Process Dynamics and Control 4th Edition Seborg: Solutions Manual
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Chapter 9 ©
9.1
20 mA - 4 mA
Pm(mA)= ( p in.Hg 10 in.Hg) 4 mA
30 in.Hg - 10 in.Hg
mA
= 0.8 p(in.Hg) 4 mA
in.Hg
Level transmitter:
5 VDC - 1 VDC
hm(VDC)= (h(m) - 0.5m) 1 VDC
10 m - 0.5 m
VDC
= 0.421 h(m) 0.789 VDC
m
Concentration transmitter:
10 VDC - 1 VDC
Cm(VDC)= (C (g/L)-3 g/L)+1 VDC
20 g/L - 3 g/L
VDC
= 0.529 C (g/L) 0.59VDC
g/L
9.2
Setting valve 1 as fail close prevents more heat from going to flash drum and
setting valve 3 as fail open to allow the steam chest to drain. Setting valve 3
as fail open prevents pressure build up in the vessel. Valve 4 should be fail-
open to evacuate the system and help keep pressure low. Valve 5 should be
fail-close to prevent any additional pressure build-up.
Setting valve 1 as fail close (air-to-open) prevents more heat from entering
flash drum and minimizes future vapor production. Setting valve 2 as fail
open (air-to-close) will allow the steam chest to be evacuated, setting valve 3
as fail close (air-to-open) prevents vapor from escaping the vessel. Setting
valve 4 as fail open (air-to-close) allows liquid to leave, preventing vapor
build up. Setting valve 4 as fail close (air-to-open) prevents pressure buildup.
Set valve 1 as fail close to prevent all the liquid from being vaporized (This
would cause the flash drum to overheat). Setting valve 2 as fail open will
allow the steam chest to be evacuated. Setting valve 3 as fail open prevents
pressure buildup in drum. Setting valve 4 as fail close prevents liquid from
escaping. Setting valve 5 as fail close prevents liquid build-up in drum
9-2
9.3
Note: This exercise is best understood after the material in Ch. 11 has been considered.
a) Changing the span of the temperature transmitter will change its steady-state
gain, according to Eq. 9-1. Because the performance of the closed-loop
system depends on the gains of each individual element (cf. Chapter 11),
closed-loop stability could be adversely affected.
b) Changing the zero of a transmitted does not affect its gain. Thus, this change
will not affect closed-loop stability.
c) Changing the control valve trim will change the (local) steady-state gain of
the control valve, dq/dp. Because the performance of the closed-loop system
depends on the gains of each individual element (cf. Chapter 11), closed-loop
stability could be adversely affected
d) For this process, changing the feed flow rate could affect both its steady-state
gain and its dynamic characteristics (e.g., time constant and time delay).
Because the performance of the closed-loop system depends on the gains of
each individual element (cf. Chapter 11), closed-loop stability could be
adversely affected.
9.4
9-3
qd 0.6 m3 / min 36 m3 / h
Psd 200 kPa
Psd 200 kPa
K 2
2 0.154 kPa/(m3 /h) 2
qd 36 (m3 /h)2
Now substitute (3) into (2) to get an expression for Pv in terms of q.
Pv P Kq 2 (4)
Substitute (4) into (1) to get:
q
Cv (5)
P Kq 2
Nf (l )
gs
The problem specifies that qd should be 2/3 of qmax (where qmax is the flow
rate through the valve when the valve is fully open).
2
qd qmax
3
3 3
qmax qd 36 m3 /h
2 2
qmax 54m /h 3
Now find the Cv that will give qmax = 54 m3/h. Substitute q = qmax and f (l)=1
(valve fully open) into (5).
qmax
Cv
P Kqmax 2
N
gs
Now that all of the variables on the right hand side of the equation are
known, plug in to solve for Cv.
kPa m3
P 450 kPa, K 0.154 3 , N 0.0865 ,
(m / h) 2 h(kPa)1/2
g s 1.2, qmax 54 m3 /h
m3
54
Cv h
kPa
3 450kPa 0.154 3 2
54 2 (m 3 /h) 2
m (m /h)
0.0865
h(kPa)1/2 1.2
m3 m3
54 54
h h
0.0865
m3
h(kPa)1/2
0.88(kPa)1/2
0.076
m3
h
Cv 710.5
9-4
9.5
For the rated Cv, the valve is completely open at 110% qd i.e., at 352 gpm or the
upper limit of 350 gpm
1
p 2
Cv q v
gs
1
(1 2.44 106 3502 )106.4 (40 1.953 104 3502 ) 2
Cv 350
0.9
q 66.4 4.55 10 4 q 2
1 / 2
ln
101.6 0.9
l 1
ln 50
The plot of the valve characteristic is shown in Figure S9.5. From the plot of the
valve characteristic for the rated Cv of 101.6, it is evident that the characteristic is
reasonably linear in the operating region 250 q 350.
The pumping cost could be further reduced by lowering PDE to a value that would
make Pv/Ps = 0.25 at q 320 gpm. Then PDE = 100 and for qd = 320 gpm, the
rated Cv = 133.5. However, as the plot shows, the valve characteristic for this design
is only slightly more nonlinear in the operating region. Hence, the selected valve
coefficient is Cv = 133.5.
9-5
400
350
300
250
q (gpm)
200
150
------- Cv = 101.6
100
- - - - Cv = 133.5
50
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
l (valve lift)
9.6
a) There are three control valves. The selection of air-to-close vs. air-to-open is
based on safety considerations:
9-6
ii. Level controller: As the liquid level h increases, we want the product
flow rate B to increase. Since the control valve is air-to-open, this
means that the controller output signal to the control valve (via the
I/P) should increase. Thus, the controller should be direct-acting.
iii. Pressure controller: As the pressure P increases, we want the solvent
flow rate D to increase. Since the control valve is air-to-close, this
means that the controller output signal to the control valve (via the
I/P) should decrease. Thus, the controller should be reverse-acting.
