

2.

in a 20-tray distillation column, temperature T (C:::) on the 6-th tray s measured and controlled to minimize energy consumption and to get the right distillate concentration. Feedflowrate (kg/hr) entering the column is a disturbance. Steam flowrate S (kg/hr) in the reboiler can be manipulated. The models are given below. Process:

T(s)

= - 0.1 F(s) + 6e- Ses) 2s + 1 , lOs + 1

Sensor: The temperature transmitter' s output signal varies linearly from 4 to 20 milliamps when T varies from 60 Oc to 80 ~. Its dynamics is negligible (i.e. it is very fast). Valve: Its dynamics is negligible (i.e. it is very fast) so that change in steam flowrate is proportional to the change in pressure applied by the controller.
Set) - Sss

= 0.6(P(t)

- Pss) where "ss" denotes steady-state values.

Draw the .closed loop diagram showing all the important variables in right units and labeling the blocks with the right transfer funetions. 3.

47 :.055

-i S-tS

a. Let G, be equal to 4. Is the loop stable? b, Design a PI controller using Ziegler Nichols settings.

4.

kc.

i 5-+\

r-+

105+

S~2.

Using Routh Array, [md the values of K., for which the loop is stable.

( ct.)
( b)
r75\ ..&.

ca1wl.a.i
PJot
+

~ ({ ~
aAtd

o<> )

'1.1

Jer.

i"

(i) =

Q, s in Q, t

r-(+)

ij (+~ s"P~ i",po~-ed. on -/1esctme )

! De)

tki:

'i.sf

~~

Ge..

j
io'"

s- 4
S4-

...

,. y

)....-et

G co

be
<\he

<A

vr

toV1+.o \

Lu

u&

t1+eaJ

-hi~

1"J:

'> D

Prve

.-\v,.-l:

tonholle.

ks.t"

kne~"-Iwe

fo .. 1\.'1f"J1ki~d

(.\ose~

\001 .skb'\\~.
~

-~~
\

Ge. .
i

2 -<'5-1

-y
7

5s+1
<!x. CD n-ho f

De~j n
1he.

['jos -len ( ' e. s fe

~~~e ~)
\s

uf, <!'r e. 'b~

""1.\ c\ P ~+.
(X~OV~

'JOI\Ue.S

of'in~ tcY\1Yo\}u
~fI:)..w\'

So thtJ.:t 1Y\-e.

fe.~ba.eb.

s--kbte...

---7'
./

1//
/
/

..
"~

Ge
e
-$

O.5s+l

...
7

"'"'-

kc. -:L~

($+1)(3+1)\
~: ..~1

l-ef
k c,
.1

ySr lt. ~ uY!;f

+e

'5 ke1c.~ ~ (i)

for-

o.i

~d

kc. =- .us .

Sh.wc.Pi. 1i..

;",l'r*"",1 valI/es.

"

-+
.~

Ge

.i.
(3HI )(S t-I)

Let G~ = P i

CDnf", ller ""d

1:1. = 6 . ~hQt

."Ive

E~ Ia.i"'" h . lt ;. ..d 1-kn0"'" Nic.hds ~eti"jS' E(pla.-4r1 ..J,~.

-tn" f .:;,. 1l is sJ ,+e '"

.0

of 1<c ~J if= ;"'plem,n1 ne c"'" not F n ~ 1l< Zi<.1 /~

15

+ L.....~
+.....
1

1 (s+l)

.,-

(s +2)

Let R=O and D=1/5. For what values of the controller gain K the absolute value of the steady state offset in Y is less than 0.125. What is the value of the ultimate gain K for this system?

2.1

~.i

G~

2
4es

---

0.55+1

..

ot

G:)'s;d~o~ec:fe1'\,loOf
.(.{ o ': ~

1"0

ce. "!:.s

i,e.

k::.oCl.A'ld

~,o d:o

~~I"\

2.::.!... 1).,
54-1

o'

- i pts) For the following characteristic equations, deterrnine if the system is stable. Showallyour calculations and reasoning. For Cb)calculate the values of K for-wlrich the system is stable.
(a)
(b)
SI_S7 S3

+6s+6=0

+ (4 - K )S2 + 6s + 12 = O

O(s)

R (s) -t

..

"

y(s)

M
s-I H(s)=--

(a)

Let

s+6

G=l

M(s)=-

s+1

CalcuIate the steady state offset when D=O and R= step of magnitude 2_ Give a qualitative sketch of y(t) showing the important values and trends. You do not have to sol ve for y(t).

(b)

Let G= PI controller .. H(s) =--

e~'"

1Os+1

M(s)=-

s+1

Design the PI controller using Zieger Nichols settirtgs. Cc) Let G=2_ Calculate the Gain Margin. is the system stable ? Explain why.

3. (20 pts) Given the following transfer function, caleulate the maximum value the output y(t) can take when input ut) s a unit step.

4. (15 pts)
Y ( s)

= (2 + s)U (s) u(r) = 3sin4t

Calculate lim ytt ) ,....
-- -'

30?-b

1. For the system given below : a. Compute the values of the gain K for which the closed loop is stable. b. Let K=O.5 ana d(t) = a unit step increase compute the steady-state offset.

y'f+ -~ -

~S-i

5+~

.!.fo

r-s

2. Consider the isothermal

CSTR shown below. The feed enters at a constant velocity v ; through a long pipe of length L. The feed is assumed to contain species A diluted with water to achieve the inlet concentration Co. No reaction takes place in the pipe i.e. it aets as pure delav or transportation lag. The following data are given:

Le lrn; v=S mlmin.

Transfer function for the sensor=l. The transfer funetion between the controller output signal P (psi) and inlet manipulated concentration Co is given by:

Co (s) --'-=1 Pes)

moIm ps

and the transfer function between the exit controlled concentration and reactor inlet C is given by:
CA(s) 0.5

--C (s) S +

a. b.

Draw the closed loop bloek diagram labeling the bloeks with the proper transfer funetions and the eonneetions with the right physieal variables. Calculate the PI tuning parameters us ing Ziegler Niehols settings.
W _ter for Dilution

""""",,,+.....J

R.act.ar
V okan.

.'

