Ch32b Final Exam 2000

THE UNIVERSITY OF THE WEST INDIES
EXAMINATIONS OF
APRIL/MAY
2000
CH32B Process Dynamics and Control II
Code and Name of Course:
Paper:
Date and Time:
Duration: 3 hrs.
10
INSTRUCTIONS TO CANDIDATES: This paper has
pages and
questions
Calculators may be used in this examination. They must be silent, cordless and non-programmable.
Calculators will be examined to ensure that they comply with these requirements.
ANSWER QUESTIONS 1, 2, 3, AND TWO OF QUESTIONS 4, 5, 6, 7.

1.
2.
(a)
Describe in detail three important tasks performed by digital controllers.

Supplement your discussion by reference to specific process examples wherever
possible.
(b)
Make a sketch showing the typical connections of a distributed control system.

Briefly outline the functions performed by each of the processors appearing in your
diagram.
[20
marks]
A temperature control loop for a heat exchanger is shown in Fig. Q2 below. .

Temperature
Setpoint, T
Steam
set
TC
TT
Process Inlet
Flow, F
Temperature, T
Process Outlet
Flow, F
Temperature, T
Heat
Exchanger
1
TC = Temperature Controller
TT = Temperature Transmitter
Trap
Figure Q2 - Heat exchanger outlet temperature control
The University of the West Indies
Course Code
CH32B
1999/2000
DO NOT WRITE ON THE BACK OF THIS SHEET: USE ONE SIDE ONLY
INSTRUCTIONS: Each page of this draft must be signed by the UNIVERSITY EXAMINER. Completed forms should be handed to the Assistant
Registrar (Examinations). The EXTERNAL EXAMINER is requested to sign the draft paper and return it with comments, if any, to the Assistant
Registrar (Examinations).
...........................................
First Examiner
...........................................
University Examiner
........................................
Second Examiner
External Examiner (where applicable)
Date: 20....../......./......
Date: 20././.
page 2
(a)
The control loop is to be implemented on a microprocessor. Draw a well-labelled block

diagram showing all the hardware that would be required for digital temperature control.
Identify all tasks to be performed by the digital controller by enclosing their associated
elements within a dashed rectangle on your sketch.
(b)
Derive the positional form of a discrete or digital PID controller from its continuous
equivalent.
(c)
What modification would you make to this algorithm to avoid derivative action (i.e. the
so-called derivative kick) on setpoint changes?
[15 marks]
3.
A digital deadbeat controller is to be implemented in the control scheme of Fig. Q3 using a

sample interval T = 0.1.
R (s )
(s )
+
-
D(z)
c (s)
T
e-s
s (s 2)
ZOH
y (s )
Figure Q3 - Deadbeat control system.

(a)
Design the deadbeat controller D(z), i.e., compute the transfer function
D( z )
4.
0 1 z 1 2 z 2 k z k
1 1 z 1 2 z 2 m z m
(b)
Express the discrete controller output, c(nT), as the output of a difference equation
with input (nT ), the control error signal.
[15 marks]
(a)
Find the final value of y(t) if
y ( z )
1 2 z 1 0.1 z 2
(1 z 1 ) (1 0.2 z 1 ) (1 2 z 1 z 2 )
Course Code
CH32B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 3
(b)
Figures Q4.1 and Q4.2 represent the block diagrams of two discrete-time systems.
Calculate and plot the behaviour with respect to time of the requested signals with T = 0.4
seconds.
1
2s 1
ZOH
T 0 .4
T 0.4
1
2s 1
T 0.4
T 0.4
?
0
Figure Q4.1 - Sampling first order process with hold device
Figure Q4.2 - Sampling first order process without hold device
[25 marks]
Course Code
CH32B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 4
5.
(a)
Figure Q5.1 displays the zero (o) and poles (x) of an open-loop process
HG p (z ) which has a gain of 0.5.
0.8
1.25
Figure Q5.1 - Pole-zero map of open loop transfer function

Determine HG p ( z ) and sketch its response to a unit-step input.
(b)
The block diagram of Fig. Q5.2 is that of a closed-loop system operating under
proportional control with gain K c 1 and sampling interval T 1.
r( z )
KC
c( z )
y ( z )
ZOH
m (s )
G p (s )
y (s )
Figure Q5.2 - Digital proportional control loop.
The closed-loop response of the process output y(nT) to a sudden step change in setpoint
r (nT ) from 10 to 12 is plotted in Fig. Q5.3.
Course Code
CH32B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 5
(i)
Identify the discrete closed-loop transfer function from Fig. Q5.3.
(ii)
Compute the continuous open-loop transfer function G p (s ).
(iii)
Sketch the open-loop response to a unit-step change in the process input m(t).
12.5
Process Output, y(nT), and Setpoint, r(nT)
r(nT)
12
11.5
y(nT)
11
10.5
10
9.5
0
10
15
20
25
Time in seconds, nT
Figure Q5.3 - Closed Loop Response of Proportional Control System