9.7
M
0.00965s
Kg c
M R
2 2
Kg c K
R gc
155.3
2 KM
9-7
9.8
Configuration II: This parallel configuration will be effective because the large
control valve can be adjusted to provide the nominal flow rate, while the small
control valve can be used to regulate the flow rate. If the small valve reaches its
maximum or minimum value, the large valve can be adjusted slightly so that the
small valve is about half open, thus allowing it to regulate flow again.
9.9
First write down the time-domain step response for a step change of 10°C. Then
solve the equation to find when y(t) is equal to 5 (since the variables are in deviation
variables, this represents when TM will reach 30°C).
ym (t ) KM (1 e t / )
where M 10o C, K 1, and 10s
ym (t ) 10(1 e t /10 )
5 10(1 e ta /10 )
ta 6.93s
9.10
0.1 psig
precision = 0.5% of full scale
20 psig
accuracy is unknown since the "true" pressure in the tank is unknown
0.1 psig
resolution = 0.5% of full scale
20 psig
±0.1 psig
repeatability = =±0.5% of full scale
20 psig
9-8
9.11
Assume that the gain of the sensor/transmitter is unity (i.e. there is no steady-state
measurement error). Then,
Tm ( s ) 1
T ( s) ( s 1)(0.1s 1)
where T is the temperature being measured and Tm is the measured value. For the
ramp temperature change:
0.3
T (t) = 0.3t (C/s) , T (s) = 2
s
1 0.3
Tm ( s) 2
( s 1)(0.1s 1) s
If the smaller time constant is neglected, the time domain response is slightly
different for small values of t, although the maximum error (t) does not change.
T °C
6
5
4
3
2
1
0 Time s
0 5 10 15 20
Figure S9.11. Response for process temperature sensor/transmitter. Orange solid
line is T’(t), and purple dashed line is T’m(t).
9-9
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Boy. How they jump! how they run to the gate! why do they run
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Maid. They are glad to see me. They know me; I feed them when
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Boy. I like to see them so glad. I like to see a pig fed; but I love a
lamb; may I not love a lamb more than I do a pig?
Maid. Yes; but you must be good to all.
Boy. My aunt has a tame lamb, I love to give him milk; once I saw
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Maid. Have you seen a goat?
Boy. Yes; he has not wool; he has hair.
Maid. Now you may go with me. We will go and see the cows.
Boy. Why is one duck by itself?
Maid. The duck sits; she has a nest just by. I must feed her: she
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some corn; we will get some for her. Come.
Boy. I like to feed the poor duck.
THE DOLL.
IN WORDS OF FOUR LETTERS.
Girl. What a nice doll! I like this; pray may I have this? I wish to
have a wax doll.
Mother. You must then take care to keep her cool, else you will
melt her face; and she must be kept dry, or this nice pink on her face
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Girl. What a neat coat! I love a blue silk. And her hat! I love a doll
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No, that will not do; I must not wet her skin. What sort of a foot have
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you are good. You shall sit by me near the tree, on a low seat, fit for
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Mother. You will pull off her legs, my dear.
Girl. Now if I had a pin to pin this sash back. Stay, I can tie it. O
me! see! here is a bag for her work! who has seen the like? a bag for
her work! I must have this doll—if you like it, I mean.
Mother. You must then work for her. You will have much to do. To
make and mend all that your doll will want to wear. Will not you wish
her in the shop? I fear that you will; you who are so fond of play.
Girl. Work for my doll will not tire me.
Mother. Take it, then.
Girl. You are so good! pray let me kiss you. I must kiss you too, my
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THE TOILET.
IN WORDS OF FOUR LETTERS.
Girl. I like this frock; but it will not keep on. Why will it not keep on?
Maid. It is too big for you, miss.
Girl. It is off; it will fall off.
Maid. You had best lay it down, miss.
Girl. I like to have it; I will put it on.
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Girl. I will not, mamma. Jane, I will be good. Pray may I look in this
box?
Mother. You see it is shut now; you may see it by-and-by.
Girl. I will not hurt the lock.
Mother. You must not try.
Girl. May I play with your muff?
Mother. You may.
Girl. What is this made of?
Mother. Fur; and fur is skin with the hair on.
Girl. It is like puss; how soft it is! How warm it is when I hold it to
my nose! it is like wool.
Mother. Now come and kiss me; I am sure you will be good to
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Girl. Do you stay all day? do you stay till John is in bed?
Mother. Yes; till you are both in bed. Now go.
Girl. Pray let me get my work-bag first. May I get my work-bag?
Mother. Why do you want it?
Girl. I want some silk out of it, that I may work a ball for John.
THE FAN.
IN WORDS OF FOUR LETTERS.
Lady. What does the baby want? what does that mean?
Girl. It is his way to say please.
Lady. And what does he wish?
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Mother. Now John will walk. Ring the bell. Go and walk with the
maid.
Girl. Am I to go?
Mother. As you like.
Girl. I like best to stay; but John says with his hand, “pray go.” I will
go then; dear boy! I will go with you.
Mother. Good girl.
Girl. John! you must love me; I wish to stay here, and you hear
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Mother. Take hold of him and lead him out. You will meet the maid
at the door.
THE BOOK-SHOP.
IN WORDS OF FOUR AND FIVE LETTERS.
Boy. I will have a book. I will have one with a dog in it. May I not?
Mother. Yes, you may.
Boy. Let me see, here is a goat. Do look at his face; how like it is
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No, I will not have that, for his tail will soon be off. Some part of it is
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THE WALK.
IN WORDS OF FIVE AND SIX LETTERS.
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