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2 - Process Characteristics N Response PDF

A sudden change in a process variable can be approximated by a step change. Industrial processes often experience "drifting disturbances" that are relatively slow changes up or down for some period of time.

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Muhd Fahmi
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56 views29 pages

2 - Process Characteristics N Response PDF

A sudden change in a process variable can be approximated by a step change. Industrial processes often experience "drifting disturbances" that are relatively slow changes up or down for some period of time.

Uploaded by

Muhd Fahmi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Type of response

Common input changes

1. Step Input
A sudden change in a process variable can be approximated by
a step change of magnitude, M:

The step change occurs at an arbitrary time denoted as t = 0.


Special Case: If M = 1, we have a unit step change. We
give it the symbol, S(t).
Example of a step change: A reactor feedstock is suddenly
switched from one supply to another, causing sudden
changes in feed concentration, flow, etc.

2. Ramp Input
Industrial processes often experience drifting
disturbances, that is, relatively slow changes up or down
for some period of time.
The rate of change is approximately constant.
We can approximate a drifting disturbance by a ramp input:

3. Rectangular Pulse
It represents a brief, sudden change in a process variable:

tw Time, t

URP
h

Examples:
1. Reactor feed is shut off for one hour.
2. The fuel gas supply to a furnace is briefly interrupted.

4. Sinusoidal Input
Processes are also subject to periodic, or cyclic, disturbances.
They can be approximated by a sinusoidal disturbance:

U sin t

0 for t 0

A sin t for t 0

where:

(5-14)

A = amplitude, = angular frequency

A
U sin ( s ) 2
s 2
Examples:

1. 24 hour variations in cooling water temperature.

Response of first order system


First order differential equation

dy(t )
a1
a0 y (t ) bx(t ) c
dt
a1

dY (t )
a0Y (t ) bX (t )
dt

dY (t )

Y (t ) KX (t )
dt

General first order transfer function


K
Y (s )
X (s )

s 1

a1 / a0
K b / a0

1.Step response

K
Y (s )
X (s )

s 1
K x
Y (s )

s 1 s

All first order systems forced by a step function will have


a response of this same shape.

Step response for first order system

To calculate the gain and time constant


from the graph

Gain, K

y
x

Time constant, value of t which the response is


63.2% complete

2. Ramp response

K
Y (s )
X (s )

s 1

K a
Y (s )
s2

The normalized output


lags the input by exactly
one time constant

Ramp response for first order system

3. Sine input

U (s) 2
s 2
Kp
0

1s
2
Y(s)
2

2
2
2
2
s 1 s
s 1 s s 2

By partial fraction decomposition,


0
1
2

y(t )

K p 2

2 2 1
K p
2 2 1
K p
2 2 1

K p

Where

2 2

tan 1 ( )

Kp
1
2 2

sin(t )

First order response to the sine wave

Response with time delay

X(t)

Y(t)

t=0 t=t0

=Time delay/dead time

1. Step response

Kest0
Y (s )
X (s )
s 1
First-order-plus-dead-time (FOPDT)

Response of second order system


Second order differential equation
d 2 y (t )
dy(t )
a2
a1
a0 y (t ) bx(t ) c
2
dt
dt

d 2Y (t )
dY (t )
a2
a1
a0Y (t ) bX (t )
2
dt
dt
d 2Y (t )
dY (t )

Y (t ) KX (t )
2
dt
dt
2

General second order transfer function

K
Y (s ) 2 2
X (s )
s 2s 1

a2
a0

a1
a1

2a0 2 a0 a2

b
a0

Composed of two first order subsystems (G1 and G2)

K 1K 2
Y (s )
1s 1 2 s 1

K
G(s) = 2 2
s 2s 1

1 2
1 2
=
2 12

1
2

roots:

1
0 1
1

overdamped
underdampe d
criticallydamped

2nd order ODE model


(overdamped)
K
G(s) =
12s 2 + (1 2 )s + 1

1. Step response
K
Y (s ) 2 2
X (s )
s 2s 1

Y (s )

K
x
2s 2 2s 1 s

Second Order Step Change


a.

Overshoot fraction of the final steady-state change


by which the first peak exceeds this change

exp
os=
1 2
b

b. time of first maximum-time required for the output


to reach its first maximum value
tp

c.

decay ratio-ratio which the amplitude of the sine


wave is reduced during one complete
cycle
2

c
exp

2
1

a
2

d. period of oscillation, P time between two


successive peaks of the response.
p

2
1 2

e. Rise time, tr time taken for the process output to


first reach the new steady state value.
f. Settling time time it takes for the output to come
within a band of the final steady-state value and
remain in this band

process responses under automatic control.


Terminology
Ideal response: The desired process response is achieved at an instantaneous time.

Ideal
response
PV2

PV1

SP2

SP1

Time

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

Terminology
Stable: The process response stabilized at (near) the set point .

Ideal
response
PV2

PV1

SP2

SP1

Time

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

Terminology
Unstable: The process response could not be stabilized at the set point.

PV2

Ideal
response

PV1

SP2

SP1

Time

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

Terminology
Quality limits: A range, set values above and below the set point, whereby the process
is allowed to oscillate. Product quality is acceptable within these limits.

PV

Out of spec
UCL

SP2

Out of spec

LCL

SP
1

Time

1. LCL = Lower control (quality)


limit.
2. UCL = Upper control (quality)
limit

.
Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

Various shapes of process responses under automatic


control.
QAD

Oscillatory

Underdamped
Overdamped

Offset

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

Unit 1: Process settling criteria


Terminologies
Settling criteria: A response curve that meet any of the following criteria (criterion)
is considered settle.

1. Response time
2. Settling time
3. Rise time

4. Quarter Amplitude Damping (QAD)


5. Quality limits (BEST for product quality control)
6. No overshoot or no undershoot (BEST for
temperature and pH control)
7. Minimum IAE, ITSE, etc.

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

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