Assessment 2 Group Assignment Due Date: 16 October 2006 List of Groups

No 1 2 3 4 Topic Shaun Kain Ben Group 1 Group 2 O'connell Ismail Ibrahim Buren Ahmed Iruhas Taylor Abdulla Lugmann Mohamed Nishan 2 5 Group 3 Naser Al Hadabi Ally Francis Waleed Al Saidi William West 4b Group 4 Group 5 Ankit Alan Munjal Fleming Phillip Murdoch Christopher Plummer Landon Kibby Benjamin Fitzegerald 3 6

Control Systems 1. Liquid-level control system Design and simulate the following liquid level control system. Consider the effect of a disturbance qd(t). qi Input flow rate Disturbance qd(t)

h R qo

Cross-sectional area A Figure 1 Liquid level system (Seborg et al, Process Dynamics and Control)

2. Temperature control system Figure 2 shows an arrangement of an industrial heating and cooling system. Analyse the system into its component parts and identify the function of each. Recorder & controller Three way valve Cold water Hot water

Thermocouple

Fan

Drain Figure 2 Air-conditioning system

3. Flow control system Using the experimental data, simulate the following flow control system.

Figure 3 Flow control system

4a. Stirred-tank blending system x1 w1 pt I/P x, w x, V TT xm p AC xsp x2 w2

Figure 4a Stirred-tank blending system 4b. Stirred-tank heating system

Ti wi

TT

TC

V Q

Thermocouple T w Heater and SCR

SCR = silicon controlled rectifier

Figure 4b Stirred-tank heating system (Seborg et al, Process Dynamics and Control)

5. Liquid level control system Suppose that two liquid surge tanks are placed in series so that the outflow from the first tank is the inflow to the second tank, as shown in the following figure. If the outlet flow rate from each function is linearly related to the height of the liquid (head) in that tank, find the transfer function relating the changes in flow rate from the second tank, Q2(s), to changes in flow rate into the first tank, Qi(s). Show how this transfer function is related to the individual transfer function, H1(s)/Qi(s), Q1(s)/H1(s), H2(s)/Q1(s) and Q2(s)/H2(s). H1(s) and H2(s) denoted the deviations in Tank 1 and Tank 2 levels, respectively. Assume that the two tanks have different areas A1 and A2, and that the valve resistances are fixed at R1 and R2. Controller qi

V1 h 1 Cross-sectional area A1

R1 q1

LT qd

V2 h 2 Cross-sectional area A2 Figure 5 Liquid level two tank system

R2

q2

Make a simulation program for the system. Suppose if the system is added a disturbance qd, use the simulation program to analyse how the disturbance gives affect on the system response. D1 = 0.75 m (diameter of Tank 1), C1 = 2.5 m2, R1 = 0.5 sec/m2, D2 = 0.5 m (diameter of Tank 2), C2 = 2.0 m2, R2 = 0.75 sec/m2, qi = 0.1 m3/sec. Units: V [m3], A [m2], R [sec/m2], C [m2], q[m3/sec], h[m]

6. Steel-rolling process control system Propose a control system to maintain the thickness of plate produced by the final stand of rollers in a steel rolling mill as shown in Figure 6a. a) The input will be desired plate thickness and the output will be the actual thickness. b) The required thickness will be set by a dial control incorporating a position transducer which produces an electrical signal proportional to the desired thickness. The output thickness will have to be measured using a device such as -ray thickness gauge with amplification to provide a suitable proportional voltage. c) With two voltage signals, an operational amplifier will be suitable as a comparison element. d) The desired power for moving the nip roller will require hydraulic actuation. e) A power piston regulated by an electro-hydraulic servo-valve will be suitable. Electro-hydraulic servo valve Power piston Amplifier

Rotary potentiometer Input

-gauge

Figure 6a Thickness control system (pp. 137, Automatic Control Systems, Kuo and Golnaraghi)

The schematic diagram of a steel-rolling system is shown in the following figure. The steel plate is fed through the rollers at a constant speed of v m/sec. The distance between the rollers and the point where the thickness is measured is d m. The rotary displacement of the motor, m (t) , is converted to the linear displacement y(t) by the gear box and linear actuator combination. y(t) = nm (t) , where n is a positive constant in m/rad. The equivalent inertia of the load that is reflected to the motor shaft is JL.

r(t)

e(t)

Ra Controller Gc(s)

La

b(t) Thickness sensor Ks

Amplifier e ia eb M a K Ki, Kb, Jm, Bm

Gear train n

Tm Linear actuator

y(t) d Figure 6b Steel-rolling control system

7. Liquid level control system

Consider the liquid level control system shown in the following figure. The inlet valve is controlled by a hydraulic integral controller. Assume that the steady state pilot valve displacement is X = 0 , and steady state valve position is Y . We assume that the set point R corresponds to the steady state head H . The set point is fixed. Assume also that the disturbance inflow rate qd, which is small quantity, is applied to the water tank at t = 0. This disturbance causes the head to change from H to H + h . This change results in a change in the outflow rate by qo. Through the hydraulic controller, the changes in head causes a change in the inflow rate from Q to Q + q i . (The integral controller tends to keep the head constant as much as possible in the presence of disturbances.) We assume that all changes are of small quantities.
Assume the following numerical values for the system: C = 2 m2, R = 0.5 sec/m2, Kv = 1 m2/sec, a = 0.25 m, b = 0.75 m, K1 = 4 sec-1, a b h

Y +y

Q +qi

qd

H +h

R Q +qo

Cross-sectional area A

Figure 7 Liquid level control system with hydraulic valve obtain the response h(t) when the disturbance input qd is a unit-step function. Also obtain this response h(t) with MATLAB or Simulink.

