Académique Documents
Professionnel Documents
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Material
For
GATE PSU
Chemical Engineering
Instrumentation and Process Control
GATE Syllabus
TABLE OF CONTENTS
Chapter 1
3
3
3
4
5
5
5
6
6
7
7
7
8
9
9
10
10
11
11
Chapter 2
LAPLACE TRANSFORMATION
2.1 Definition
2.2 Laplace Transforms of Some Basic Functions
2.2.1 Forcing Function
2.2.1.1 Step Function
2.2.1.2 Ramp Function
2.2.1.3 Impulse Function
2.2.1.4 Exponential Function
2.2.1.5 Sinusoidal Function
2.3 Transforms of Derivatives
2.4 Transforms of Integrals
2.5 Theorems
2.5.1 Final Value Theorem
2.5.2 Initial Value Theorem
2.6 Laplace Inversion
13
13
13
14
14
15
15
16
17
20
21
21
21
21
22
Chapter 3
3.1 Transfer Function
3.2 Time Constant
3.3 First Order System
3.3.1 Mercury Thermometer
i
25
25
25
25
26
27
29
30
30
31
33
35
35
36
36
38
38
40
40
42
42
43
44
44
44
44
45
45
Chapter 4
50
50
51
Chapter 5
5.1 P Controllers
5.2 PI Controllers
5.3 PD Controllers
5.4 PID Controllers
5.5 On Off Controllers
CONTROLLERS
57
57
58
59
60
61
63
63
63
64
65
65
65
65
Chapter 6
6.1 Servo Mechanism
6.2 Regulator Mechanism
6.3 Open Loop and Closed Loop Transfer Function
6.4 Overall Transfer Function for Various Controllers
6.4.1 P Controller for Servo Mechanism
6.4.2 P Controller for Regulator Mechanism
6.4.3 P Controller For Servo Mechanism For First Order System Having Unit Feedback
ii
System
6.4.4 P Controller for Regulator Mechanism For First Order System Having Unit Feedback
System
6.4.5 PI Controller for Servo Mechanism
6.4.6 PD Controller for Servo Mechanism
6.5 Effect of Controllers on Process Order
6.5.1 Effect of P Controller on First Order System
6.5.2 Effect of P Controller on Second Order System
6.5.3 Effect of I Controller on First Order System
6.5.4 Effect of D Controller on First Order System
67
68
70
71
71
72
73
74
Chapter 7
STABILITY OF CONTROLLERS
7.1 Characteristic Equation
7.2 Stability Criteria for Linear System
7.3 Routh Test
7.3.1 Steps
7.3.2 Limitations
7.4 Root Locus
7.4.1 Steps
7.5 Bode Plot
7.5.1 First Order Systems
7.5.2 Pure Capacitive Systems
7.5.3 Two First Order Systems in Series
7.5.4 Second Order Systems
7.5.5 Transportation Lag
7.5.6 P Controllers
7.5.7 PI Controllers
7.5.8 PD Controllers
7.5.9 PID Controllers
7.5.10 Bode Stability Criteria
7.5.11 Cross Over Frequency
7.5.12 Rules To Plot Bode Diagrams
75
75
76
76
76
77
78
78
81
82
83
83
84
85
85
86
86
87
87
87
87
Chapter 8
FREQUENCY RESPONSE
8.1 Gain Margin and Phase Margin
8.2 Inverse Response
8.3 Controller Tuning
8.3.1 Ziegler Nichols
8.3.1.1 Limitations Of Ziegler Nichols Tuning
8.3.2 Cohen and Coon
91
91
92
93
93
94
94
Chapter 9
97
97
Chapter 10
LEVEL 1
LEVEL 2
101
119
UNSOLVED QUESTIONS
142
151
151
153
155
159
163
165
167
169
171
172
174
176
SOLUTIONS
178
Chapter 11
Chapter 12
2004
2005
2006
2007
2008
2009
2010
2011
2012
2013
2014
2015
Chapter 13
iv
CHAPTER
3
systems.
a2
d 2y
dy
a1
a0 y bf (t )
2
dt
dt
a2 d 2 y a1 dy
b
y f (t )
2
a0 dt
a0 dt
a0
2
d 2y
dy
2
y k p f (t )
2
dt
dt
where
a2
a
, 2 1
a0
a0
and
kp
b
a0
The general transfer function for second order systems are as follows:
G( s )
1
s 2 s 1
2
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Hookes constant.
2. The viscous friction force (acting to the left) of C.dY / dt, where C is a positive
constant called the damping coefficient.
The external force F(t) (acting toward the right).
3.
Newtons law of motion, which states that the sum of all forces acting on the mass is
equal to the rate of change of momentum (mass W acceleration), takes the form
d 2y
dy
C
Ky F
2
dt
dt
d 2y
dy
W 2 C
Ky F
dt
dt
W
Dividing by K , we get
Comparing with
W d 2 y C dy
F
y
2
K dt
K dt
K
2
d y
dy
2 2 2
y k pf (t )
dt
dt
we get
W
C
, 2
K
K
C
and
2 mK
and
kp
F
K
Solution:
we know that for step change in input, the response function is given by
Y (t ) A(1 e t / )
Hence,
41
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The nature of system is characterized by the value and nature of and it can be
understood better by following table:
3.10
Consider a first order system with a dead time d between X(t) and the output Y(t). We
can represent such a system by a series of two systems as shown in figure below.
