Tutorial Topic 1 Answers 1

Tutorial 1.1, question 1

dh
a) A = q1 + q 2 − q3 = q1 + q 2 − h / R
dt

b) H/Q1=R/(RAs+1) = Kp/(τs+1)
H/Q2=R/(RAs+1) = Kp/(τs+1)

c) –

d) –

Tutorial 1.1, Question 2:

a) Offset =0.86 oC

b) Km: = 0.32 mA/oC

KOL= 1.44 K2
K2 = 3.34 oC/psi

Tutorial 1.1, Question 3.

a) Kc=3
b) τI = 5 min
c) To reach a further ∆m takes 5 min

Tutorial 1.2, question 1

 τ'  τ' τ'

K c = K 'c 1 + D  τ D = D I τ I = τ 'I + τ 'D
 τ ' I  τ 'I + τ 'D

Tutorial 1.3, question 1, Digital controllers

′ ∆t ∆t  2τ I 
K c = K c (1 + ) τ 'I = τ I + τ 'D = τ D  
2τ I 2  2τ I + ∆t 

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