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Process Dynamics and Control Seborg 2nd Ch14 PDF
Process Dynamics and Control Seborg 2nd Ch14 PDF
Chapter 14
14.1
Let GOL(jωc) = R + jI
| GOL(jωc)| = 1 = R 2 + I 2
∠GOL(jωc) = -π = tan –1 (I/R)
1 + GOL(jωc) = 0
I + R + jI = 0 or R = -1 , I = 0
14.2
2π
ωc = = 0.628 min −1
10 min
(a) Using Eq. 14-7,
1 = (Kc)(0.5)(1)(1.0) or Kc = 2
– π= 0 + 0 +(-θωc) + 0
π
or θ = = 5 min
ωc
14-1
14.3
(a) From inspection of the Bode diagrams in Tables 13.4 and 13.5, the
transfer function is selected to be of the following form
K (τ a s + 1)
G(s) =
s (τ1 s + 1)(τ 2 s + 1)
Therefore,
0.032(10s + 1)
G(s) =
s(0.5s + 1)(0.05s + 1)
(b) Because the phase angle does not cross -180°, the concept of GM is
meaningless.
14.4
The following process transfer can be derived in analogy with Eq. 6-71:
H1 ( s ) R1
=
Q1 ( s ) ( A1R1 A2 R2 ) s 2 + ( A1R1 + A2 R1 + A2 R2 ) s + 1
14-2
0.5
Gp(s) = (1)
8s + 7 s + 1
2
0.5
For R2 = 0.5: Gp(s) = (2)
2s + 5.8s + 1
2
(a) For R2 = 2
− 7ωc 0.5
∠Gp= tan-1 2
, |Gp| =
1 − 8ωc (1 − 8ωc ) + (7ωc ) 2
2 2
1.5 1 .5
For Gm = , ϕm= -tan-1(0.5ω) , |Gm| =
0.5s + 1 (0.5ωc ) 2 + 1
− 7ωc
-180° = 0 + 0 + tan-1 2
− tan-1(0.5ωc)
1 − 8ωc
0.5 1.5
1 = ( K cu )(2.5)
2 2 (0.5ω ) 2 + 1
(1 − 8ωc ) + (7ωc )
2
c
For R2=0.5
− 5.8ωc 0.5
∠Gp = tan-1 2
, |Gp| =
1 − 2ωc 2 2
(1 − 2ωc ) + (5.8ωc )
2
− 5.8ωc
-180° = 0 + 0 + tan-1 2
− tan-1(0.5ωc)
1 − 2ωc
14-3
(a) From part (a), for R2=2,
ϕc= -tan-1(-1/3.825ω)
2
1
|Gc| = 4.932 +1
3.825ω
−1 − 7ωc
-180° = tan-1 -1
+ 0 + tan 2
− tan-1(0.5ωc)
3.825ωc 1 − 8ωc
Ac = AROL|ω=ωc =
2
1
+ 1 (2.5)
0 .5
= 4.932
3.825ω c
2 2
(1 − 8ω c ) + (7ωc )
2
1.5
(0.5ω ) 2 + 1
c
= 0.7362
AROL|ω=ωc = 1 at ωg = 0.925
14-4
Substituting into Eq. 14-7 gives ϕg=ϕ|ω=ωg = −172.7°.
14.5
1 τ
Kc = =1 , τI = τ = 1 min,
K θ + τc
−1
-180° = tan-1 − 0.2ωc − tan-1(ωc) = -90° − 0.2ωc
ωc
π/2
or ωc = = 7.85 rad/min
0.2
1 2 2
Ac = AR OL = +1 = = 0.255
ω= ωc
ωc
2 2 ω
ω c + 1 c
1
2
+1 2
AR OL = 1 = Kc
ω= ω g 0.5ω ωg + 1
2
g
14-5
−1
−180° = tan-1 − 0.2ωc − tan-1(ωc)
0.5ωc
(c) By using Simulink-MATLAB, these two control systems are compared for
a unit step change in the set point.
1.4
1.2
0.8
y
part (a)
0.6
part (b)
0.4
0.2
0
0 1 2 3 4 5
time
Fig S14.5. Closed-loop response for a unit step change in set point.
