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Assignment 6 2020 Solution

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33 views

Assignment 6 2020 Solution

Uploaded by

Amal GS
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Week 6

Q1. Choose the correct statement

• ISE is better than IAE to strongly suppress large errors because the errors are squared and
thus contribute more to the value of the integral

Q2. Which controller is best suited to maintain liquid level in the distillation column bottom
and condenser’s accumulation drum?

• P

Data for Q3, Q4


1
Consider two first order systems in series with Gp = . Let the
(5s + 1)(2s + 1)
measuring device and control valve have first order dynamics (Km=1, Kv=1, τm=10, τv=0).
The process reaction curve given below has a slope of 0.05 at the inflection point and dead
1
time 2.5. (Hint: Ku = , ARωco is the amplitude ratio of the system’s response at the
ARωco
2π
crossover frequency, Pu = )
ωco

figure 1
Figure 2

1
GPRC(s)= , the process reaction curve is given above (figures 1&2).
(5s + 1)(2s + 1)(10s + 1)

Q3. What are the tuning parameters for a PID controller using Cohen-Coon method?

• Kc = 10.9, τI = 5.85, τD = 0.89

fig1, B=1, from fig 2, td=2.5 (roughly).

From fig2, slope S=0.0513/0.9524 ≈ 0.05 (0.0538)

τ=B/S=20, K=B/A=1
2.5

1 2.5 ( 3 4* 20 )
1 20 4 2.5 32 + 6* 20
Kc= + = 10.9167, τI = 2.5 2.5
= 5.8482,
13 + 8* 20

4
τD = 2.5 2.5
= 0.8889
11 + 2* 20

Q4. What are the tuning parameters for a PI controller using Zeigler-Nichols closed loop
tuning?

• Kc = 5.7, τI = 12.69

At ωco, φ = -π =-tan-1(5 ωco) -tan-1(2 ωco) -tan-1(10 ωco ),

Solving using Newton-Raphson method, ωco = 0.4123


1
AR = = 0.0794
52ωco
2 +1 22ωco
2 +1 102ωco
2 +1

1
Ku= = 12.6
A Rwco
Pu=2*π/ ωco = 15.239

For PI controller, Kc= 0.45*12.6=5.67, τI=Pu/1.2=12.69

Data for Q5, Q6

+ e −0.1s
~y  ̃ (s) Gc = Kc Gv = 1 Gp =
SP 0.5s + 1 ~y(s)
-

~y  ̃ (s)
m
Gm = 1

Figure 2

Q5. Consider the closed loop system in figure 2. What is the largest permissible gain Kc for a
gain margin of 1.7?

• 4.9

For a given gain margin of 1.7, at cross over frequency ,

-𝝿 = tan-1(-0.5*𝞈co) - 0.1*

𝞈co = 16.8868 rad/min


Kc
AR = = 0.12Kc
0.52 * 16.88682 + 1
1
GM = = 1.7
0.12Kc

Kc = 4.9 (max value that can be used)


Q6. Consider the tuning of the controller for a phase margin of 30o. If the dead time has been
estimated incorrectly and its “true value” is 0.15, the same controller is enough for
satisfactory operation.

• False

Original dead time is 0.1 (from Gp Transfer Function).

For PM=π/6, π/6 = π-|tan-1(-0.5 ωco)-0.1 ωco,|, ωco = 12.1089 rad/min.

If the dead time was miscalculated,

φ = tan-1(-0.5 ωco)-0.1 ωco = -3.2234 < -π → unstable, hence 30o PM is not enough for this
scenario.

Q7. Cohen-Coon method achieves a tradeoff between

• Minimum offset, quarter decay ratio, and minimum ISE

Q8. The process reaction curve of a temperature control system gave the values, K=10, τ = 2
min, and td = 0.1 min. The value of integral time constant of a PID controller using open loop
Zeigler-Nichols method is …0.2…

For PID, As per open loop Zeigler-Nichols, τI = 2* td = 2*0.1 = 0.2

Q9. A distillation column is typically installed with a pressure controller to maintain column
pressure by adjusting cooling duty of the reflux condenser. For the separation system, the
relative volatility is a strong function of pressure. In such a situation, the corresponding
pressure controller should be a PID (proportional-integral-derivative) controller.
a) True

Q10. A higher gain margin ensures robust design.


a) True

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