Ch26b Final 2005 (Revised)

THE UNIVERSITY OF THE WEST INDIES
EXAMINATIONS OF
Code and Name of Course:
APRIL/MAY
2005
CH26B Process Dynamics and Control I
Paper:
Date and Time:
Duration:
INSTRUCTIONS TO CANDIDATES: This paper has
pages and
3 hrs.
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.
Graph paper will be provided.
Answer questions 1, 2, and two of questions 3, 4, 5, 6.
1.
(a)
Find the inverse Laplace transform of

y ( s)
10
s ( 2 s 1)
(1.1)
[7 marks]
(b)
Solve the integro-differential equation:

t
d 2 y (t )
d y (t )
6
y
(
t
)
2
e d ;
dt
d t2
0
y ( 0)
d y (t )
dt
0
t 0
(1.2)
[6 marks]
(c)
A stirred-tank blending process with constant liquid holdup of 2 m3 is used to blend

two streams whose densities are both approximately 900 kg/m3. The density does
not change during mixing.
(i)
Assume that the system has been operating for a long period of time with
flowrates of w1, ss 500 kg/min and w2,ss 200 kg/min. The mass
fraction of component A in feed stream #1 is x1 0.4 and the mass
fraction of component A in the second feed stream is x2 0.75. What is
the value of x ss , the steady-state composition of the effluent stream?
[4 marks]
The University of the West Indies
Course Code
CH26B
2004/2005
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
(ii)
Derive a differential equation which describes the dynamic response of

x (t ) to variation in the feed stream flowrates w1 (t ) and w2 (t ).
[4 marks]
(iii)
Linearize the expression obtained in part (ii) and rewrite it in terms of

perturbation variables, e.g. x (t ) x(t ) x ss , etc.
[4 marks]
2.
Consider the cylindrical surge tank illustrated in Fig. Q2. Liquid flows into the vessel at
volumetric flowrate Fin (t ) and is pumped out at the rate Fout (t ). The height of liquid
in the tank is to be denoted by the symbol h(t ).
Fin(t)
LC
h(t)
Fout(t)
Figure Q2 - Cylindrical receiver.
At steady-state, the inlet and outlet flows are 1 m3/min with accumulated liquid at a level
of hss 1 m. The cross-sectional area and height of the tank are given by A = 1 m2 and
hmax 2 m. The installed characteristics of the control valve are linear with a range of
0 4 m 3 / min corresponding to 0 100% controller output.
Course Code
CH26B
2004/2005
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 3
(a)
Prove that the transfer function relating the flow imbalance Fin Fout to the
liquid level is of the form
G p (s)
Kp
(2.1)
Calculate the velocity gain K p for this vessel.

[5 marks]
(b)
Compute the steady-state bias of the level controller.

[2 marks]
(c)
Specify the controller action. The flow control valve is fail-shut.

[4 marks]
(d)
Draw a well-labelled block diagram for the system of Fig. Q2. Dynamics
associated with the control valve and level measurement sensor may be neglected,
i.e. Gv ( s ) K v and Gm ( s ) K m .
[5 marks]
(e)
Rivera et al. (1986) proposed the following Internal Model Control (IMC) tuning
rule for proportional-only control of surge tank levels:
Kc
1
K p Km Kv
(2.2)
Show that the resulting closed-loop servo transfer function ( PV ( s ) / SP ( s )) is

