CHP 11 Part 2

PART
2
Closed-Loop Response of Simple Control Systems
Consider the liquid-level control system shown in Fig.
11.15.
Figure 11.15 Liquid-level control

Figure 11.15 Liquid-level control system.
system.
A second inlet flow rate q1 is the disturbance variable.
Assume:
1. The liquid density ρ and the cross-sectional area of
the tank A are constant.
2. The flow-head relation is linear, q3 = h/R.
3. The level transmitter, I/P transducer, and control
valve have negligible dynamics.
4. An electronic controller with input and output in% is
used (full scale = 100%).
Derivation of the process and disturbance transfer functions directly
follows Example 4.4.
Consider the unsteady-state mass balance for the tank contents:
dh
ρA = ρq1 + ρq2 − ρq3 (11-32)
dt
Substituting the flow-head relation, q3 = h/R, and introducing
deviation variables gives
′ ′ ′
= q1 + q2 − h′
A dh (11-33)
dt R
Thus, we obtain the transfer functions
′
H s K (11-34)
′( ) = Gp s τs +1
Q2 p
′ = ( )
H s s Kp (11-35)
s ′( )
( 1) = = τs +1d ( )
Q
G
where Kp = R and = RA.
s τ
()
Note that Gp(s) and Gd(s) are identical because q1 and q2
are both inlet flow rates and thus have the same effect on
h.
2. Proportional Control and Disturbance Changes
The closed-loop transfer function for disturbance
changes with proportional control (Gc=Kc) is:

Recall:
For a disturbance change;
Rearranging gives,
Comparing with setpoint

where changes (11.37)-(11-39),
both are first order and have
same time constant, but have
different steady state gains.
The closed loop response to a step change in disturbance
of magnitude M is given by:
The offset can be determined as follows:
offset Δ ' ( ∞ )− h' (11-42)
sp
h
(∞ )
Equal to 0 because this is a
Offset = regulator problem
(disturbance changes)
3. PI Control and Disturbance Changes
For PI control, Gc(s) = Kc (1+1/τIs)
The closed-loop transfer function for disturbance changes can
be derived as;
Clearing the denominator terms gives;

Further rearrangement in standard form of second-order
transfer function;
Where;
For a unit step change in disturbance,
For 0<ζ<1, the response is a damped oscillation that can

h’(∞)= 0
be described by; Thus, the addition
of integral action
eliminates offset for
a step change in
disturbance
Stability of Closed Loop Control Systems
Definition of stability: an unconstrained linear system is said to
be stable if the output response is bounded for all
bounded inputs. Otherwise it is said to be unstable. Bounded input:
input variable
that stays
within upper
and lower limits
unbounded
for all values of
& unstable
time.
General Stability Criterion:
The feedback control system is stable if and only if all roots
of characteristic equation are negative or have negative
real parts. Otherwise, the system is unstable.
Characteristic equation:
1+ GOL
Example 11.8
Consider a process, that is open-loop
unstable. If Gv= Gm = 1, determine whether
proportional controller can stabilize the closed loop
system.
The characteristic equation for this system is:
The root, s = 1+ 0.2 Kc

Example 11.8
In order for this system to be stable; s must have a

negative value (s<0), thus Kc < -5
Routh Stability Criterion
The Routh stability criterion is based on a characteristic equation
that has the form of:
All of the coefficients in the characteristic equation must

be positive.
If any coefficient is negative or zero, then at least one root of the
characteristic equation lies on the right of/on the imaginary axis, and
the system is unstable.
If all the coefficients are positive, we next construct the
following Routh array:
Row
1 an an-2 an-4 …
2 an-1 an-3 an-5 …
3 b1 b2 b3 …
4 c1 c2 …
. .
. .
n+1 z1
Routh Stability Criterion: A necessary and sufficient
conditions for all roots of the characteristic equation to have
negative real parts is that, all of the elements in the left column
of the Routh array are positive.
Example 11.10
Find the values of controller gain, Kc that make the feedback
control system with the following transfer function stable:
Example 11.10-Solution
First, find the characteristic equation, 1+GOL
Expanding and make it equal to zero,
All of the coefficient is positive.

Next, construct the Routh array.
Example 11.10-Solution
The Routh array is:
10 8
17 1+Kc
b1 b2
c1
In order for this system to be stable, b1 and c1 must be positive,
Thus, the system will be stable if

Example 11.11
Consider a feedback control system with Gc= Kc, Gv= 2, Gm =0.25,
and Gp = 4e-s/(5s+1)
The characteristic equation is 1+5s+2Kce-s=0
Because this characteristic equation is not a polynomial s,the Routh

criterion is not directly applicable.
However, if a polynomial approximation to e-s is introduced, such a
Padé approximation, then the Routh criterion can be used to
determine approximate stability limits.
For simplicity, use the 1/1 Padé approximation;

CHP 11 Part 2

Uploaded by

Copyright:

Available Formats

CHP 11 Part 2

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

CHP 11 Part 2

Uploaded by

Copyright:

Available Formats

PART

Figure 11.15 Liquid-level control

Consider the unsteady-state mass balance for the tank contents:

Comparing with setpoint

Clearing the denominator terms gives;

For 0<ζ<1, the response is a damped oscillation that can

The characteristic equation for this system is:

The root, s = 1+ 0.2 Kc

In order for this system to be stable; s must have a

All of the coefficients in the characteristic equation must

Expanding and make it equal to zero,

All of the coefficient is positive.

In order for this system to be stable, b1 and c1 must be positive,

Thus, the system will be stable if

The characteristic equation is 1+5s+2Kce-s=0

Because this characteristic equation is not a polynomial s,the Routh

For simplicity, use the 1/1 Padé approximation;

You might also like