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Tutorial 7 Solutions
Process
Fluid
To
TI
Condensate
TC
Tset
Steam
(a) Draw a block diagram of the temperature feedback control loop.
d(s)
Tset(s)
(s)
C(s)
Gc
ym(s)
Gd
To(s)
m(s)
Gf
Gp
Gm
Tset
(s)
Gc
C(s)
Gd
To
Gp
(c) Develop the transfer function between the outlet temperature (To) and the
Process flow (Fi).
To (s ) = Gd d (s ) + G p m(s )
(1)
y m (s ) = G mTo (s )
(2)
(s ) = Tset (s ) y m (s )
C (s ) = Gc (s )
(3)
(4)
m(s ) = G f C (s )
(5)
Next we assume that the set point does not vary that is, its deviation
variable is zero;
Tset (s ) = 0
Eliminate all the intermediate variables, (s), C(s), m(s) and ym(s), by
combining equations 1 through 5. The result is
To (s ) = G p G f Gc [ Gm To (s )] + Gd d (s )
To (s )
Gd
=
d (s ) 1 + G p G f Gc G m
This is the closed-loop transfer function between the process flow and the
outlet temperature.
(d) Develop the transfer function between the outlet temperature (To) and the
set point (Tset). Then write down the overall closed-loop transfer
function.
Similar to part (c), if we let d(s) = 0 and combine equations 1 through 5, the
closed loop transfer function between the set point and the outlet temperature
results;
G p G f Gc
To (s )
=
Tset (s ) 1 + G p G f Gc G m
G p G f Gc
1 + G p G f Gc G m
Tset (s ) +
Gd
d (s )
1 + G p G f Gc Gm
(f) Qualitatively explain what is observed if the poles of the transfer function
are complex conjugates.
Complex conjugate poles, such as p1 and p2. Complex poles always appear in
conjugate pairs, p1 = a + bi and p2 = a - bi. These roots give rise to terms
such as eat sin(t+). sin(t+) is a periodic, oscillating function, while the
behavior of eat depends on the value of the real part a. Thus,
Output
Output
Time
Time
Figure 1a
Figure 1b.
Output
Time
Figure 1c.
1 + K c 11
2
=0
0.1s + 1
(1 + 2 K c )
=0
0. 1
1
is the range of values for Kc for which the system response is stable.
2
1
=0
10 s + 2 s 2 + s 5
3
10
2
2 10(K c 5)
2
(Kc 5)
1
(Kc 5)
0
0
0
0
All values in the first column must be positive for a stable closed-loop response;
therefore there is must be no sign change and so
Kc 5 0
and
2 10(K c 5)
0
2
Kc 5
and
K c 5.2
3. For the control system below, find the closed-loop transfer function between
the output C and setpoint R. Then,
R +
1
(s + 1)3
1
(s + 1)
The closed-loop transfer function between C and R is:
G p G f Gc
C
=
=
R 1 + G p G f Gc Gm
K
1+ K
(s + 1)3
1
1
(s + 1) s + 1
3
C
K (s + 1)
K (s + 1)
=
= 4
4
3
R (s + 1) + K s + 4s + 6s 2 + 4 s + (1 + K )
Therefore the characteristic equation of the system will be;
s 4 + 4 s 3 + 6 s 2 + 4s + (1 + K ) = 0
1
4
5
16 4 K
5
1+K
S0
6
4
1+K
0
1+K
0
To have a stable system, all the elements in the first column must be positive,
therefore,
16 4 K
0
5
K 4
K 1
and,
1+ K 0
(b) Determine the value of K for which two of the roots are on the imaginary
axis, and determine the values of these imaginary roots and the
remaining two roots.
At K = 4, the characteristic equation will be,
s 4 + 4s 3 + 6s 2 + 4s + 5 = 0
or,
(s
)(
+ 1 s 2 + 4s + 5 = 0
Therefore the poles of the system which are located on the imaginary axis are the
roots of (s2 + 1), which are s = j.
The other two poles are the roots of (s2 + 4s + 5), which are s = -2 j.