Ch26b Final (Rev) 2006

THE UNIVERSITY OF THE WEST INDIES
EXAMINATIONS OF
Code and Name of Course:
APRIL/MAY
2006
CHNG 2006 Process Dynamics and Control I
Paper:
Date and Time:
Duration:
INSTRUCTIONS TO CANDIDATES: This paper has
pages and
3 hrs.
questions
Calculators may be used in this examination. They must be silent, cordless and non-programmable.
Calculators will be examined to ensure that they comply with these requirements.
Graph paper will be provided.
Answer questions 1, 2, 3 and two of questions 4, 5, 6, 7.
1.
(a)
Find the inverse Laplace transform of

y ( s)
1
( s 3) ( s 4)
(1.1)
[5 marks]
(b)
Sketch the function y(t) derived in part (a) for t 0.

[5 marks]
(c)
2.
Use the initial and final value theorems to confirm the initial and final values of
y(t).
[5 marks]
Consider a continuous mixing process in which two well-stirred tanks operate in series.
The throughput and liquid volume of each tank are 1 m3/min and 2 m3, respectively. The
concentration of salt in the feed stream increases from 0 kg salt/m 3 to 1 kg salt/m3 in step
fashion at time zero. At what time does the salt concentration in the second tank reach 0.6
kg salt/m3?
[15 marks]
The University of the West Indies
Course Code
CHNG 2006
2005/2006
DO NOT WRITE ON THE BACK OF THIS SHEET: USE ONE SIDE ONLY
INSTRUCTIONS: Each page of this draft must be signed by the UNIVERSITY EXAMINER. Completed forms should be handed to the Assistant
Registrar (Examinations). The EXTERNAL EXAMINER is requested to sign the draft paper and return it with comments, if any, to the Assistant
Registrar (Examinations).
...........................................
First Examiner
...........................................
University Examiner
........................................
Second Examiner
External Examiner (where applicable)
Date: 20....../......./......
Date: 20././.
page 2
3.
Liquid level in a vertical cylinder is to be regulated by manipulating the effluent flow

control valve position. Liquid flows into the vessel at volumetric flowrate Fin (t ) and is
pumped out at the rate Fout (t ). The height of liquid in the tank is to be denoted by the
symbol h(t ). The effluent flow control valve is air-to-open with linear installed
characteristics.
Fin(t)
LC
h(t)
Fout(t)
Figure Q3 - Surge tank level control.
The open-loop transfer function describing the dynamic response of level to changes in the
outlet flowrate is given by
Kp
h ( s)
G p ( s)
Fout ( s )
s
(3.1)
where the velocity gain K p 1 / A and A represents the cross-sectional area of the
tank. The overbar denotes the Laplace transform of a deviation variable, e.g. h (s )
L [h(t )] L [h(t ) hss ].
(a)
Should the action of the level controller be reverse (increase-decrease) or direct

(increase-increase)? State the transfer function Gc (s ) of this PI controller in
terms of the proportional gain K c and integral time I .
[5 marks]
Course Code
CHNG 2006
2005/2006
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 3
(b)
Draw a well-labelled block diagram for the system of Fig. Q3. Dynamics
associated with the control valve and level measurement sensor may be neglected,
i.e. Gv ( s ) K v and Gm ( s ) K m .
[10 marks]
(c)
Prove that under proportional-integral level control, the response of the liquid
height to a step change in feed flowrate of magnitude Fin is given by:
e r1 t e r2 t
r1 r2
h(t ) K p Fin
(3.2)
The constants r1 and r2 are the zeros of the characteristic polynomial

s 2 K L s K L / I , and the loop gain K L is defined as K c K v K p K m .
You may assume that the controller has been tuned in such a way that r1 r2.
[5 marks]
4.
(a)
Explain what is meant by three (3) of the following five terms: steady-state offset,
bumpless transfer, averaging level control, I/P converter, underdamped response.
Define any symbols you employ.
[9 marks]
(b)
Why do some control system vendors prefer to express the integral time parameter
I in units of minutes per repeat?
[6 marks]
(c)
The hot tub in your back yard hold 3 m3 of water. One day, a neighbour (whos
annoyed by your loud, late-night parties) sneaks into your yard, dumps 1 kmol of a
red dye compound into the tub, and turns off the water filtration system. (He
hopes that youll take one of your midnight soaks without noticing the dye.)
Fortunately, you realize that the filtration system has been shut off, check the tub,
and discover his foul deed. You must remove 99% of the dye before its safe to
use the tub again.
The filtration system continuously removes 1 m3/hr of water and returns an equal
amount of filtered water to the tub. The filter includes an activated carbon unit
that should remove 95% of the dye passing through it. Once youve restarted the
filtration system, how long will you have to wait before your next soak? It can be
assumed that the tub is well-mixed and that the water level remains constant.
[10 marks]
Course Code
CHNG 2006
2005/2006
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 4
5.
Figure Q5 is a schematic representation of a temperature control strategy for the effluent

