Chapter 11
Figure 11.1 Composition control system for a stirred-tank
blending process.
2
Chapter 11
Process
In section 4.3 the approximate dynamic model of a stirred-tank
blending system was developed:
K
K
X s 1 X1 s 2 W2 s
s 1
s 1
(11-1)
1 x
K2
w
(11-2)
where
V
,
w
w1
K1 , and
w
Chapter 11
Chapter 11
(11-3)
X s m s 1
Controller
Suppose that an electronic proportional plus integral controller is
used. From Chapter 8, the controller transfer function is
P s
1
K c 1
E s
s
I
(11-4)
t xm
t
e t xsp
(11-5)
Chapter 11
s Xm
s
E s X sp
(11-6)
t Km xsp
t
xsp
Thus
s
X sp
s
X sp
Km
(11-7)
(11-8)
6
Chapter 11
Figure 11.3 Block diagram for the composition sensortransmitter (analyzer).
Chapter 11
Control Valve
As discussed in Section 9.2, control valves are usually designed so
that the flow rate through the valve is a nearly linear function of
the signal to the valve actuator. Therefore, a first-order transfer
function usually provides an adequate model for operation of an
installed valve in the vicinity of a nominal steady state. Thus, we
assume that the control valve can be modeled as
W2 s
Kv
Pt s v s 1
(11-10)
8
Chapter 11
Chapter 11
Figure 11.7 Block diagram for the entire blending process
composition control system.
10
Chapter 11
Ym = measured value of Y
Ysp = set point
Chapter 11
12
Yu = change in Y due to U
Yd = change in Y due to D
Chapter 11
13
Chapter 11
(11-11)
X 3 G3 X 2
By successive substitution,
X 3 G3G2G1U
(11-12)
X 3 GU
(11-13)
or
where G
G3G2G1.
14
Chapter 11
15
Set-Point Changes
Chapter 11
Y Yd Yu
(11-14)
Yd Gd D 0 (because D 0)
(11-15)
Yu G pU
(11-16)
Y G pU
(11-17)
Combining gives
16
Chapter 11
U Gv P
(11-18)
P Gc E
(11-19)
E Ysp Ym
(11-20)
Ysp K mYsp
(11-21)
Ym GmY
(11-22)
Y G p Gv P G pGvGc E
(11-23)
G p GvGc Ysp Ym
(11-24)
(11-25)
17
Chapter 11
K mGcGvG p
Y
Ysp 1 GcGvG p Gm
(11-26)
Disturbance Changes
Now consider the case of disturbance changes, which is also
referred to as the regulator problem since the process is to be
regulated at a constant set point. From Fig. 11.8,
Y Yd Yu Gd D G pU
(11-27)
(11-28)
18
Chapter 11
Gd
Y
D 1 GcGvG pGm
(11-29)
Chapter 11
K mGcGvG p
Gd
Y
D
Ysp
1 GOL
1 GOL
(11-30)
Thus, the response to simultaneous disturbance variable and setpoint changes is merely the sum of the individual responses, as
can be seen by comparing Eqs. 11-26, 11-29, and 11-30.
This result is a consequence of the Superposition Principle for
linear systems.
20
Chapter 11
f
Z
Zi 1 e
(11-31)
where:
Z is the output variable or any internal variable within the
control loop
Chapter 11
Example 11.1
Find the closed-loop transfer function Y/Ysp for the complex
control system in Figure 11.12. Notice that this block diagram has
two feedback loops and two disturbance variables. This
configuration arises when the cascade control scheme of Chapter
16 is employed.
22
Chapter 11
23
Chapter 11
Chapter 11
Solution
Using the general rule in (11-31), we first reduce the inner loop to
a single block as shown in Fig. 11.13. To solve the servo problem,
set D1 = D2 = 0. Because Fig. 11.13 contains a single feedback
loop, use (11-31) to obtain Fig. 11.14a. The final block diagram is
shown in Fig. 11.14b with Y/Ysp = Km1G5. Substitution for G4 and
G5 gives the desired closed-loop transfer function:
K m1Gc1Gc 2G1G2G3
Y
25
Chapter 11
Chapter 11
27
Chapter 11
(11-32)
(11-33)
(11-34)
28
Chapter 11
Kp
H s
Gd s
Q1 s
s 1
(11-35)
where Kp = R and = RA. 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.
s 1 K c K v K p K m / s 1
H sp
(11-36)
29
Chapter 11
30
Chapter 11
This relation can be rearranged in the standard form for a firstorder transfer function,
H s
K1
s 1s 1
H sp
(11-37)
KOL
K1
1 KOL
(11-38)
1
1 KOL
(11-39)
where:
(11-40)
31
Chapter 11
h t K1M 1 et / 1
(11-41)
offset
h
hsp
(11-42)
M .
For a step change of magnitude M in set point, hsp
From (11-41), it is clear that h K1M . Substituting these
values and (11-38) into (11-42) gives
offset M K1M
M
1 KOL
(11-43)
32
Chapter 11
33
Chapter 11
From Fig. 11.16 and Eq. 11-29 the closed-loop transfer function
for disturbance changes with proportional control is
K p / s 1
H s
Q1 s 1 KOL / s 1
(11-53)
H s
K2
Q1 s 1s 1
(11-54)
Rearranging gives
K2
Kp
1 KOL
(11-55)
34
A comparison of (11-54) and (11-37) indicates that both closedloop transfer functions are first-order and have the same time
constant.