8. Servo control system

Simulate the following servo control system:
Reference input Input potentiometer Output potentiometer

er r
Input device

ec
Feedback signal

c Ra ev K1
Amplifier

c La ia
Motor
T

K1ev

Gear train Load

Error measuring device

Figure 8 Servo control system

9 Speed Control System

Simulate the following speed control system:

a2 z

a1 e

Oil under pressure

Engine

Figure 9 Speed control system

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10. DC motor remote position control system

Simulate the following DC motor remote position control system: Potentiometer

D.C. motor Load Amplifiers Reduction gearbox Potentiometer

Input position

Error

Output position

Figure 10 A remote position control system

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11. Liquid level control system

The following figure shows the closed-loop control system liquid-level control system with the following parameters and equations: Motor resistance Ra = 10 Torque constant Ki = 10 oz-in./A Back-emf constant Kb = 0.0706 V/rad/sec Load inertia JL = 10 oz-in.-sec2 Amplifier gain Ka = 50 Motor inductance La = 0 H Rotor inertia Jm = 0.005 oz-in.-sec2 Gear ratio n = N1/N2 = 1/100 Load and motor friction = negligible Area of tank A = 50 ft2

Reservoir

Ra e Controller ei Amplifier eu G(s) Ka Rs

La eb M

Jm

Gear train n

N inlet valves

r(t) Es

Ks

h(t)

Nqi(t) Float

One turn pot R qo

Figure 11 Liquid level control with a dc motor

Tank

ea (t) = R a i a (t) + K b m (t)

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m (t) =

dm (t) dt

Tm = K i i a (t) = (J m + n 2 J L )
y (t) = nm (t)

dm (t) dt

The number of valves connected to the tank from the reservoir is N = 10. All the valves have the same characteristics and are controlled simultaneously by y . The equations that govern the volume of flow are as follows: q i (t) = K I N y (t) q o (t) = K o h(t) volume of tank 1 h= = [q i (t) q o (t)]dt are of tank A The error detector is modelled as: Ks = 1 V/ft, e(t) = Ks[r(t) h(t)].

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12 Electro-hydraulic servo system

Figure 12 shows the arrangement of an electro-hydraulic servo system for manually operating an aerodynamic control surface. a) The input and output resistance potentiometers are transducers for converting linear displacement into a voltage. b) The differential amplifier is the comparison element generating the error signal. c) The amplifier is the controller producing an amplified error signal. d) The electro-hydraulic servo valve is the control element, controlling the flow of high pressure oil to the actuator which moves the load. Required motion Differential amplifier Amplifier Electro-hydraulic servo valve Load Feedback Potentiometer

Output motion Potentiometer Figure 12 An electro-hydraulic servo system

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13 DC motor control system

The schematic diagram of a feedback control system using a dc motor is shown in Figure 11-6. The torque developed by the motor is Tm(t) = Kiia(t), where Ki is the torque constant. The constants of the system are: Ks = 2 R =2 Rs = 0.1 Kb = 5 V/rad/s Ki = 5 Nm/A La = 0 H 2 Bm = 0 Nms Jm + JL = 0.1 Nms Assume that all the units are consistent so that no conversion is necessary. Ra e es ea K eu Rs La eb M Jm LOAD
y

Ks
L

Es
y

One turn pot Figure 13 DC motor control system

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14 Permanent magnet dc motor control system

The following schematic diagram shows a permanent magnet dc motor control system with a viscous inertia damper. The system can be used for the control of the print wheel of an electronic word processor. A mechanical damper such as the viscous inertia type is sometimes used in practice as a simple and economical way of stabilising a control system. The damping effect is achieved by a rotor suspend in a viscous fluid. The differential and algebraic equations that describe the dynamics of the system are as follows: e(t) = K s [ r (t) m (t) ] ea (t) = Ke(t) = R a i a (t) + e b (t) e b (t) = K b m (t) K s = 1 V/rad/sec K = 10 Kb = 0.0706 V/rad/sec J = Jh + Jm = 0.1 oz-in-sec2 Ki = 10 oz-in/A
JR = 0.05 oz-in.sec KD = 1 oz-in-sec Viscous inertia damper K e(t) Controller e a Amplifier Ra ia eb M m JR, D Viscous fluid Damper K r(t) Controller G(s) e(t) Controller e a Amplifier Ra ia eb M
Tm

dm (t) + K D [ m (t) D (t) ] dt Tm (t) = K i i a (t) dD (t) K D [ m (t) D (t)] = J R dt Ra = 1 Tm (t) = J

Tm

KD ROTOR

Jh Housing

DC motor Jm

ROTOR

DC motor Jm m

Figure 14 Permanent magnet dc motor control system

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15 Liquid level control system (2.13, pp. 49-50 Seborg et al)

Design and simulate the liquid level control for the following tank that has a leakage q4. qi Input flow rate q2(t)

h hl

q4 R qo

Cross-sectional area A Figure 15 Liquid level control system with the disturbance and leakage (Seborg et al, Process Dynamics and Control)

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