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Institut fr Chemie und Bioingenieurwissenschaften

Regelungstechnik FS 12

Lsung 7
Aufgabe 1: ([SeEM11] Aufg. 5.6)
Let

T be the temperature recorded by the thermocouple


Ts be the actual temperature that should be measured

be the first-order time constant in sec.

Is given that:

T ' s
1

T ' s s s 1

Lets find from data for the first run:


T ' s t 105 82t 23t
23
T ' s s
s

1
23
T ' s
T ' s s
1 2
s 1
ss 1 s s 1
23
1
23
s 1 s 0

23
23
s s 1

23
23

s s 1/
T ' t 231 e t /
T ' t 1 T t 1 T 93 82 11 231 e 1 /
1
Therefore,
1.54
11
ln1
23
T ' s

For the second run:


T ' s t 2t
2
T ' s s 2
s

-1-

Dr. Robert N. Grass

T ' s

3

2
1
3.08 2
4.74
T ' s s 2
1 22

2
1.54 s 1
1.54 s 1
s
1.54 s 1
s 1.54 s 1 s
s
s

T ' t 3.081 e t / 1.54 2t

At t = 10, T ' s t 10 20 , T ' t 10 16.9 F, the error is:


T t 10 Ts t 10 T ' t 10 T ' s t 10 16.9 20 3.1 F
The thermocouple will read 3.1 F higher than the air temperature.
Aufgabe 2: ([SeEM11] Aufg. 5.16)

a) At peaks,

1
dy

KM e t / cos
dt

1
sin

t e t /

1
sin


1
t cos

Since KM 0 and e t / 0
2
1
0 cos

t n

2
1 2

t
1 2

1 2
sin

1 2
t sin

1 2

where n is the number of the extremum. Thus the peak time is

tp

1 2

b) Overshoot, M P

y t p KM
KM

M P e t / cos
sin exp
1 2

1 2

c) Decay ratio, DR

y t 2 p KM
y t p KM

, where t 2 p

3
1 2

exp
1 2

is the time to the second peak (third

extremum).
DR

KMe

t 2 p /

KMe

t p /

exp t 2 p t p exp

-2-

1 2

exp 2

1 2

M p2


t 0

d) Consider the following trigonometric density


sin A B sin A cos B cos A sin B
1 2
Let B

t , sin A 1 2 , cos A

e t /
then y t KM 1
1 2

e t /
cos B sin B KM 1
sin A B

1 2

Hence for t t s , the settling time,


e t /
1

0.05 t ln 0.05 1 2

therefore
ts

20
ln
1 2

This formula can be used in the entire range of corresponding to underdamped system.
Aufgabe 3: ([SeEM11] Aufg. 5.20)

a) Caustic balance for the tank,

dc
w1c1 w2 c 2 wc
dt

Since V is constant, w = w1 +w2 =10 lb/ft3. For constant flows,

VsC ' s w1C '1 s w2 C ' 2 s wC ' s


w1
C ' s
5
0 .5

C '1 s Vs w 70 7 s 10 49 s 1

C ' m s
K
30

, K
1 , = 6 sec = 0.1 min (from the graph)
C ' s s 1
3
The requested transfer function is
C ' m s
1
0 .5
0 .5

C '1 s 0.1s 1 49 s 1 0.1s 149 s 1

-3-

b) C '1 s
C ' m s

3
s
1.5
s 0.1s 149 s 1

c' m t 1.51
0.1e t / 0.1 49e t / 49
49 0.1

c) C ' m s

0.5 3
1.5

49s 1 s s49s 1

c' m t 1.5 1 e t / 49

d) The responses in b) and c) are nearly the same. Hence the dynamics of the conductivity cell are
negligible.
Literatur

[SeEM11] D. E. Seborg, T. F. Edgar, and D. A. Mellichamp. Process Dynamics and Control. John
Wiley & Sons, New York, 2011.

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