first-order with time constant . Evaluate K c when 1 minute.
[5 marks]
(f)
Discuss the impact of an increase in the IMC tuning parameter upon the closedloop response of the controlled level and manipulated flowrate.
[4 marks]
Course Code
CH26B
2004/2005
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 4
3.
A plant operates a series of batch processes giving rise to a product stream which,
although uniform in quantity, varies in sulphuric acid content. You have been asked to
participate in the design of a treatment plant involving the neutralization of the acid
content using a small flow of caustic solution, according to the reaction
H 2 SO 4 2 NaOH Na 2 SO4 2 H 2 O
(3.1)
(The molecular weight of sulphuric acid is 98 g/mol, while that of sodium hydroxide is 40
g/mol.)
It is proposed to provide an 8000 L neutralization vessel for the treatment process with
the concentration of sulphuric acid leaving the vessel measured by the best available
analyzer. This instrument has a time constant of 1 minute and a deadtime of 30 seconds
associated with it, and exhibits a gain of 800% per g/L of sulphuric acid. The flowrates of
the vessel effluent and the acid feedstream can be considered constant at 4000 L/min. The
effluent acid concentration is to be regulated by a simple proportional controller which will
manipulate a control valve on the caustic feed line. The valve time constant can be
neglected; increasing the controller output by 10% causes the flowrate of caustic solution
to rise by 5 L/min. The concentration of the caustic solution is maintained at 100 g/L.
(a)
Specify the action (reverse or direct) of the concentration controller.

[5 marks]
(b)
Derive the transfer functions relating changes in the caustic flowrate and feed
sulphuric acid concentration to the acid concentration in the effluent stream leaving
the neutralization vessel.
[10 marks]
(c)
Draw a well-labelled block diagram of the concentration control system.

[5 marks]
Course Code
CH26B
2004/2005
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 5
(d)
Determine the maximum permissible gain for the proportional controller, modelling
the 30 second measurement delay with a first-order Pad approximation:
e D s
1 ( D / 2) s
1 ( D / 2) s
(3.2)
In answering this question, you may wish to make use of the Routh array
Row
1
2
3
4
a0
a1
a2
a3
a4
a5
b1
b2
b3
c1
c2
c3
a6
a7
where
b1
a1 a 2 a0 a3
a a a 0 a5
, b2 1 4
,
a1
a1
c1
b1 a3 a1 b2
b a a1 b3
, c2 1 5
,
b1
b1
[5 marks]
4.
(a)
Table Q4 contains experimental observations of a process variable made following

a 5% step increase in controller output CO(t) with the controller operating in
manual mode. Plot the data on the graph paper provided and fit a first-order-plusdeadtime transfer function to this reaction curve.
Course Code
CH26B
2004/2005
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 6
Table Q4 - Open-loop step response data.

Time
Process Variable
<%>
<min>
0
50.0
50.0
50.0
52.2
53.9
10
55.3
12
56.3
14
57.1
16
57.8
18
58.3
22
58.9
28
59.5
38
59.9
50
60.0
[15 marks]
(b)
Figure Q4 depicts the pole locations of three processes. State the transfer function
of each system and sketch its unit step response.
Im
Im
-a + b j
Im
-c + b j
Re
Re
Re
-a - b j
-a
-c
-c + b j
(i)
-c - b j
-c - b j
(ii)
(iii)
Figure Q4 - Poles of third-order transfer functions.

[10 marks]
Course Code
CH26B
2004/2005
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 7
5.
A heat exchanger has the following open loop transfer function relating the manipulated
steam flowrate S (s ) to the controlled temperature T (s ) :
G p (s)
Kp
(5 s 1) ( s 1)
K p 5 C / (1000 kg/ hr)
(5.1)
The span of the temperature transmitter is 50 C. The steam control valve has linear
installed characteristics and passes 20,000 kg/hr of steam when wide open. A
proportional-only temperature controller is used.
(a)
What are the poles and zeros of the open-loop system? Is it open-loop stable?
[5 marks]
(b)
Using a controller gain Kc = 1 % / %, what is the closed-loop servo transfer

function relating the temperature transmitter output PV (s ) to the setpoint
SP (s ) ? Quantify the offset which would be observed following a 10% step
decrease in setpoint.
[10 marks]
(c)
The open-loop transfer function relating the load variable feed flowrate
the controlled variable T (s ) is
GL ( s)
K L (2 s 1)
,
(5 s 1) ( s 1) 2
F (s )
K L 2 C / (100 litres / min)
to
(5.2)
Using a controller gain of 1 % / %, what is the closed-loop regulatory transfer

function relating measured temperature PV (s ) to feed flow F (s ) ?
[5 marks]
(d)
Derive the open-loop response of heat exchanger outlet temperature T (t ) to a

1000 kg/hr increase in steam flowrate S (t ) at time zero. The primes () here
denote deviation from initial steady-state conditions, and L1 [ T ( s ) ] T (t ),
etc.
[5
marks]
Course Code
CH26B
2004/2005
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 8
6.
Figure Q6 presents a control scheme for regulating the effluent temperature of a CSTR in
which an exothermic reaction is taking place.
Reactants
Coolant
Return
Cooling
Water
FT
Reactor
Products
TC
TT
Figure Q6 - Temperature control of jacketed reactor.