~~~------~~~~A~B
Concentrat:ion Controller

F,c
A

5.l1'1!e following
i temperature

figure shows the control scheme for controlling the effluent of a CSTR in which an endothermic reaction s taking place. The :following model is given:
2e-4s e-2s

T(s)=--H(s)+ 3s+1

O.2s+1

Tj(s)

The va1ve transfer function s given by

c; (s) = 2.51bi sec.psi

You can assume that the- transfer function for the sensor is equa1 to 1. \ Ca) Draw the feedback diagram labeling all the blocks and interconnections with the right transfer functions, variable names and their appropriate units. (bj Design a PI controller. Cc)Design a feedforward controller and show it on the figure
;

Reac:tant


~I

4. The liquid level in a drum boiler is controlled

Y(s) -- 0.1(1- 2s) U(s) s(5s + 1)

as shown below. A model is given by

. . . w h ere y s th e ieve 1 an d u s tl e tl owrate. Th e transter fu nctons

O

for the level transmitter (LT) and the valve are botl equa1 to 1.

Is this process open-Ioop stable ? Explain why. (b) Let D(s) be unit impulse. Compute and sketch y(t). (c) Draw the closed-loop block diagram, labeling all the blocks and interconnections. _ Let the controller (LC) be proportional with gain =4. Is the closed loop stable ? Show your ca1culations.
(a)

4.

Given the following negative feedback diagram: D s)

+
R(s)

s-2 (s + 2)(s + 1)

~....---~Y(s)

(a)

The system is at steady state Y5=1when disturbance d=O. Compute the open-loop response (i.e. K=0) to a unit step increase in disturbance and plot the response y(t). If d(t)=3sin2t, compute y(t-7oo) again under open loop conditions (i.e. K=O).

(b)

(c)

For what values of K s the closed loop stable?

5.

Derivative action removes steady state offset Small controller gain creates stability problems A controller s unnecessay if the open-loop system-is stable if a measured signal is noisy one should use derivative action For reset windup to occur the controller has to have integral action The crossover frequency s where the AR=l. The ultima te gain is equal to AR at the crossover frequency. For adelay transfer function phase angle does not vary with frequency Feedforward control is needed for processes whose models are not well known. Second order systems always show osci1lations

T
T

CD
T
~

T T T

6.

in an industrial polymer process, the molecular weight of the product is controlled by manipulating the chain transfer agent flowrate. However a certain impurity enters the process via the solvent stream and varies unpredictably. The impurity . concentration can be measured by on-line chromatographic analysis. The following s a model for the reactor:

y(s) = -550 10s + 1 u(s) + -5 (25s + 1) des)

where, in deviations, y is the molecular weight; u is the chain transfer agent flowrate flb/hr); d is the impurities (ppm); time in minutes. Design a feedforward controller and give the block diagram. Assume unit transfer functions for sensors and valves.

7.

The temperature on a critica! tray in a pyrolysis fractionator is to be regulated by a feedback controller. By experimental testing the following model was obtained: T(s)

= 20e-2s
30s+1

F(s) _ 5e-4s R(s) 6s+1

where time is in minutes; T is the tray temperature ; R is the reflux (Mlblr); F is the feedrate (Mlblbr), ss indicates a neminal steady-state condition. Design a PI controller using Ziegler Nichols settings .