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a) Se debe dimensionar las tres vlvulas con una sobrecapacidad de 50%. Para
todas las vlvulas se puede utilizar un factor Cf = 0.9 (Masoneilan).
b) Se debe dibujar completo el diagrama de bloques del sistema. Se pueden
considerar como perturbaciones P 1(t), P3(t), P4(t), vp4(t) y el punto de control del
controlador. La constante de tiempo de la vlvula de control de presin es de
5seg.
c) Se puede volver inestable el circuito de retroalimentacin? En caso afirmativo,
Cul es su ganancia ultima?
d) Si se utiliza un controlador proporcional con una ganancia de 50%/%. Cual es
la desviaci162n que se tiene con un cambio de +5 psi en el punto de control?
SOLUCION
Datos:
M = 50
q4 = 500 scfm
P4 = 30 psig
q3 = 1000 scfm
P3 = 15 psig
q1 = 1500 scfm
P1 = 90 psig
Cf = 0.9
a) Dimensionamiento de las vlvulas:
Vlvula 1:
CV =
Q1 GT
836C f P1 y 0.148 y 3
P2 = 45 psig
V = 550000 pies3
T = 350oF
Donde:
1.63 P 1.63
=
Cf
P1
Cf
y1 =
y1 =
1.63
0 .9
( P1 P2 )
P1
(104.7 59.7 )
104.7
y1 = 1.19
Gf =
M gas
M aire
50
= 1.724
29
T = 350 0 F = 810 o R
CV = 45.39
Vlvula 3:
CV =
Q3 GT
836C f P2 y 0.148 y 3
Donde:
y3 =
1.63 P 1.63
=
Cf
P2
Cf
y3 =
1.63
0.9
( P2 P3 )
P2
( 59.7 29.7 )
59.7
y 3 =1.28
Gf =
M gas
M aire
50
= 1.724
29
T = 350 0 F = 810 o R
CV = 51.48
Vlvula 4:
CV =
Q 4 GT
836C f P2 ( y 0.148 y 3 )
Donde:
y4 =
1.63 P 1.63
=
Cf
P2
Cf
y4 =
1.63
0.9
( P2 P4 )
P2
( 59.7 44.7 )
59.7
y 4 = 0.908
Gf =
M gas
M aire
50
= 1.724
29
T = 350 0 F = 810 o R
CV = 31.307
dm 2
dt
VM
p 2 (t )
RT g
dm 2 (t )
VM dp 2 (t )
=
dt
RT g
dt
Donde:
g = G f aire =1.724(0.0773)
g = 0.133
T = 350 o F = 810 o R
V = 550000 ft 3
M = 50
R =10.73 ft 3 psia / lbm o R
dm 2 (t )
dp 2 (t )
550000 ft 3 50
=
3
o
o
3
dt
(10.73 ft psia / lbm R )(810 R )(0.133 ft /) dt
dm 2 (t )
dp (t )
= 23790.10 2
dt
dt
dp 2 ( t )
dt
g q1 ( t ) ( g q 2 ( t ) + g q 4 ( t ) ) = 23790.10
q1 ( t ) ( q 2 ( t ) + q 4 ( t ) ) =
23790.10 dp 2 ( t )
g
dt
Se utilizar g = 0.133 ,
dp 2 ( t )
dt
q1 ( t ) ( q 2 ( t ) + q 4 ( t ) ) = 178872.93
dp 2 ( t )
dt
y1 =
836CV 1C f P1 (t ) y1 0.148 y1
( P1 P2 )
P1
836CV 1C f P1 (t ) 1.63
q1 (t ) =
C f
GfT
836CV 1C f P1 (t ) 1.63
q1 (t ) =
q1 (t ) =
Cf
GfT
1362.68CV 1 P1 (t )
q1 (t ) =
q1 (t ) =
GfT
1362.68CV 1 P1 (t )
GfT
1362.68CV 1
Cf
) vp (t )
1
GfT
1.63
Cf
GfT
p1 ( t ) p 2 ( t )
p1 (t )
0.148 1.63
p1 (t ) p 2 (t )
1 0.148 1.63
C
p1 (t )
f
p1 ( t ) p 2 (t )
p1 (t )
p1 ( t ) p 2 (t )
vp1 (t )
p1 (t )
1.63 2 p (t ) p (t )
p1 (t ) p 2 (t )
vp (t )
2
1 0.148