42
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L Y (t )
L X (t )
Kp
ps 1
L Y (t d )
L Y (t )
d s
Therefore, the transfer function between the input X(t) and the delayed output Y (t d ) is
given by
L Y (t d )
L X (t )
d s
ps 1
L Y (t d )
L X (t )
K pe
K pe
d s
2s 2 2 p 1
p
By Pade approximations
e d s
d s
ds
ds
2 s 2 6 d s 12
d
2 s 2 6 d s 12
43
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3.11.1 OVERSHOOT
Overshoot is a measure of how much the response
exceeds the ultimate value following a step change and
is expressed as the ratio A/B in above figure.
The overshoot for a unit step is related to by the
expression
Overshoot exp
1 2
2
Decay Ratio exp
1 2
44
2
Overshoot
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tr, in above figure. The reader can verify from that tr increases with increasing .
1 2
(rad / time )
1 2
Where, T is the period of oscillations (time / cycle). In terms of above figure, T is the time
elapsed between peaks.
45
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1
T
The corresponding natural cyclical frequency f , and period T, are related by the
expression
fn
1
1
Tn 2 .
Example 3.2 A thermometer follows first order dynamics with 0.2 min is placed at
temperature bath keeping at 100 0C and is allowed to reach steady state. It is suddenly
transfer to another bath keeping at 150 0C at time t=0, and is left for 0.2 min, it is
immediately return to original bath at 100 0C. Calculate the thermometer reading at
time t=0.1 min.
Solution:
Y (t ) A(1 e t / )
at t 0.1min
Y (t ) (150 1000)(1 e 0.1/ 0.2 )
y y s 50(1 e 0.5 )
y 19.667 100
as y s 100
y 119.67 0C
Example 3.3 Derive the transfer function H(s) / Q(s), for the liquid level system when
Data:
46
(i)
(ii)
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A= 1 m2 , R= 0.5
Solution:
(i)
dh
dt
unsteady state
dhs
steady state
dt
d (h hs )
q qs A.
dt
dH
Q A.
dt
taking Laplace transforms, we get
qs qo A.
Q(s ) A.sH (s )
(ii)
H (s ) 1
Q( s ) s
dh
dt
qs qos qvs A.
unsteady state
dhs
dt
q qs qv qvs A.
steady state
d (h hs )
dt
dH
dt
H
dH
H
Q A.
as Qv
R
dt
R
taking Laplace transforms, we get
Q Qv A.
H (s )
A.sH (s )
R
H (s )
R
Q(s ) ARs 1
Q( s )
47
H (s )
0. 5
Q(s ) 0.5s 1
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Example 3.4 A step change of magnitude 4 is introduce into a system having transfer
function G(s) = 10 / (s2 + 1.6 s + 1), than find out the vales of Overshoot, Decay ratio,
maximum value of y(t).
Weve G ( s)
Solution:
10
10
G( s)
2
s 1.6s 4
4(0.25s 0.4s 1)
2
2. 5
0.25s 0.4s 1
comparing with,
G( s )
G( s )
Kp
s 2 s 1
2
we get ,
0. 5
and
0.4
0.4 1
system system is under damped system.
Overshoot exp
1 2
0.4
Overshoot exp
2
1 0. 4
Overshoot 0.2538
Decay ratio Overshoot 2 0.25382
Decay ratio 0.0644
We know that
48
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Y (s )
2.5
2
X (s ) 0.25s 0.4s 1
4
X (t ) 4 X (s )
s
Y (s )
2. 5
2
4s
0.25s 0.4s 1
G( s )
Y (s )
10
s 0.25s 2 0.4s 1
A 10
y (t )max A(1 Overshoot )
y (t )max 10(1 0.2538)
y (t )max 12.538
Example 3.4 if X(t) = 3 is a step change in input, for the transfer function
10
G ( s) 2
find out overshoot, decay ratio, frequency and y(t)max.
2s 0.3s 0.5
Solution:
49
Weve
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10
2s 0.3s 0.5
10
G( s )
2
0.5( 4s 0.6s 1)
20
G( s ) 2
4s 0.6s 1
Comparing with
G( s )
G( s )
Kp
2s 2 2 s 1
we get ,
2 and
0.15
Overshoot exp
1 2
0.15
Overshoot exp
2
1 0.15
Overshoot 0.6209
Decay ratio (Overshoot )2
Decay ratio (0.6209)2
Decay ratio 0.3855
frequency ,
2 f
1 2
frequency , f 0.0787
y (t )max A(1 Overshoot )
y (t )max 60(1 0.6209)
y (t )max 97.254
50
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CHAPTER
4
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52
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