Chapter 11
h t K 2 M 1 et / 1
(11-56)
0
The offset can be determined from Eq. 11-56. Now hsp
since we are considering disturbance changes and h K 2 M
for a step change of magnitude M.
Thus,
offset 0 h K 2 M
K pM
1 KOL
(11-57)
35
Chapter 11
36
Chapter 11
37
Chapter 11
(11-58)
Q1 s 1 KOL 1 1/ I s / s 1
Clearing terms in the denominator gives
K p I s
H s
Q1 s I s s 1 KOL I s
(11-59)
(11-60)
38
Chapter 11
where
K3 I / K c K v K m
(11-61)
1 1 KOL I
3
2 KOL
(11-62)
3 I / KOL
(11-63)
h t
e3t / 3 sin 1 32 t / 3
1 32
K3
3
(11-65)
39
Chapter 11
(11-66)
H s
1
Gd s
Q1 s
As
(11-67)
40
Chapter 11
Figure 11.22 Liquid-level control system with pump in exit line.
41
Chapter 11
Q1 s 1 GcGvG p Gm
(11-68)
(11-69)
K4 / Kc Kv Km
(11-70)
4 I / KOL
(11-71)
4 0.5 KOL I
(11-72)
where
42
Chapter 11
Example 11.4
Consider the feedback control system shown in Fig. 11.8 with
the following transfer functions:
Gc K c
1
G p Gd
5s 1
1
Gv
2s 1
1
Gm
s 1
(11-73)
(11-74)
Chapter 11
Figure 11.23. Effect of controller gains on closed-loop
response to a unit step change in set point (example 11.1).
44
Stability
Chapter 11
45
Characteristic Equation
Chapter 11
K mGcGvG p
1 GOL
Gd
Ysp
D
1 GOL
(11-80)
(11-81)
Ysp
1 GOL
46
Comparing Eqs. 11-81 and 11-82 indicates that the poles are also
the roots of the following equation, which is referred to as the
characteristic equation of the closed-loop system:
Chapter 11
1 GOL 0
(11-83)
Example 11.8
Consider a process, Gp = 0.2/-s + 1), and thus is open-loop
unstable. If Gv = Gm = 1, determine whether a proportional
controller can stabilize the closed-loop system.
47
Chapter 11
Figure 11.25
Stability regions
in the complex
plane for roots
of the characteristic equation.
48
Chapter 11
Figure 11.26
Contributions of
characteristic
equation roots to
closed-loop
response.
49
Solution
The characteristic equation for this system is
Chapter 11
s 0.2 Kc 1 0
(11-92)
an s n an1s n1
a1s a0 0
(11-93)
50
Chapter 11
Routh array:
Row
1
an
an-2
an-4
2
3
4
an-1
b1
c1
an-3
b2
c2
an-5
b3
n+1
z1
where:
an1an2 an an3
an1
(11-94)
an1an4 an an5
b2
an1
(11-95)
b1
51
and:
b1an3 an1b2
b1
(11-96)
b1an5 an1b3
c2
b1
(11-97)
Chapter 11
c1
52
Example 11.9
Determine the stability of a system that has the characteristic
equation
Chapter 11
s 4 5 s 3 3s 2 1 0
(11-98)
Solution
Because the s term is missing, its coefficient is zero. Thus,
the system is unstable. Recall that a necessary condition for
stability is that all of the coefficients in the characteristic
equation must be positive.
53
Example 11.10
Find the values of controller gain Kc that make the feedback
control system of Eq. 11.4 stable.
Chapter 11
Solution
From Eq. 11-76, the characteristic equation is
10s3 17s 2 8s 1 Kc 0
(11-99)
17
b1
c1
1 + Kc
b2
54
Chapter 11
1 Kc 12.6
(11-100)
On the imaginary axis, the real part of s is zero, and thus we can
write s=jw. Substituting s=jw into the characteristic equation
allows us to find a stability limit such as the maximum value of
Kc.
As the gain Kc is increased, the roots of the characteristic
equation cross the imaginary axis when Kc = Kcm.
55
Example 11.12
Use the direct substitution method to determine Kcm for the system
with the characteristic equation given by Eq. 11-99.
Chapter 11
Solution
Substitute s j and Kc = Kcm into Eq. 11-99:
10 j3 172 8 j 1 Kcm 0
or
1 K
(11-105)
2
3
17
j
8
10
0
cm
56
Chapter 11
1 Kcm 172 0
8 103 8 102 0
(11-106a)
(11-106b)
Therefore,
2 0.8 0.894
(11-107)
Kcm 12.6
57
Chapter 11
4Kc
s 1 s 2 s 3
(11-108)
s 1 s 2 s 3 4 K c 0
(11-109)
58
The root locus diagram in Fig. 11.27 shows how the three roots
of this characteristic equation vary with Kc.
Chapter 11
59
Chapter 11
Figure 11.27 Root locus diagram for third-order system. X
denotes an open-loop pole. Dots denote locations of the closedloop poles for different values of Kc. Arrows indicate change of
pole locations as Kc increases.
60
Chapter 11
61