14-6
14.6
Ym 4ω 2 + 1 2 0.4
AR OL = = Kc (1.0)
Ysp 0.01ω 2
+ 1 0.25ω 2 + 1 ω 25ω 2 + 1
2
Bode Diagram
10
0
10
AR/Kc
-2
10
-4
10
-90
-135
Phase (deg)
-180
-225
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
14-7
AR OL AR OL
From the plot of vs ω: = 0.144
Kc Kc ω= ω g
1
Because AR OL ω= ω g
=1 , Kc = = 6.94
0.144
AR OL AR OL
From the plot of vs ω, = 0.0326
Kc Kc ω = ωc
Ac = AR OL ω = ωc
= 0.326
2
Bode Diagram
10
0
10
AR/Kc
-2
10
-4
10
-90
-135
Phase (deg)
-180
-225
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
14-8
2
Bode Diagram
10
0
10
AR/Kc
-2
10
-4
10
-90
-135
Phase (deg)
-180
-225
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
14.7
(a) For a PI controller, the |Gc| and ∠ Gc from Eqs. 13.62 and 13.63 need to
be included in the AR and ϕ given for GvGpGm to obtain AROL and ϕOL.
The results are tabulated below
14-9
AR OL
= 0.165
Kc ω= ω g
1
Because AR OL ω= ω g
=1 , Kc = = 6.06
0.165
Ac = AR OL ω= ωc
= 0.021 Kc = 0.127
2π 1
Therefore, Pu = = 0.598 min and Kcu = = 62.5.
ωc AR ω=ω
c
Tabulating AROL and ϕOL as in part (a) and the corresponding values of M
using Eq. 14-18 gives:
14-10
14.8
Kcu and ωc are obtained using Eqs. 14-7 and 14-8. Including the filter GF
into these equations gives
Solving,
ωc = 8.443 for τF = 0
ωc = 5.985 for τF = 0.1
2 1
1 = (K cu )
2 2 2
ωc + 1 τ F ωc + 1
Therefore,
14.9
1 5 1
AR OL = K c + 1 (1.0)
25ω 2
100ω + 1 ω + 1
2 2
14-11
2
Bode Diagram
10
1
10
0
AR/Kc
10
-1
10
-2
10
-100
-150
Phase (deg)
-200
-250
-300
-350
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Then AR OL ω = ωc
= 1 = Kcu(1.025)
Therefore, Kcu = 1/1.025 = 0.976 and the closed-loop system is stable for
Kc ≤ 0.976.
(c) For Kc = 0.2, set AROL = 1 and solve for ω to obtain ωg = 0.1404.
14-12
1 1
GM = 1.7 = =
Ac AR OL ω=ω
c
2
Bode Diagram
10
1
10
0
AR/Kc
10
-1
10
-2
10
-150
-180
Phase (deg)
-200
-250
-300
-350
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
2
Bode Diagram
10
1
10
0
AR/Kc
10
-1
10
-2
10
-150
-180
Phase (deg)
-200
-250
-300
-350
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
14-13
14.10
0.047 5.264
(a) Gv ( s ) = × 112 =
0.083s + 1 0.083s + 1
2
G p ( s) =
(0.432s + 1)(0.017 s + 1)
0.12
Gm ( s ) =
0.024 s + 1
2
1
|Gc| = 5.84 +1
0.288ω
14-14
-π = − (π/2) + tan-1(0.288ωc) − tan-1(0.083ωc) − tan-1(0.432ωc)
− tan-1(0.017ωc) − tan-1(0.024ωc)
2
1 5.264
Ac = AR OL ω=ωc = 5.84
+ 1 ⋅
0.288ωc
(0.083ω ) 2 + 1
c
2 0.12
× ⋅
(0.432ω ) 2 + 1 (0.017ω ) 2 + 1 (0.024ω ) 2 + 1
c c c
= 0.651
AR OL ω= ω g
=1 at ωg = 11.78 rad/min
Substituting into Eq. 14-8 gives
PM = 180° + ϕg = 13.2 °
14.11
(a)
10 1.5
| G |= (1)
2 2
ω + 1 100ω + 1
14-15
Bode Diagram
2
10
1
10
AR 0
10
-1
10
-90
Phase (deg)
-180
-270
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
AR OL ω= ωc
= 1= (- Kcu) |G|ω=ωc
Pu = 2π/ωc = 4.49
Including the |Gc| and ∠Gc from Eqs. 13-62 and 13-63 into the results of
part (a) gives
1
2
15
AR OL = 0.72 + 1
3.74ω ω + 1 100ω + 1
2 2
14-16
2.89 14.0ω 2 + 1
=
ω 2 + 1 100ω 2 + 1 ω
ϕ = tan-1(-1/3.74ω) − tan-1(ω) − tan-1(10ω) − 0.5ω
Bode Diagram
4
10
2
10
AR
0
10
-2
10
90
-90
Phase (deg)
-180
-270
-360
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
Figure S14.11b. Bode plot for the open-loop transfer function GOL=GcG.
