Professional Documents
Culture Documents
Hour Examination #3
April 28, 2003
Name: ____________________________________________________________(5 Points)
Section : __________________________________________________________
Total Points 125 (Partial credit may be given on some problems)
1. Exam is open book and open notes. Absolutely no "consultation" with your neighbor(s) is
allowed.
2. Read all questions carefully before starting.
3. Present your answers in a clear manner. In order to obtain full credit you must show all
the steps in your solution.
4. You have one hour to complete the exam and turn it in. If you finish early, you may turn
in your exam and leave. Because of the tight classroom space, please be considerate of
your fellow classmates if you leave early.
Page 1 of 12
FC
Flow Setpoint
Fsetpoint ( t )
M (t )
FT
f (t )
Fsetpoint
(s)
+
E ( s )
-
Gc ( s )
C ( s )
M (s)
Gf ( s )
Gp ( s )
F(s)
Gm ( s )
Kv
v s + 1
The measuring element is also a first-order system but with a zero time constant (i.e. infinitely
fast)
Gm ( s ) = K m
The controller is a proportional-integral (PI) controller with a proportional gain of K c and
integral time of I :
1
Gc ( s ) = K c 1 +
I s
The process in this case is the fluid flowing through the pipe. Based on this, the transfer function
for the process is simply:
G p ( s) = 1
Page 2 of 12
a. Write the closed-loop transfer function between F and Fsetpoint
for this control system?
Page 3 of 12
d. What is the offset in the controlled variable following a step-change in the set point of 12
units when K m = 1 ?
Solution
a. The transfer function is:
Fsetpoint
1 Kv
K c 1 +
Gc G f G p
I s v s + 1
=
=
1 + Gm Gc G f G p
1 Kv
1 + K m K c 1 +
I s v s + 1
=
=
K c K v ( I s + 1)
I s ( v s + 1) + K m K c K v ( I s + 1)
K c K v ( I s + 1)
v I s + ( I + K m K c K v I ) s + K m K c K v
2
1
( I s + 1)
Km
=
v I
1
+ 1 s + 1
s 2 + I
Km Kc Kv
Km Kc Kv
b. The characteristic equation is:
1 + GmGc G f G p = 0
v I
1
s 2 + I
+ 1 s + 1 = 0 .
Km Kc Kv
Km Kc Kv
1
( I s + 1)
Km
M M M
.
F = lim [ F ] = lim s F = lim s
=
=
t
s 0
s 0
s Km
2
1
v I
2
s + I
+ 1 s + 1
Km Kc Kv
K m K c K v
So:
Gain =
Fsetpoint,
1
.
2
d. The ultimate value for a step change of magnitude M to the set point will be:
Page 4 of 12
1
( I s + 1)
Km
M M
=
=M.
t
s 0
s 0
s Km
1
v I
2
s + I
+ 1 s + 1
K m K c K v
Km Kc Kv
So, the offset will be:
Offset = R F = M M = 0 .
Page 5 of 12
Gc1 ( s )
Ysp ( s )
Gd ( s )
G1 ( s )
+
+
Gc2 ( s )
+
+
Y (s)
G2 ( s )
a. Write the closed-loop transfer function for this system for the output Y with respect to the
load D and with respect to the set point Ysp .
Solution
a. Using the loop laws, the total transfer function is easily found to be:
Y =
Gc1G1 + Gc 2G2
Gd
Ysp +
D
1 + Gc1G1 + Gc 2G2
1 + Gc1G1 + Gc 2G2
Page 6 of 12
Y =
1
Gd I 2
=
K
1 + K c1G1 + c 2 G2 s I 2 s + K c1G1 I 2 s + K c 2G2
I 2 s
Gd
sGd I 2
0
=
=0
Y = lim [Y ] = lim s Y = lim
t
s 0
s 0 s + K G s + K G
Kc2 K2
c1 1 I 2
c2 2
I2
So, the offset will be:
Offset = Ysp Y = 0 0 = 0 .
Page 7 of 12
R ( s )
Gc ( s )
Gp ( s )
C ( s )
Gc* ( s )
(1 5s )
( 5s + 1)( 3s + 1)
a. Write the closed-loop transfer function between C and R for this control system.
b. If Gc ( s ) = K c and Gc* ( s ) = 0 determine the stability limits for the closed-loop system.
Page 8 of 12
c. If Gc ( s ) = K c and Gc* ( s ) =
10 s
what are the stability limits for the closed-loop
( 5s + 1)( 3s + 1)
system?
Solution
a. The inner loop transfer function is:
Ginner =
Gc
1 + Gc*Gc
Gc
Gp
Ginner G p
Gc G p
1 + Gc*Gc
C
=
=
=
*
1 + Gc Gc + Gc G p
R 1 + Ginner G p 1 + Gc G
p
*
1 + Gc Gc
(1 5s )
( 5s + 1)( 3s + 1)
=
(1 5s )
1 + Gc*Gc + Gc
( 5s + 1)( 3s + 1)
Gc (1 5s )
=
*
(1 + Gc Gc ) ( 5s + 1)( 3s + 1) + Gc (1 5s )
Gc
b. For these values of Gc ( s ) and Gc* the closed-loop transfer function is:
K c (1 5s )
C
=
R ( 5s + 1)( 3s + 1) + K c (1 5s )
( 5s + 1)( 3s + 1) + K c (1 5s ) = 0
15s 2 + ( 8 5K c ) s + 1 + K c = 0 .
For all coefficients to remain positive (and hence, for the system to be stable):
8 5K c > 0 K c <
8
= 1.3
5
Page 9 of 12
and:
1 + K c > 0 K c > 1 .
So, stability limits are 1 < K c < 1.3 .
c. For these values of Gc ( s ) and Gc* the closed-loop transfer function is:
K c (1 5s )
C
=
R
10 s
K c ( 5s + 1)( 3s + 1) + K c (1 5s )
1 +
( 5s + 1)( 3s + 1)
K c (1 5s )
=
( 5s + 1)( 3s + 1) + 10 K c s + K c (1 5s )
=
K c (1 5s )
( 5s + 1)( 3s + 1) + ( 5s + 1) K c
( 5s + 1)( 3s + 1) + ( 5s + 1) K c = 0
15s 2 + ( 8 + 5K c ) s + (1 + K c ) = 0 .
For all coefficients to remain positive (and hence, for the system to be stable):
8
8 + 5 K c > 0 K c > = 1.3
5
and:
1 + K c > 0 K c > 1 .
So, the stability limit is K c > 1 . So, all positive values of K c will give a stable system.
Page 10 of 12
2
24 s + 8s + 0.5
2
will your proposed control loop work? Justify your answer by giving numerical results.
Solution
The proposed control loop will have the following block diagram.
Gc ( s )
2
24 s + 8s + 0.5
2
4Kc
1 + 4Kc
2 =
48
1 + 4Kc
48
1 + 4Kc
Page 11 of 12
2 =
16
1 + 4Kc
1 1 + 4 K c 16
2
1
=
.
2
48 1 + 4 K c
3 1 + 4Kc
1 + 4Kc
1
4Kc
C = lim [C ] = lim s C = lim s
=
t
s 0
s 0
48
16
s2 +
s + 1 s 1 + 4Kc
1 + 4 K c
1 + 4Kc
and the offset will be:
1
4Kc
Offset = R C = M 1
=M
.
1 + 4Kc
1 + 4K c
For no oscillations, the closed-loop system must be critically or overdamped, i.e., 1 . For this
to be the case:
=
2
1
43 1
1 Kc
=
= 0.0833 .
4 3 12
3 1 + 4Kc
Page 12 of 12