m THE U.

NIVERSITY
VENUE:

SEAT NUMBER:

~ ?~s ~~E!r~SLAND STUDENT

NUMBER: I I I I I I I
STUDENT NAME: Family Name

First Name

FINAL EXAMINATION
St Lucia Campus Semester Two 2011

CHEE3006 PROCESS AND CONTROL SYSTEM SYNTHESIS

PERUSAL TIME 10 mins. During perusal, writing is not permitted at all

WRITING TIME 2:00 Hours
EXAMINER Prof Zhiguo Yuan

This examination paper has 4 pages (not including the title page) and is printed Double-Sided

THIS EXAMINATION PAPER MUST NOT BE REMOVED FROM THE EXAMINATION ROOM

Examiner's use ONLY

Exam Type: Closed Book - Specified materials permitted
Question Mark

Permitted Materials: Calculator-

Yes- Casio FX82 series or UQ approved (labelled)
Dictionary - No

Other-
-No electronic aids are permitted (e.g. laptops, phones)

Answer: (Where All Questions in Writing booklet

students should
write answers)

Other Instructions:

Total Number of
Questions: (for the 4
whole examination)

Total Number of 45 total marks

Marks TOTAL

- I I
Students must comply with the General Award Rules JA.5 and 1A.7 which outline the responsibilities of students during an examination.
CHEE3006: Process and Control System Synthesis- Final Examination, Semester 2,
2011

Question 1 [16 marks, one mark for each question unless specified otherwise]

i. Calculate the steady state gain, damping factor, poles and zeros of the following
transfer function: [2 marks]
1
2s 2 +2s+ 3
ii. Determine the stability of the transfer function in (i) ; justify your answer.
iii. Sketch the response of the transfer function in (i) to a unit step change in its input.
Show the steady state value and key features.
1v. What's the response of the transfer function in (i) to the input of sin(t) when timet is
infinitely large? Show your steps. [2 marks]
v. Solve the following differential equation using the Laplace and Inverse Laplace
transforms (y(O) =y'(O) =0) . [2 marks]

dy (t)
dt+y(t)=l
vi. Sketch the characteristics of three commonly used control valves, and give their names.
vii. What is a feedback controller?
viii . What is a feedforward controller?
ix. Why would a feedback controller still be needed when a feedforward controller is
already used?
x. What's the key role of the integral action in a PID controller and what potential problems
it may cause?
xi. What's the key role of the derivative action in a PID controller and what potential
problems it may cause?
xii. What does a quarter decay ratio mean (show your answer with drawing).
xiii. What are the steps involved in the Ziegler-Nichols closed-loop method for PID controller
tuning (no formula needed).

Page 1 of 4
 CHEE3006: Process and Control System Synthesis- Final Examination, Semester 2,
2011

Question 2 (6 marks)

A continuously stirred tank reactor (shown below) is fed with reactant A at a flowing through rate of
Q(t). The concentration of reactant A in the feed is CA,in(t). The reactor has a constant working
volume ofV.

The following reaction takes place:

A-+8

The reaction rate is r(t) = k*CA(t), where k is a kinetic constant and CA is the concentration of A in
the reactor.

Q(I) ,c. (t)

I : J../1 \

Q(i),C 1 (r)

The mass balance equation for reactant A is given below:

V dCA(t ) = -V * r(t)+Q(t )*(C Ain(t ) - C A(t ))

dt '

i. Derive the transfer functions between CA,in(t) and CA(t) and between Q(t) and CA(t) [4 marks];
ii. Draw a block diagram representation of the process [1 mark];
iii. If Q(t) is a manipulated variable, CA,in(t) is a disturbance variable, and CA(t) is the controlled
variable, draw a block diagram with both a feedback and a feedforward controller (no need to
design the controllers) [1 mark]

Question 3 [6 Marks]

The open loop transfer function is given as:

Kc
OLTF = (s + l)(s + 2)(s + 3)

i. Derive the characteristic equation. [1 mark]

ii. Sketch root loci for this system . [3 marks]
iii. Determine the range of Kc value that gives a stable closed-loop system. [2 marks]

Question 4 [17 marks]

By doing steps tests, the following two transfer functions were obtained:

Page 2 of 4
 CHEE3006: Process and Control System Synthesis- Final Examination, Semester 2,
2011

Y(s) _ ~
Disturbance channel :
GPD(s) = D(s) - 2s + 1
Y(s) _ _ 2_
Control channel (including actuator) : GPu(s) = U(s) - 4s + 1

In addition, the sensors for measuring output Y and disturbance D both have a transfer function of 1.

a) Give a block diagram representation of the process. [1 mark]

b) Develop the transfer function for a perfect feedforward controller for Y. [1 mark]
c) Develop the transfer function for a static feedforward controller for Y. [1 mark]
d) Determine the response of output Y to a unit step change in the disturbance variable D if only the
above-designed static feedforwa rd controller is employed (i.e. with no feedback controller) .
Solve for y(t) . Show your steps. [4 marks]
e) Determine the transfer function of output Y responding to the disturbance variable D if only a
proportional feedback controller (assuming the feedback gain is Kc) is employed (i. e. no
feedforward controller). [3 marks]
f) Determine the transfer function of output Y responding to the disturbance variable D if both the
above-designed static feedforward controller and a proportional feedback controller (assuming the
feedback gain is Kc) are employed . [3 marks]
g) Determine the steady state control errors in case (e) and case (f) when D is a unit step change .
Comment on the impact of the feedback gain on the steady state control error. Discuss the effect
of the feedforward controller on the steady state error. [4 marks]

Page 3 of 4
CHEE3006: Process and Control System Synthesis -Final Examination, Semester 2,
2011

Table 2-1.1 Lap1ace rrransfonns of Cormnon

Functions
f(t) F(s) = !:E:[f(t)]

un:t r'"\)ut!e. o(t) 1

]
t.t (\ ; t s+e r u ( t)
s
1
t
sz
tl1
n!
sn+l

e at
1
s 1- a
te-at 1
(s + a) 2
[lte~ar
n!
(s + a)il+l
w
sin <.ut
s 2 + ul
s
cos (i){
s 2 + w2
w
e -at sin wt
(s + a)2 + uP
e rrr cos wt s+a
(s + a? + uP

Page 4 of 4