ϕ = -180° at ωc=1.15
AR OL ω= ωc
= 0.63 < 1
14-17
Bode Diagram
4
10
2
10
AR
0
10
-2
10
-90
-180
Phase (deg)
-270
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
`
Figure S14.11c. Solution for part (c) using Bode plot.
amplitude of ym (t )
AR OL ω= 0.5
= 2.14 =
amplitude of ysp (t )
Therefore, the amplitude of ym(t) = 2.14 × 1.5 = 3.21.
(f) The closed-loop system produces a slightly smaller amplitude for ω = 0.5.
As ω approaches zero, the amplitude approaches one due to the integral
control action.
14-18
14.12
TC
Hot fluid
TT
Cold fluid
Block diagram:
GTL = e-8s
If GOL = 6e-8s,
| GOL(jω) | = 6
14-19
2π 2π
Find Pu: Pu = = = 16s
ωc π / 8
1 1
Find Kcu: Kcu = = = 0.167
| G p ( jω c ) | 6
PI controller:
PID controller:
(c)
1.4
1.2
0.8
y
PID control
0.6 PI control
0.4
0.2
0
0 30 60 90 120 150
t
14-20
(d) Derivative control action reduces the settling time but results in a more
oscillatory response.
14.13
5.264
Gv ( s ) =
0.083s + 1
2
G p ( s) =
(0.432s + 1)(0.017 s + 1)
0.12
Gm ( s) =
(0.024s + 1)
1
The PI controller is Gc ( s ) = 51 +
0.3s
Hence the open-loop transfer function is
GOL = Gc Gv G p Gm
Rearranging,
6.317 s + 21.06
GOL = −5
1.46 × 10 s + 0.00168s 4 + 0.05738s 3 + 0.556s 2 + s
5
14-21
By using MATLAB, the Nyquist diagram for this open-loop system is
Nyquist Diagram
1
0.5
-0.5
-1
Imaginary Axis
-1.5
-2
-2.5
-3
-3.5
-4
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
1
(b) Gain margin = GM =
AR c
where ARc is the value of the open-loop amplitude ratio at the critical
frequency ωc. By using the Nyquist plot,
Nyquist Diagram
1
0.5
-0.5
-1
Imaginary Axis
-1.5
-2
-2.5
-3
-3.5
-4
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
14-22
θ = -180 ⇒ ARc = | G(jωc)| = 0.5
14.14
1
To determine max | em | < , we must calculate Mp based on the CLTF
ω Mp
with IMC controller design. In order to determine a reference Mp, we
~
assume a perfect process model (i.e. G − G = 0 ) for the IMC controller
design.
C *
∴ = Gc G
R
Factoring,
~ ~ ~
G = G+ G−
~ ~ 10
G+ = e − s , G− =
2s + 1
* 2s + 1
∴ Gc = f
10
1
⇒ f =
2 3s +1
* 2s + 1 1 2s + 1
∴ Gc = =
10 2 3 s + 1 20 3 s + 10
C 2 s + 1 10e − s 10e − s
∴
*
= Gc G =
=
R 20 3 s + 10 2 s + 1 20 3s + 10
∴ M p =1
The relative model error with K as the actual process gain is:
14-23
Ke − s 10e − s
~ −
G − G 2s + 1 2s + 1 K − 10
∴ em = ~ = =
G 10e − s 10
2s + 1
K − 10
Since Mp = 1, max | em | = <1
ω 10
K − 10
⇒ <1 ⇒ K < 20
10
K − 10
> −1 ⇒ K > 0
10
14.15
~ 2e −0.2 s
G=
s +1
2e −0.2 s
G=
τs + 1
(1 − τ) jω | (1 − τ)ω |
∴ ∆ = = (1)
τjω + 1 | τjω + 1 |
14-24
or
| (1 − τ ) | ω
∆ =
τ 2ω 2 + 1
|1− τ |
max | ∆ | = lim | ∆ | = (2)
ω ω→∞ τ
|1− τ |
< 0.8
τ
1− τ
< 0.8 ⇒ 1 < 1.8τ ⇒ τ > 0.556
τ
and
τ −1
< 0.8 ⇒ 0.2τ < 1 ⇒ τ<5
τ
14-25