stream of a continuous stirred tank heater (CSTH):
F , T0 (t )
V,
T (t )
F , T (t )
TC
CO(t)
Steam
Heat, q(t)
Figure Q5 - Control of temperature in a CSTH.

The system parameters appearing in this diagram are defined as
Volume of fluid in tank = 10 m3
Cp
Heat capacity of process fluid = 3 kJ/(kg K)

Density of process fluid = 800 kg/m3
F Volumetric flowrate of process fluid = 30 m3/hr
The control valve has linear installed characteristics and negligible dynamics. When fully
opened, it can pass enough steam to transfer q max 10 10 6 kJ/hr of heat into the
vessel. The values of the process temperatures at initial steady-state conditions are
T0, ss 40 C and Tss 70 C . The thermocouple responds quickly to temperature
changes and is calibrated for the range 0 100 C.
(a)
Show that the open-loop dynamics of the stirred tank heater are described by the
differential equation
Course Code
CHNG 2006
2005/2006
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 5
d T (t )
T (t ) K p q(t ) T0 (t )
dt
where the time constant
(5.1)
1
V
and process gain K p F C .
F
p
[5 marks]
(b)
Calculate the steady-state steam valve position COss .

[5 marks]
(c)
Draw a block diagram which clearly indicates the locations of the signals T (s ),
PV ( s ), SP ( s ), CO ( s ), q ( s ) and T0 ( s ) and specifies the transfer functions
between them. The temperature control algorithm is proportional-integral with
K c 1 %/%
I 1 min .
tuning
parameters
and
(N.B.
T0 ( s ) L [ T0 ( t ) T0, ss ], etc.)
[5 marks]
(d)
Derive the closed loop regulatory transfer function between T (s ) and T0 ( s )

and calculate the damping coefficient of this response. Would you expect the
controlled tank temperature to oscillate following a step change in feed
temperature?
[5 marks]
(e)
Prove that the tank temperature is inherently stable under proportional-integral

control for all K c , I 0. In answering this question, you may wish to make
use of the Routh array
Row
1
2
3
a0
a2
a4
a6
a1
a3
a5
a7
b1
b2
b3
where
b1
a1 a2 a0 a3
a a a 0 a5
, b2 1 4
,
a1
a1
[5 marks]
Course Code
CHNG 2006
2005/2006
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 6
6.
Consider the continuous stirred-tank reactor (CSTR) depicted below:

q,
,
C A 0 (t ),
C B 0 (t )
V , ,
C A (t ),
C B (t )
q,
,
C A (t ),
C B (t )
Figure Q6 - Continuous stirred-tank reactor.

The inlet stream concentrations of components A and B expressed in units of kg/m3 are
C A 0 (t ) and C B 0 (t ), respectively. Component A reacts irreversibly with specific rate
constant k to form component B. The rate of reaction is nth order with respect to
reactant A. Hence, the mass rate of disappearance of A in the CSTR is given by
k V (C A (t )) n . It may be assumed that the densities and volumetric flowrates of the
inlet and outlet streams are constant at kg/m 3 and q m 3 /s, respectively.
(a)
Derive an expression which describes the time domain response of the outlet
product concentration C B (t ) to a step change of M kg/m3 in the inlet
concentration C B 0 (t ). The inlet and (hence) outlet concentrations of reactant A
are held fixed at their initial steady-state values.
[10 marks]
(b)
Write a differential equation which describes the behaviour of the outlet reactant
concentration C A (t ) in response to changes in the inlet concentration C A0 (t ).
[4 marks]
(c)
Linearize the relationship developed in 6(b) via first-order Taylor series

approximation.
[6 marks]
(d)
Solve the linear differential equation derived in 6(c) to obtain an expression for the
response of the outlet reactant concentration C A (t ) to a step change of M kg/m3
in C A 0 (t ).
[5 marks]
Course Code
CHNG 2006
2005/2006
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 7
7.
Figure Q7 is a schematic diagram of a process consisting of three stirred tanks in series.

