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EP 314:

Process Dynamics and Controls


(May Aug, 2015)
Mohd Fauzi bin Zanil

EP 314:
Process Dynamics and Controls
(May Aug, 2015)
Mohd Fauzi bin Zanil

3f. Closed Loop System- Closed loop System Analysis

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Topic
No class
3d and e. Closed Loop System: Z-N & C-C controller design
method
Midterm (20%)
3f. Closed Loop System: Closed loop System Analysis
Tutorial 3
ShortQuiz3
4a. Frequency Response: Modelling in Frequency Domain
4b. Frequency Response: Bode diagram
4c. Frequency Response: PID controller design
Tutorial 4
ShortQuiz4
5a. Stability & System Analysis: Introduction
5b. Stability & System Analysis: Routh's test
5b. Stability & System Analysis: Controller Design
Test (10%)
5c. Stability & System Analysis: Criteria of Good Control
Tutorial 5
ShortQuiz5
6a. Introduction to Advanced Control System
6b. Introduction to Advanced Control System
Revission
Final Assignment Submission (10% from Laboratory )
No class

Week
7

Date
16/06/2015
18/06/2015
23/06/2015

25/06/2015

30/06/2015
9

10
11

02/07/2015
07/07/2015
09/07/2015
14/07/2015
16/07/2015
21/07/2015

12
23/07/2015
13
14

28/07/2015
30/07/2015
04/08/2015
06/08/2015

Course Learning Outcome (CLO)

Upon the completion of this course,


students will be able to:
CLO1: Formulate the transfer function.
CLO2: Evaluate the closed loop block diagram.
CLO3: Analyze the stability of system.
CLO4: Design a conventional controller.
CLO5: Justify and present the best control.

Revision: Development of Control System


Develop the negative unity feedback control system block diagram for the
system shown below.

+

+

Typical control system used to study the effect of


controller modes on set-point change
= 1/

Typical control system used to study the effect of


controller modes on load change
= 1/

Proportional Control for Set Point


Change (Servo)
Overall transfer function

This may be rearranged in the form of a firstorder lag to give


Where

Proportional Control for Set Point


Change (Servo) cont.
For unit step change in TR

Inverse Laplace Transform

for

Proportional Control for Set Point


Change (Servo) cont.

Figure: Unit-step response for set-point change (P controller)

Proportional Control for Load Change


(Regulator)

This may be arranged in the first-order system; thus


Where
For unit step change in Ti
Taking inverse Laplace we get
for

Proportional Control for Load Change


(Regulator) cont.

Figure: Unit-step response for load change (P controller)

Proportional-Integral Control for


Load Change
Overall transfer function for load change is

rearrange this gives

Since the denominator contains a quadratic expression, TF may


be written in standard form of 2nd-order system

Proportional-Integral Control for


Load Change cont.

For step change in load,

Using inverse Laplace, let

Proportional-Integral Control for


Load Change cont.

Figure: Unit-step response for load change (PI controller)

Proportional-Integral Control for


Set-Point Change
Transfer function of system shown

This equation maybe reduced to standard form


Note:
1 and are the
same as before

Introduce a step change,

Proportional-Integral Control for


Set-Point Change cont.

Using Laplace inverse for

Proportional-Integral Control for


Set-Point Change cont.

Example: Proportional-integral
control of stirred-tank heater

Figure: Stirred-tank set point tracking with PI


control (1 = 2 min)

Figure: Stirred-tank set point tracking with PI


control (Kc = 20)

Proportional Control of System


with Measurement Lag

Figure: Control system with measurement lag

Proportional Control of System


with Measurement Lag cont.
Transfer function is
where
For set-point change in TR , for

Proportional Control of System


with Measurement Lag cont.

Figure: Effect of controller gain and measuring lag on system response for unit-step change in set point

Challenge
Determine the offset for Proportional-Integral Control
system with measurement lag. Given, () = 1/

1
1+