1
p1 (t )
p1 (t )
C f
2
p1 (t ) p 2 (t ) C f p1 (t ) 0.3932 p1 (t ) + 0.3932 p 2 (t )
vp1 (t )
2
p1 (t )
C f p1 (t )
[(
p1 (t ) p 2 (t )
2
C f 0.932 p1 (t ) + 0.3932 p 2 (t ) vp1 (t )
p1 (t )
Donde:
G f =1.724
CV 1 = 68.08
C f = 0 .9
q1 (t ) = 3825.23
vp1 (t )
p1 (t ) p 2 (t )
[0.4168 p1 (t ) + 0.3932 p 2 (t )]vp1 (t )
p1 (t )
Para q 3 (t ) , se tiene:
Ec. 2
q 3 (t ) =
y3 =
836CV 3 C f P2 (t ) y 3 0.148 y 3
( P2 P3 )
P2
836CV 3 C f P2 (t ) 1.63
q 3 (t ) =
C f
GfT
q 3 (t ) =
q 3 (t ) =
q 3 (t ) =
836CV 3 C f P2 (t ) 1.63
Cf
GfT
1362.68CV 3 P2 (t )
GfT
1362.68CV 3 P2 (t )
GfT
1362.68CV 3
Cf
) vp (t )
3
GfT
1.63
Cf
q 3 (t ) =
GfT
p 2 ( t ) p3 ( t )
p 2 (t )
0.148 1.63
p 2 (t ) p 3 (t )
1 0.148 1.63
C
p 2 (t )
f
3
p 2 ( t ) p 3 (t )
vp (t )
3
p 2 (t )
2
p 2 ( t ) p 3 (t )
vp 3 (t )
p 2 (t )
1.63 2 p (t ) p (t )
p 2 (t ) p 3 (t )
3
2
vp 3 (t )
1 0.148
p 2 (t )
p 2 (t )
C f
2
p 2 (t ) p 3 (t ) C f p 2 (t ) 0.3932 p 2 (t ) + 0.3932 p 3 (t )
vp 3 (t )
2
p 2 (t )
C f p 2 (t )
[(
p 2 (t ) p 3 (t )
2
C f 0.932 p 2 (t ) + 0.3932 p 3 (t ) vp 3 (t )
p 2 (t )
Donde:
G f =1.724
CV 3 = 77.22
C f = 0.9
q 3 (t ) = 4338.79
p 2 (t ) p 3 (t )
[0.4168 p 2 (t ) + 0.3932 p 3 (t )]vp 3 (t )
p 2 (t )
Para q 4 (t ) , se tiene:
q 4 (t ) =
y4 =
836CV 4 C f P2 (t ) y 4 0.148 y 4
1.63
Cf
GfT
( P2 P4 )
P2
) vp
(t )
Ec. 3
836CV 4 C f P2 (t ) 1.63
q 4 (t ) =
C f
GfT
q 4 (t ) =
q 4 (t ) =
q 4 (t ) =
q 4 (t ) =
836CV 4 C f P2 (t ) 1.63
Cf
GfT
1362.68CV 4 P2 (t )
GfT
1362.68CV 4 P2 (t )
GfT
1362.68CV 4
Cf
GfT
p2 (t ) p4 (t )
p 2 (t )
0.148 1.63
p 2 (t ) p 4 (t )
1 0.148 1.63
C
p 2 (t )
f
p 2 ( t ) p 4 (t )
p 2 (t )
p 2 ( t ) p 4 (t )
vp 4 (t )
p 2 (t )
1.63 2 p (t ) p (t )
p 2 (t ) p 4 (t )
vp (t )
4
1 0.148
4
p 2 (t )
p 2 (t )
C f
2
p 2 (t ) p 4 (t ) C f p 2 (t ) 0.3932 p 2 (t ) + 0.3932 p 4 (t )
vp 4 (t )
2
p 2 (t )
C f p 2 (t )
[(
p 2 (t ) p 4 (t )
2
C f 0.932 p 2 (t ) + 0.3932 p 4 (t ) vp 4 (t )
p 2 (t )
Donde:
G f =1.724
CV 4 = 46.96
C f = 0.9
q 4 (t ) = 2638.56
p 2 (t ) p 4 (t )
[0.4168 p 2 (t ) + 0.3932 p 4 (t )]vp 4 (t )
p 2 (t )
Ec. 4
q1
( p1 , p 2 , v p1 )( p1 (t ) p1 )
p1
q1
q
( p1 , p 2 , v p1 )( p 2 (t ) p 2 ) + 1 ( p1 , p 2 , v p1 )( vp1 (t ) v p1 )
p 2
vp1
q1 ( p1 , p 2 , v p1 ) = 90000 scfh
+
q1
= 3825.23vp1
p1
vp 4 (t )
p1 p 2
[ 0.4168] 1912.61 p 2 vp1 [ 0.4168 p1 + 0.3932 p 2 ]
p1
p1 p 2
2
p1
p1
q1
( p1 , p 2 , v p1 )( p1 (t ) p1 ) = 13.88( p1 (t ) p1 )
p1
q1
= 3825.23vp1
p 2
p1 p 2
[ 0.3932] 1912.61vp1 [ 0.4168 p1 + 0.3932 p 2 ]
p1
p1 p 2
p1
p1
q1
