VENUE: SEAT NUMBER: ‘STUDENT [ T | ] NUMBER: THE UNIVERSITY OF QUEENSLAND AUSTRALIA STUDENT NAME: Sumame Firs Name | FINAL EXAMINATION St Lucia Campus Semester Two 2009 | 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 5 pages (include title page and attachments) and is printed Double-Sided THIS EXAMINATION PAPER MUST NOT BE REMOVED FROM THE EXAMINATION ROOM enor Exam Type: Closed Book - No materials permitted cuesien Mak — Permitted Materials: Calculator - z Yes - EAITIEPSA approved (must have label) ; | Dictionary - No | 4 Other - =No electronic alds are permitted (e.g. laptops, phones) ‘Answer: (Where All Questions on Writing booklet ‘students should write answers) —_— —_|—_] Other Instructions: Total Number of — Questions: (tore 4 | whole examination) Total Number of 45 total number of marks | Marks =] ulin the responsibilities of students during an examinationCHEE3006: Process and Control System Synthesis ~ Final Examination, Semester 2, 2009 Question 1 [15 marks, one mark for each question unless specified otherwise] i. Write a second order transfer function with a characteristic time of 2, a damping factor of 0.8 and a steady state gain of 2. ii A transfer function has a steady state gain of 2, three poles being -14) and -2, and a zero of -1. Write this transfer function. Sketch the response of the following transfer function to a unit step change in its input. Show the key features and also the final value. 1 2 xe s+0.5 s+2 iv. Calculate the response of the transfer function in Question (ii) to input signal sinit) when t approaches infinity. (2 marks) v. Derive the transfer function of the following system (y is the state and output variable; u is the input variable). The nominal input of the system is 3 (i.e. Uo = 3). (2 marks). G wd + 3y" (t) = u(t) vi. Sketch the characteristics of three commonly used control valves. When sizing a control valve, what is the desirable opening of the valve at the design flow? vil. Sketch the response to a step test for an inverse response process. ix. What's the key role of the integral action in a PID controller? x. What's the key role of the derivative action in a PID controller? xi. Whats the transfer function of a first-order plus dead time process? xii, Draw the block diagram of a closed loop system consisting of a P controller, a final control element, a process and a sensor. xiii, What is the closed loop transfer function of the system in xii? Page 2 of 5CHEE3006: Process and Control System Synthesis ~ Final Examination, Semester 2, 2009 Question 2 [9 Marks] 1. Sketch root loci for the above system. [3 marks] 2. Discuss whether or not the closed-loop system can be stablised by the above controller using the root loci, and determine the range of Ke that stablises the closed-loop system, ifit can be stabilised. [3 marks] 3. Determine the steady state control error for Ris) = /s. [3 marks] Question 3 (6 marks) 1. Derive the transfer function from Cao to Cac for the following system, which consists of an ideal plug flow reactor and a CSTR. The flow rate through these units is constant (F). No reactions take place in these reactors. (4 marks) 2. Sketch the response of Cac(t) to a step change in Cao(t). (2 marks) (Hint: Cap(t) = Cao(t-Ve/F)) Plug flow reactor: volume Ve Completely mixed CSTR: volume Vo Crott) Coolt) ob Crolt) |", Page 3 of 5CHEE3006: Process and Control System Synthesis ~ Final Examination, Semester 2, 2009 Question 4 [15 marks] Through step tests, the following transfer functions were obtained: Disturbance channel: Gols) = Control channel: Gols) = In addition, the control actuator has a transfer function of Ga(s) = and the sensor for measuring output Y has a transfer function of Gs(s) a) Give a block diagram representation of the process. {1 mark} b) Develop the transfer function for a perfect feedforward controller for Y. (2 marks] ©) 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 feedforward controller is employed (with no feedback controller). Solve for y(t) and sketch the time response. [3 marks] e) Determine the transfer function of output Y responding to variation in the disturbance variable D if only a proportional feedback controller is employed (no feedforward controller). (2 marks} f) Determine the transfer function of output Y responding to variation in the disturbance variable D if both the above-designed static feedforward controller and a proportional feedback controller are ‘employed. [2 marks] 9) Determine the steady state control errors in case (2) when D is a unit step change. Comment on the impact of the feedback gain on the steady state control error. [2 marks} h) Determine the steady state control error in case (f) when D is a unit step change. Comment on the impact of the static feedforward controller on the steady state control error. [2 marks] Page 4 of 5CHEE3006: Process and Control System Synthesis — Final Examination, Semester 2, 2009 Table 2-11 Laplace ‘lansforms of Common Functions FO F(sy unt ‘anpulse ar) 1 1 LAO] anit step uf) ew en tena tenet sin wl cos wt e sin wt @ cos wt Page 5 of 5CHEE 3 r0 ¢ fired exam Solubons "freesat Final Be CHECz006 (uaglamee peal, Som Qo 2 Qi) = os? . aeraags +1 etc 2 > 45° 43-254) gehen eee Coan ee Csi} ) Css) (s42) I ee aC sti (Cs Pt) Co) aCe) Coterstr) C42) Sea st aastags a & Kz Pm Gy 2 4 2 oe a2 B Gesv> ___8s#8 SiHash ees ty yey overdamped onal Oye oe order frm fanckon | Pliw 7 Qty e —a - 2 CS-£0.6) (se?) 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FO koa es i marte ( The Ke value te when bronches@® & G) cress the imag inowry axrs is oefermined a0 opoblous 5 Se tye Km Key GPX 67-1 ws converted to: ~ S¥ HIS 43564 (B+ SLe) s+ (Bke 60) 20b6 Go)’ ee Gud 39 God + Bh) Jy # Bka-be) =o wee wy ~39wr4 (BADR) 4 + 8kabe =O (w*-34 wre $ka~be) + (-raw? 4 Gta) 4g =0 cwiaswt Bk bo =o | -pw + (%4+8keedw =O § How +8 +8k oa =O e wets tc 3 wp or (Zeek) 35 (Ft Fhe) 8k bo =o + bo 3b 5K mgr =o Ker = 43 oe “thevofare te eda sed Lovp sysheun as stabhe spor Ke values between F.5 and 2§ ECS) = Res? — Yes) Ycs) = Gt) Gres) Els) ROS) ECS) = l€ Ges Gls) € cv) = Lim secs) = im S- ee $0 ps ey Lnrwk [mart z HGQwmaw § Set ener 4 te Gis) Gees? gle ios [® Lea G08) Gres) <0 [maresPE Qs 1. for He pip, Fle Aydiranlse refenbon Pima <5 Vey 1 mrad be Cap ©) = Cao (b> YP/P) for fhe coapletely mixed vessed d Caclt) _ E Cape ~P Gael) tare, e- ole dint) Fo pig Foo gw eee ve He) bo dol Fc (t-Ule) - Ela i Ve ——— alt pres Arpplying Lop tace trarsfem : ve. s - cE s Gye (S) = <- Cao (9 E ~ ya) fers Gace) wel Treerte Gud= Gaels) s+ FY, a. 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