The cooling water control valve is air-to-close with linear installed characteristics. It is
sized for a maximum flow of 500 gpm (gallons per minute) and exhibits a time constant of
0.3 min. The transfer function relating changes in cooling water flowrate to reactor
temperature is first order with a gain of 2 F/gpm and a time constant of 5.0 min. The
thermocouple/transmitter has a time constant of 0.5 min and is calibrated for 0 100 F.
(a)
Draw a well-labelled block diagram for the temperature control loop of Fig. Q6,
clearly indicating the transfer functions representing the dynamic behaviour of each
device. The feedback control algorithm is proportional-only.
[10 marks]
(b)
Calculate the ultimate gain of the proportional temperature controller. (The Routh
Array defined in Question 3 may be of use in solving this problem.)
[5 marks]
(c)
It has been decided to implement a cascade control system in which the primary
reactor temperature controller manipulates the setpoint of a cooling water flow
controller. Specify the action (i.e. reverse or direct) of the flow controller and of
the reconfigured temperature controller.
[5 marks]
Course Code
CH26B
2004/2005
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 9
(d)
Draw the block diagram for the process under the cascade strategy and compute
the ultimate gain of the primary temperature controller assuming that it remains
proportional-only. The secondary controller is to be specified as a proportionalintegral controller with K c 2 0.5 and I 2 0.3 min . The cooling water
flow sensor dynamics may be neglected; the span of the flow transmitter is 500
gpm.
[5 marks]
END OF QUESTION PAPER
Course Code
CH26B
2004/2005
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.

Ch26b Final 2005 (Revised)

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THE UNIVERSITY OF THE WEST INDIES

CH26B Process Dynamics and Control I

Date and Time:

INSTRUCTIONS TO CANDIDATES: This paper has

Answer questions 1, 2, and two of questions 3, 4, 5, 6.

Find the inverse Laplace transform of

Solve the integro-differential equation:

A stirred-tank blending process with constant liquid holdup of 2 m3 is used to blend

The University of the West Indies

External Examiner (where applicable)

Derive a differential equation which describes the dynamic response of

Linearize the expression obtained in part (ii) and rewrite it in terms of

The University of the West Indies

External Examiner (where applicable)

Calculate the velocity gain K p for this vessel.

Compute the steady-state bias of the level controller.

Specify the controller action. The flow control valve is fail-shut.

Show that the resulting closed-loop servo transfer function ( PV ( s ) / SP ( s )) is

The University of the West Indies

External Examiner (where applicable)

Specify the action (reverse or direct) of the concentration controller.

Draw a well-labelled block diagram of the concentration control system.

The University of the West Indies

External Examiner (where applicable)

Table Q4 contains experimental observations of a process variable made following

The University of the West Indies

External Examiner (where applicable)

Table Q4 - Open-loop step response data.

Figure Q4 - Poles of third-order transfer functions.

The University of the West Indies

External Examiner (where applicable)

K p 5 C / (1000 kg/ hr)

Using a controller gain Kc = 1 % / %, what is the closed-loop servo transfer

K L 2 C / (100 litres / min)

Using a controller gain of 1 % / %, what is the closed-loop regulatory transfer

Derive the open-loop response of heat exchanger outlet temperature T (t ) to a

The University of the West Indies

External Examiner (where applicable)

Figure Q6 - Temperature control of jacketed reactor.

The University of the West Indies

External Examiner (where applicable)

END OF QUESTION PAPER

The University of the West Indies

External Examiner (where applicable)

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