( p1 , p 2 , v p1 )( p 2 (t ) p 2 ) = 279.98( p 2 (t ) p 2 )
p 2
q1
p p2
[ 0.4168 p1 + 0.3932 p 2 ]
= 3825.23 1
vp1
p1
q1
( p1 , p 2 , v p1 )( vp1 (t ) v p1 ) = 168307.38( vp1 (t ) v p1 )
vp1
P1 (t ) = ( p1 (t ) p1 ); P2 (t ) = ( p 2 (t ) p 2 ) y VP1 (t ) = ( vp1 (t ) v p1 ) ,
por lo tanto:
q1 (t ) =
90000 scfh
13.88 P1 (t ) +
279.98 P2 (t ) +
168307.38VP1 (t )
Para q 3 (t ) , se tiene:
q 3 [ p 2 (t ), p 3 (t ), vp3 ( t ) ] = q 3 ( p 2 , p 3 , v p 3 ) +
+
q3
( p 2 , p 3 , v p 3 )( p 2 (t ) p 2 )
p 2
q3
q
( p 2 , p3 , v p 3 )( p 3 (t ) p 3 ) + 3 ( p 2 , p 3 , v p 3 )( vp3 (t ) v p 3 )
p3
vp 3
q 3 ( p 2 , p 3 , v p 3 ) = 60000 scfh
q 3 (t ) = 4338.79
q 3
= 4338.79vp 3
p 2
p 2 (t ) p 3 (t )
[0.4168 p 2 (t ) + 0.3932 p 3 (t )]vp 3 (t )
p 2 (t )
p 2 p3
[ 0.4168] 2169.4 p3 vp3 [ 0.4168 p 2 + 0.3932 p 3 ]
p2
p2 p3
2
p2
p2
q 3
( p 2 , p 3 , v p 3 )( p 2 (t ) p 2 ) = 230.71( p 2 (t ) p 2 )
p 2
q 3
= 4338.79vp 3
p 3
p 2 p3
[ 0.3932] 2169.4vp3 [ 0.4168 p 2 + 0.3932 p3 ]
p2
p 2 p3
p2
p2
q 3
( p 2 , p 3 , v p 3 )( p 3 (t ) p 3 ) = 438.78( p 3 (t ) p 3 )
p 3
q 3
p 2 p3
[ 0.4168 p 2 + 0.3932 p 3 ]
= 4338.79
vp 3
p2
q 3
( p 2 , p 3 , v p 3 )( vp 3 (t ) v p 3 ) = 112449.99( vp3 (t ) v p 3 )
vp 3
por lo tanto:
q 3 (t ) =
60000 scfh +
230.71P2 (t )
438.78 P3 (t ) +
112449.99VP3 (t )
Para q 4 (t ) , se tiene:
q 4 [ p 2 (t ), p 4 (t ), vp 4 ( t ) ] = q 4 ( p 2 , p 4 , v p 4 ) +
q 4
( p 2 , p 4 , v p 4 )( p 2 (t ) p 2 )
p 2
q 4
q
( p 2 , p 4 , v p 4 )( p 4 (t ) p 4 ) + 4 ( p 2 , p 4 , v p 4 )( vp 4 (t ) v p 4 )
p 4
vp 4
q 4 ( p 2 , p 4 , v p 4 ) = 30000 scfh
+
q 4
= 2638.56vp 4
p 2
p2 p4
[ 0.4168] 1319.28 p 4 vp 4 [ 0.4168 p 2 + 0.3932 p 4 ]
p2
p2 p4
2
p2
p2
q 4
( p 2 , p 4 , v p 4 )( p 2 (t ) p 2 ) = 561.20( p 2 (t ) p 2 )
p 2
q 4 (t ) = 2638.56
q 4
= 2638.56vp 4
p 4
p 2 (t ) p 4 (t )
[0.4168 p 2 (t ) + 0.3932 p 4 (t )]vp 4 (t )
p 2 (t )
p2 p4
[ 0.3932] 1319.28vp 4 [ 0.4168 p 2 + 0.3932 p 4 ]
p2
p2 p4
p2
p2
q 4
( p 2 , p 4 , v p 4 )( p 4 (t ) p 4 ) = 130.61( p 4 (t ) p 4 )
p 4
q 4
p2 p4
[ 0.4168 p 2 + 0.3932 p 4 ]
= 2638.56
vp 4
p2
q 4
( p 2 , p 4 , v p 4 )( vp 4 (t ) v p 4 ) = 56155.35( vp 4 (t ) v p 4 )
vp 4
P2 (t ) = ( p 2 (t ) p 2 ) ; P4 (t ) = ( p 4 (t ) p 4 ) y VP4 (t ) = ( vp 4 (t ) v p 4 ) ,
por lo tanto:
q 4 (t ) =
60000 scfh
561.20 P2 (t ) +
130.61P4 (t ) +
56155.35VP4 (t )
en la ecuacin 1:
Simplificando:
dp 2 ( t )
dt
dp 2 ( t )
dt
Organizando:
dp 2 (t )
= 13.88 P1 (t ) + 610.47 P2 (t ) + 438.78 P3 (t ) 130.61P4 (t )
dt
+ 168307.38VP1 (t ) 112449.99VP3 (t ) 56155.35VP4 (t )
178872.93