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ch32b Midterm2 2004

This document provides instructions for a midterm exam on process dynamics and control. It describes a heat exchanger temperature control problem and asks students to: 1) Determine the appropriate configuration for the steam flow and temperature controllers. 2) Build a Simulink model to simulate PID temperature control, tune the controller, and evaluate performance. 3) Repeat with a PI controller designed using Ziegler-Nichols tuning rules. 4) Repeat with a PID controller using Ziegler-Nichols tuning. Recommend a tuning method. 5) Derive transfer functions for a first-order filter and classify the filter. 6) Repeat the PID control simulation including the filter

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Nguyễn Tiến Dũng
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30 views7 pages

ch32b Midterm2 2004

This document provides instructions for a midterm exam on process dynamics and control. It describes a heat exchanger temperature control problem and asks students to: 1) Determine the appropriate configuration for the steam flow and temperature controllers. 2) Build a Simulink model to simulate PID temperature control, tune the controller, and evaluate performance. 3) Repeat with a PI controller designed using Ziegler-Nichols tuning rules. 4) Repeat with a PID controller using Ziegler-Nichols tuning. Recommend a tuning method. 5) Derive transfer functions for a first-order filter and classify the filter. 6) Repeat the PID control simulation including the filter

Uploaded by

Nguyễn Tiến Dũng
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOC, PDF, TXT or read online on Scribd
You are on page 1/ 7

UNIVERSITY OF THE WEST INDIES

DEPARTMENT OF CHEMICAL ENGINEERING


CH32B Process Dynamics and Control II
Midterm Examination: Tuesday, April 13/04 (Chem. Eng. Design Office)
Answer all questions. Copy the files created in each question onto a floppy disk using
the suggested filenames. Label your disk with your name, student number and the
number of the computer you used. All written work you wish to have marked must be
written on the question paper.
A temperature control loop for a steam heat exchanger is illustrated below.
Steam Flow,
FS(t)

FC

FI

Process Inlet
Flow, F(t)
Temperature, Ti

TC

Process Outlet
Flow, F(t)
Temperature, T(t)

Heat
Exchanger

Trap

The following Laplace domain expression relates changes in the steam and process fluid
flowrates to the exchanger outlet temperature:
T ( s ) G ( s ) FS ( s ) GF ( s ) F ( s )

0.242 e 6 s
0.01e 8 s
FS ( s )
F ( s)
7.5 s 1
15 s 1

(1)

Page 1 of 7

The time units of the transfer function parameters are minutes. The overbar in Eqn. (1)
indicates (the Laplace transform of) the deviation of the system variables from the
steady-state values listed below.
Tss 90 C ,

FS , ss 82.7 kg/min ,

Fss 2000 kg/min

The thermocouple is calibrated for the range 0-100 C and exhibits a random error of
mean zero and variance 0.01 (C)2. The maximum steam flow setpoint (corresponding to
a temperature controller output of 100%) is 150 kg/min.
(a) The steam flow control valve is air-to-open, i.e. fail-shut. Should the direction of the
steam flow controller be reverse (increase/decrease) or direct (increase/increase)? Should
the temperature controller be configured as reverse-acting or direct-acting?
[10 marks]

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(b) Build a Simulink model named heater.mdl to simulate 2 hours of PID control of the
heat exchanger outlet temperature, introducing a step change of +500 kg/min in the
process fluid flowrate at time t = 20 minutes. The setpoint of the temperature controller
is to remain fixed at its initial value ( SP ( s ) 0); the dynamics of the steam flow
control loop may be neglected (i.e. assume perfect steam flow control). Tune the
controller using the trial-and-error procedure covered in Section 2.3.2 of the lecture
notes. Write a MATLAB program (call it afterheater.m) which plots the setpoint and
measured temperature in the upper subplot and the controller output in the lower subplot.
Record the integral of the squared error as a measure of the performance of your
temperature controller.
[55 marks]
Kc

ISE =

(c) Repeat part (b) using a Proportional-Integral controller designed according to the
Ziegler-Nichols tuning method.
Table 1 - Ziegler-Nichols tuning rules.
D

Controller Type

KC

PI

0.9

K D

3.33 D

__

PID

1.2

K D

2.0 D

0. 5 D

[6 marks]

Kc

ISE =

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(d) Repeat part (b) using a Proportional-Integral-Derivative controller designed


according to the Ziegler-Nichols tuning rules.
Kc

ISE =
Which of the three tuning methods (trial-and-error, ZN PI, ZN PID) would you
recommend for this application? Explain your answer.
[9 marks]

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(e) In order to improve the performance of the Ziegler-Nichols PID controller, the
measured temperature will be filtered by the first-order transfer function
GF ( s)

1
F s 1

(2)

with time constant F 0.3 min. Prove that the frequency response of this PV filter is
given by
| G F ( j ) |

(3)

1 F2 2

G F ( j ) tan 1 ( F )

(4)

Would you classify the filter as high-pass, all-pass or low-pass?


[10 marks]

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(f) Repeat part (d) assuming that the PV signal is passed through G F (s ) prior to feeding
it back to the controller. Save your model as heaterfilt.mdl and comment upon your
results.
[10 marks]
ISE =

Page 6 of 7

END OF QUESTION PAPER

Page 7 of 7

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