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AC
m(t)
f(t)
c1(t)
c2(t)
ci(t)
Problem data:
V := 1000gal
Analyzer transmitter:
k := 0.1min
cmin := 0
lb
gal
AT
V
gal
fp := 100
min
cmax := 1.0
lb
gal
cip := 4
lb
gal
100%TO
KT :=
cmax cmin
KT = 100
Control valve: linear with constant pressure drop and sized for 100% overcapacity.
200% fp
gal
p v := 5psi
Cvmax :=
Cvmax = 89.443
min psi
p v
Cvmax := 110
Kv :=
100%CO
%TO gal
lb
v := 0.1min
gal
min psi
The valve fails closed (air-to-open)
gal
to prevent overflowing the reactors
Kv = 2.46
min %CO
on power failure.
Cvmax p v
c3(t)
d c1 ( t )
dt
d c2 ( t )
dt
d c3 ( t )
dt
= f ( t) ci( t) f ( t) c1 ( t) k V c1 ( t)
= f ( t) c1 ( t) f ( t) c2 ( t) k V c2 ( t)
= f ( t) c2 ( t) f ( t) c3 ( t) k V c3 ( t)
Linearize:
V
V
:=
d C1 ( t )
dt
d C2 ( t )
dt
d C2 ( t )
dt
V
fp + k V
= 5 min
d C2 ( t )
d C3 ( t )
= fp C2 ( t) fp + k V C3 ( t) + c2p c3p F( t)
dt
F( t) = ( t) fp
c1p :=
fp cip
c2p :=
fp + k V
fp c1p
Ki Ci( s) + K1 F( s)
s + 1
C3 ( 0 ) = 0
cip c1p
K1 :=
fp + k V
lb min
gal
C2 ( s) =
c1p c2p
K2 :=
fp + k V
K2 = 0.005
fp + k V
C2 ( 0 ) = 0
+ C2 ( t) = Ki Ci( t) + K3 F( t)
K1 = 0.01
fp c2p
C1 ( 0 ) = 0
+ C2 ( t) = Ki C1 ( t) + K2 F( t)
fp
Ki :=
fp + k V
c3p :=
fp + k V
+ C1 ( t) = Ki Ci( t) + K1 F( t)
Ki = 0.5
= fp C1 ( t) fp + k V C2 ( t) + c1p c2p F( t)
dt
Laplaxce transform:
C1 ( s) =
dt
where
where
d C1 ( t )
Ki C1 ( s) + K2 F( s)
s + 1
lb min
gal
C3 ( s) =
c2p c3p
K3 :=
fp + k V
K3 = 0.0025
G1 ( s) =
s + 1
G1 ( s) =
)2
( s + 1)3
Ki K1 + Ki K2 ( s + 1 ) + K3 ( s + 1 )
( s + 1) 3
C3 ( s)
gal
Ki C2 ( s) + K3 F( s)
1 Ki Ki K1
G1 ( s) =
=
+ K2 + K3
F( s)
s + 1 s + 1 s + 1
Ki Ki K1 + K2 ( s + 1 ) + K3 s + 1
lb min
Ki
G2 ( s) =
=
Ci( s)
( s + 1)3
Ci(s)
C3set(s)
Ksp
E(s)
F(s)
M(s)
Gc(s)
G2(s)
Gv(s)
G1(s)
C3(s)
H(s)
Ksp := KT
G2 ( s) =
H( s) = KT
Ki
Kv
Gv ( s) =
Proportional controller:
v s + 1
G1 ( s) =
( s + 1) 3
2
KA := Ki K1 + Ki K2 + K3
KA + KB s + K3 s
( s + 1)3
KB := 2 K3 + Ki K2
= 5 min
K3 = 0.0025
Offset =
Gc( s) = Kc
Ksp c3
set
KT G2 ( 0 ) ci
1 + KT Kc Kv G1 ( 0 )
KA = 0.0075
lb min
gal
ci := 1
KB = 0.0075
lb
gal
gal
lb min
gal
%CO
Kc := 1.
%TO
Offset :=
KT Ki ci
1 + KT Kc Kv KA
lb min
Offset := KT Ki ci
Offset
KT
(c) Ultimate gain and period of the loop with a proportional controller.
= 0.044
lb
gal
1 + KT Kc
2 2
Kv
v s + 1
KA + KB s + K3 s
( s + 1) 3
=0
A := KT Kv K3
B := KT Kv KB
KL := KT Kv KA
2
A = 15.373 min
Real part:
%TO
KL = 1.845
%CO
B = 9.224 min
v u 3 v + A Kcu u + 1 + KL Kcu = 0
2
Kcu =
3 v u v u 1
KL A u
2
3
4
3 v u v u 1
Imaginary part: 3 v u + v + B
u = 0
2
KL A u
3 2 3 4 + 3 2 K + 3 2 = 0
A
B v u
v
L
v A
B
v u
B
v
Let
a := 3 v A B v
b := 3 v KL v A + B 3 v
14
a = 1.962 10
u :=
( )
b 4 a B
2 a
min
b = 1.537 min
u = 2.45i min
The imaginary value of the ultimate frequency shows that there is no ultimate gain for this loop. This
is because the net order of the loop is one--three poles and two zeros--and it cannot be unstable for
any positive value of the controller gain. The controller gain is positive, reverse acting: increases
concentration decreases the signal to the valve. This decreases the reactants flow and the
concentration decreases.