149. (@) Show how you would adopt the usual root locus method For variation in controller gain to the problem of obtaining the root locus diagram for variation in fy for the control system shown in Fig. P49 for K- (©) Plot the root locus diagram for variation in Zp with K. = 2. (©) Determine the response of the system C(i) for a unit-step change in R for 7; = 0.5 and K.= 2. Skotch the response. What isthe ultimate value of C(? + L & 1 KA + 908 Fy ea © FIGUREPLD ‘Hint: Rearrange the open-loop transfer Function to be in the form Tos S + 15s+15 ‘Then apply the usual root locus rules with 7; taking the place of os) = 147. Plot the root locus diagram for the system shown in Fig. PI4-7. We may consider this system to consist of a process having negligible lag: an underdamped, second-order mea~ suring element; and a PD controller. This system may approximate the control of flow rate, in which case the block labeled K would represent a valve having no dynamic lag. The feedback element would represent a flow measuring device, such as a mercury manom- eter placed across an orifice plate. Mercury manometers are known to have undercamped, second-order dynamics. Plot the diagram for 7 = +. Kilts HY x= 02 ec 1 Jozs+0.as+1 FIGURE PLT14.6. Draw the root locus diagram for the control system shown in Fig. P14-6. (a) Determine the value of X, needed to obtain a root of the characteristic equation of the closed-loop response which has an imaginary part 0.75. (b) Using the value of K. found in part (a), determine all the other roots of the characteris. tic equation from the root locus diagram. (¢) If aunit impulse is introduced into the set point, determine the response ofthe system C(. 2 2 OSs?+ 51 K+ 3s FIGURE P19 13.6. The thermal system shown in Fig. P13.6 is controlled by a PD controller. Dota: w = 250 [b/min p = 625 Ibift ya4te Yash cia Biw/(b)(°F) FIGURE PL3-6 A change of | psi rom the controller changes the flow rate of heat q by 500 Bru/min, The temperature of the inlet stream may vary. There is no lag in the measuring elemest. {a) Draw a block diagram of the control system with the appropriate transfer fimetin im each Dock. Bagh tansfr fimction should confam mmenical values of the parameters. (0) From the block diagram, determine the overall transfer function relating the fempectire in tank 3 to a change in st poi (o) Find the offset for aunts change in inlet temperanre if the comoler gain Ke. is3 psi per°F oftemperature error and the derivative time is 0.5 min.