[25 marks]
6.
(a)
Determine the output sequence of the difference equation:

y n 2 1.5 y n 1 0.5 y n u n 1
(6.1)
when u n u (nT ) is a unit step beginning at n 0, and y (0) 0.5 and

y (1) 1.
(b)
c
Determine the pole locations for the system (6.1) in the z-plane and s-plane
(assume T = 1).
(c) What is the final value of the output y n ?
Course Code
CH32B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 6
(d)
Consider once again the heat exchanger feedback control scheme illustrated in Fig.
Q2. One of the main disturbances to this process is the changing inlet stream
flowrate, F. This disturbance can be measured. A feedback-plus-feedforward
control strategy is to be implemented for this process using a microprocessor. The
important transfer functions of this plant can be denoted by
Process Transfer Function :
G p ( s ) e 1 s
Disturbance Transfer Function :
GL ( s) e 2 s
If the dynamics of the sensor, transmitter and final control element can be
considered to be negligible and 2 1 , do the following:
7.
(a)
(i)
Draw a block diagram for the digital feedback-plus-feedforward control

scheme.
(ii)
Obtain an expression for a feedforward controller that would completely

cancel out the effect of the feed disturbance F on the temperature T2 .
(iii)
Is this feedforward controller realizable? Explain your answer.
(iv)
What strategy would you devise to approximate some of the unrealizable

elements, if any, in your feedforward controller?
[25 marks]
Determine the inverse z-transform of

y ( z )
z
z 3z 2
2
by the following methods:
(b)
(i)
Partial fraction expansion
(ii)
Polynomial long division (for n = 0, 1, ..., 4)
Determine the initial and final value of y(t) whose z-transform is given by
( z)
y
(c)
2z
( z 1) (1 0.4 z 1 )
Consider the digital feedback control system presented earlier in Fig. Q3. Design a
digital Dahlin controller
Course Code
CH32B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 7
D( z )
0 1 z 1 2 z 2 k z k
1 1 z 1 2 z 2 m z m
for that process using a sampling interval T = 0.1. Choose the desired closed-loop
transfer function as
es
1
0.2 s 1 s
[25 marks]
END OF QUESTION PAPER
Course Code
CH32B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 8
Course Code
CH32B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 9
Course Code
CH32B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 10
Course Code
CH32B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.

Ch32b Final Exam 2000

Transféré par

Informations du document

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

Ch32b Final Exam 2000

Transféré par

Droits d'auteur :

Formats disponibles

THE UNIVERSITY OF THE WEST INDIES

CH32B Process Dynamics and Control II

Code and Name of Course:

Date and Time:

INSTRUCTIONS TO CANDIDATES: This paper has

ANSWER QUESTIONS 1, 2, 3, AND TWO OF QUESTIONS 4, 5, 6, 7.

Describe in detail three important tasks performed by digital controllers.

Make a sketch showing the typical connections of a distributed control system.

A temperature control loop for a heat exchanger is shown in Fig. Q2 below. .

Figure Q2 - Heat exchanger outlet temperature control

The University of the West Indies

External Examiner (where applicable)

The control loop is to be implemented on a microprocessor. Draw a well-labelled block

A digital deadbeat controller is to be implemented in the control scheme of Fig. Q3 using a

Figure Q3 - Deadbeat control system.

Find the final value of y(t) if

The University of the West Indies

External Examiner (where applicable)

Figure Q4.1 - Sampling first order process with hold device

Figure Q4.2 - Sampling first order process without hold device

The University of the West Indies

External Examiner (where applicable)

Figure Q5.1 - Pole-zero map of open loop transfer function

Figure Q5.2 - Digital proportional control loop.

External Examiner (where applicable)

Identify the discrete closed-loop transfer function from Fig. Q5.3.

Compute the continuous open-loop transfer function G p (s ).

Process Output, y(nT), and Setpoint, r(nT)

Figure Q5.3 - Closed Loop Response of Proportional Control System

Determine the output sequence of the difference equation:

when u n u (nT ) is a unit step beginning at n 0, and y (0) 0.5 and

(c) What is the final value of the output y n ?

The University of the West Indies

External Examiner (where applicable)

Process Transfer Function :

Disturbance Transfer Function :

Draw a block diagram for the digital feedback-plus-feedforward control

Obtain an expression for a feedforward controller that would completely

Is this feedforward controller realizable? Explain your answer.

What strategy would you devise to approximate some of the unrealizable

Determine the inverse z-transform of

by the following methods:

Partial fraction expansion

Polynomial long division (for n = 0, 1, ..., 4)

The University of the West Indies

External Examiner (where applicable)

The University of the West Indies

External Examiner (where applicable)

The University of the West Indies

External Examiner (where applicable)

The University of the West Indies

External Examiner (where applicable)

The University of the West Indies

External Examiner (where applicable)

Vous aimerez peut-être aussi