The cold liquid feedstream flows continuously into Tank 1, where it is heated from
temperature T1 to T2. Tank 1 overflows into Tank 2, which in turn overflows into Tank 3.
TI1
Cold
Feed
TI2
TI3
TANK 1
TI4
Hot
Product
TANK 2
TI5
Heating
Medium
TANK 3
Figure Q7 - Mix tanks in series.

The main control objective is to regulate the temperature of the Tank 3 effluent (T4) to its
desired value. The measurements and manipulated variable are as shown in the sketch;
you may not alter them and need not use them all. The major disturbance variable is the
cold feed temperature T1. There is a small but measurable heat loss from each tank to its
surroundings, hence TI2 > TI3 > TI4. The dynamic effects of changes in the feed
temperature T 1 ( s ) and % valve opening CO (s ) upon the measured Tank 3 temperature
PV (s ) are described by
PV ( s )
K
1
CO ( s )
T 1 ( s)
3
( s 1)
( s 1) 3
(7.1)
where the tank residence time 2 min and the process steady-state gain
K 3 % / %.
(a)
Redraw the schematic of Fig. Q7 to illustrate a simple feedback control loop for
T4. Specify the required action of the temperature controller, assuming that the
heat medium control valve is air-to-open.
[5 marks]
Course Code
CHNG 2006
2005/2006
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 8
(b)
Employ the direct substitution method to find the ultimate gain K u and ultimate
period Pu of this system. Design the control strategy of part (a) using the
Tyreus-Luyben PID tuning rule:
KC
Ku
P
, I 2.2 Pu , D u
2.2
6.3
(7.2)
[10 marks]
(c)
Redraw Fig. Q7 to illustrate a cascade control strategy in which T4 is the primary

controlled variable and T2 is the secondary controlled variable. Why is it better to
design the inner loop for control of T2 than for T3?
[5 marks]
(d)
Which of these control schemes ((a) or (c)) is likely to provide tighter regulation of
T4? Explain your answer.
[5 marks]
END OF QUESTION PAPER
Course Code
CHNG 2006
2005/2006
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.

Ch26b Final (Rev) 2006

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THE UNIVERSITY OF THE WEST INDIES

CHNG 2006 Process Dynamics and Control I

Date and Time:

INSTRUCTIONS TO CANDIDATES: This paper has

Answer questions 1, 2, 3 and two of questions 4, 5, 6, 7.

Find the inverse Laplace transform of

Sketch the function y(t) derived in part (a) for t 0.

The University of the West Indies

External Examiner (where applicable)

Liquid level in a vertical cylinder is to be regulated by manipulating the effluent flow

Should the action of the level controller be reverse (increase-decrease) or direct

The University of the West Indies

External Examiner (where applicable)

The constants r1 and r2 are the zeros of the characteristic polynomial

The University of the West Indies

External Examiner (where applicable)

Figure Q5 is a schematic representation of a temperature control strategy for the effluent

Figure Q5 - Control of temperature in a CSTH.

Heat capacity of process fluid = 3 kJ/(kg K)

The University of the West Indies

External Examiner (where applicable)

where the time constant

Calculate the steady-state steam valve position COss .

Derive the closed loop regulatory transfer function between T (s ) and T0 ( s )

Prove that the tank temperature is inherently stable under proportional-integral

The University of the West Indies

External Examiner (where applicable)

Consider the continuous stirred-tank reactor (CSTR) depicted below:

Figure Q6 - Continuous stirred-tank reactor.

Linearize the relationship developed in 6(b) via first-order Taylor series

The University of the West Indies

External Examiner (where applicable)

Figure Q7 is a schematic diagram of a process consisting of three stirred tanks in series.

Figure Q7 - Mix tanks in series.

The University of the West Indies

External Examiner (where applicable)

Redraw Fig. Q7 to illustrate a cascade control strategy in which T4 is the primary

END OF QUESTION PAPER

The University of the West Indies

External Examiner (where applicable)

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