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Closed-Loop Control
Systems
Chapter 11
Chapter 11
Next, we develop a transfer function for each of the five elements
in the feedback control loop. For the sake of simplicity, flow rate
w1 is assumed to be constant, and the system is initially operating
at the nominal steady rate.
Process
Chapter 11
K1 K 2
X s
X1 s
W2 s (11-1)
s 1 s 1
where
V w1 1 x
, K1 , and K2 (11-2)
w w w
Chapter 11
The symbol x% t denotes the internal set-point composition
sp
expressed as an equivalent electrical current signal. x% t is
sp
related to the actual composition set point xsp t by the
composition sensor-transmitter gain Km:
Chapter 11
t K m xsp
x%
sp t (11-7)
Current-to-Pressure (I/P) Transducer
The transducer transfer function merely consists of a steady-state
gain KIP:
Pt s
Chapter 11
K IP (11-9)
P s
Control Valve
As discussed in Section 9.2, control valves are usually designed
so that the flow rate through the valve is a nearly linear function
of the signal to the valve actuator. Therefore, a first-order transfer
function is an adequate model
W2 s Kv
(11-10)
Pt s v s 1
Composition Sensor-Transmitter (Analyzer)
We assume that the dynamic behavior of the composition sensor-
transmitter can be approximated by a first-order transfer function,
but m is small so it can be neglected.
X m s
Km
Chapter 11
Controller X s
2. Comparator
Chapter 11
3. Block
Y(s) G(s)X(s)
Blocks in Series
change is zero)
Y ( s) K mGc Gv G p
(11-26)
Ysp ( s ) 1 GcGvG pGm
Disturbance Changes (Regulator Problem)
Y (s) Gd
(11-29)
D ( s ) 1 Gc Gv G p Gm
Block Diagram:
Assumptions
1. q1, varies with time; q2 is constant.
D 1 1
1 K C 1 KV KM
Is As
Simplify,
Y Is (3)
D A I s 2 K C KV K M I s K C K P K M
Characteristic Equation:
A I s 2 K C KV K M I s K C K P K M 0 (4)
2
KCK VK M KCK VK M
I
2 I
2 0 1
Substitute,
1 K C K V K M I
2 A
For 0 < < 1 , closed-loop response is oscillatory. Thus
decreased degree of oscillation by increasing Kc or I (for constant
Kv, KM, and A).
unusual property of PI control of integrating system
better to use P only
Stability of Closed-Loop
Control Systems
Chapter 11
Proportional Control of First-Order Process
Set-point change:
K C KV K P K M
Chapter 11
Y s 1 KP
GP
Ysp 1 K C KV K P K M s 1
s 1
Y K1 GV , GC , GM constant gains
Ysp 1s 1 (K V , K C , K m )
K OL
K1 1 K OL K C KV K P K M
1 K OL 1 K OL
Set-point change = M
y (t ) K1M 1 e t 1
Chapter 11
M
Offset = ysp y
1 K OL
KK C
Y KK C 1 KK C
Chapter 11
Ysp s 1 KK C
s 1
1 KK C
First-order behavior
closed-loop time constant
1 KK C
8
Y ( s) 3 D( s) D(s ) is unspecified
s 6s 12 s 8 8 K C
2
8
GV 1 GM 1 GP Gd
s 2
3
If Kc = 1,
( s ) s 4 s 2 2s 4 s 4 s 1 3 j s 1 3 j
Chapter 11
1
Since all of the factors are positive, s a e at ,
the step response will be the sum of negative
exponentials, but will exhibit oscillation.
If Kc = 8,
( s ) s 3 6s 2 12 s 72 ( s 6)( s 2 12)
Corresponds to sine wave (undamped), so this case is
marginally stable.
If Kc = 27
( s ) s 3 6 s 2 12 s 224 s 8 s 2 2 s 28
s 8 s 1 3 3 j s 1 3 3 j
Since the sign of the real part of the root is negative, we
Chapter 11
Integral Control:
K KC KC
e t dt
t
P C
I 0
P(s)
Is
E(s) G C (s)
Is
Figure 11.25 Stability regions in the complex plane for roots of the
characteristic equation.
Stability Considerations
Roots of 1 + GcGvGpGm
2KC
GOL ( s )
( s 1)( s 2)( s 3)
Routh Stability Criterion
Characteristic equation
Chapter 11
an s n an 1s n 1 a1s a0 0 (11-93)
a n-1
a n 1a n 4 a n a n 5
b2 (11-95)
a n 1
.
.
b1a n 3 a n 1b 2
c1 (11-96)
b1
b1a n 5 a n 1b 3
c2 (11-97)
b1
s 3 6s 2 12s 8 8K C 0
We want to know what value of Kc causes instability, I.e., at least
one root of the above equation is positive. Using the Routh array,
1 12 n 3
6 8 8K C
6(12) 1 8 8K C
0
6
8 8K C 0
Conditions for Stability
72 8 8K C 0 K C 8
8 8K C 0 K C 1
The important constraint is Kc<8. Any Kc 8 will cause instability.
Figure 11.29
Flowchart for
Chapter 11
performing a
stability analysis.
Additional Stability Criteria
set s = j 1 + 5j + 2Kce-j = 0