TALLER NO.

3 “CASOS DE ESTUDIO”

TK BELTRAN SANCHEZ LUIS ALBERTO

TK SCHRADER FLOREZ ANDRES FELIPE

Profesor:
ING. CARLOS GUTIÉRREZ

CONTROL AUTOMÁTICO

FUERZAS MILITARES DE COLOMBIA

ARMADA NACIONAL
ESCUELA NAVAL DE CADETES ALMIRANTE PADILLA
CARTAGENA, BOLÍVAR
20 JUNIO 2019
1. Consider the vacuum filter shown in fig. P7-1. This process is part of a waste treatment
plant. The sludge enters the filter at about 5 % solids. In the vacuum filter the sludge is
dewatered to about 25 % solids. The filterability of the sludge in the rotating filter
depends on the pH of the sludge entering the filter. One way to control the moisture of
the sludge to the incinerator is by is by the addition of chemicals (ferric chloride) to the
sludge feed to the sludge feed to maintain the necessary pH. Figure P7-1 shows a
proposed control scheme. The moisture transmitter has a range 55 to 90 %.

The following data have been obtained from a step test on the output of the controller
(MIC70) of +25 %CO.

Time Moisture, Time Moisture,

(min) % (min) %
0 75 10,5 70,9
1 75 11,5 70,3
1,5 75 13,5 69,3
2,5 75 15,5 68,6
3,5 74,9 17,5 68
4,5 74,6 19,5 67,6
5,5 74,3 21,5 67,4
6,5 73,6 25,5 67,1
7,5 73 29,5 67 Imagen 1, Vacuum filter for problem 1.

8,5 72,3 33,5 67

9,5 71,6
Tabla 1, datos problema 1

𝑉𝑖# = 55%
𝑉𝑓( = 95%
𝑉𝑖* = 75%
𝑉𝑓, = 67%
∆𝑚 = 12,5%
Se procede a pasar el valor inicial del “Moisture” a 𝐶(%𝑇6 )

𝑉𝑖* − 𝑉𝑖# 𝑉𝑓* − 𝑉𝑖#

𝐶𝑉𝑖* = 𝐶𝑉𝑓* =
𝑉𝑓( − 𝑉𝑖# 𝑉𝑓( − 𝑉𝑖#

75% − 55% 67% − 55%

𝐶𝑉𝑖* = 𝐶𝑉𝑓* =
95% − 55% 95% − 55%

𝐶𝑉𝑖* = 0,5 𝐶𝑉𝑓* = 0,3

A continuacion de halla el ∆𝐶

∆𝐶 = 𝑉𝑓* − 𝑉𝑖* ∆𝐶 = 𝐶𝑉𝑓* − 𝐶𝑉𝑖*

∆𝐶 = 67% − 75% ∆𝐶 = 30% − 50%
∆𝐶 = −8% ∆𝐶 = −20%

Se halla el valor de k

∆𝐶 −20%
𝐾= = = −1,6
∆𝑚 12,5%

Se hallan los valores de 𝑡> , 𝑡? .

𝑡> = 𝑉𝑖* + ∆𝐶 ∙ 0,283 𝑡? = 𝑉𝑖* + ∆𝐶 ∙ 0,632

𝑡> = 75 + (−8) ∙ 0,283 𝑡? = 75 + (−8) ∙ 0,632
𝑐(𝑡> ) = 72,736 𝐶(𝑡? ) = 69,944

En la tabla 1 se procede a ubicar 𝑡> , 𝑡?

Para 𝒕𝟏 Para 𝒕𝟐
 𝑦> = 73 𝑥> = 7,5 𝑦> = 70,3 𝑥> = 11,5
𝑦? = 72,3 𝑥? = 8,5 𝑦? = 69,3 𝑥? = 13,5
𝑦6 = 72,736 𝑥6 = ? 𝑦6 = 69,944 𝑥6 = ?
𝑦6 −𝑦> 𝑦6 −𝑦>
𝑥6 = + 𝑥> 𝑥6 = + 𝑥>
𝑚 𝑚
𝑦? − 𝑦> 𝑦? − 𝑦>
𝑚= 𝑚=
𝑥? − 𝑥> 𝑥? − 𝑥>
72,3 − 73 69,3 − 70,3
𝑚= 𝑚=
8,5 − 7,5 13,5 − 11,5
𝑚 = −0,7 𝑚 = −0,5
72,736 − 73 69,944 − 70,3
𝑥6 = + 7,5 𝑥6 = + 11,5
−0,7 −0,5
𝑥6 = 7,877 𝑠𝑒𝑔 𝑥6 = 12,212 𝑠𝑒𝑔

Hallamos el valor de 𝜏
3 3
𝜏= (𝑡? − 𝑡> ) = (12,212 − 7,877) = 6,502
2 2

Se halla el valor de 𝑡6 .

𝑡6 = 𝑡? − 𝜏 = 12,212 − 6,502 = 5,71

2. Consider the absorber shown in Fig. P7-2 . The gas entering the absorber has a
composition of 90 mole % air and 10 mole % ammonia (𝑁𝐻Q ). Before this gas is vented
to the atmosphere, it is necessary to remove most of the 𝑁𝐻Q concentration in the exit gas
steam cannot be above 200 ppm. The absorber has been designed so that the outlet 𝑁𝐻Q
concentration in the vapor is 50 ppm. From dynamic simulations of the absorber, the
following data were obtained.

Water flow Outlet NH3

Time (seg)
(gpm) concetration
0 250 50
0 200 50
20 200 50
30 200 50,12
40 200 50,3
50 200 50,6
60 200 50,77
70 200 50,9
80 200 51,05
90 200 51,2
100 200 51,26
110 200 51,35
120 200 51,48
Imagen 2, Absorver for the problem 2 (Figure p7-2)
130 200 51,55
140 200 51,63
160 200 51,76
180 200 51,77
250 200 51,77
Tabla 2, Response to a step change in water flow to the absorber

𝑉𝑖# = 50% 𝑉𝑓, = 51,77%

𝑉𝑓( = 200% ∆𝑚 = 10%
𝑉𝑖* = 50%
Se procede a pasar el valor inicial del “Moisture” a 𝐶(%𝑇6 )

𝑉𝑖* − 𝑉𝑖# 𝑉𝑓* − 𝑉𝑖#

𝐶𝑉𝑖* = 𝐶𝑉𝑓* =
𝑉𝑓( − 𝑉𝑖# 𝑉𝑓( − 𝑉𝑖#

50% − 50% 51,77% − 50%

𝐶𝑉𝑖* = 𝐶𝑉𝑓* =
200% − 50% 200% − 50%

𝐶𝑉𝑖* = 0 𝐶𝑉𝑓* = 0,019

A continuación de halla el ∆𝐶

∆𝐶 = 𝑉𝑓* − 𝑉𝑖* ∆𝐶 = 𝐶𝑉𝑓* − 𝐶𝑉𝑖*

∆𝐶 = 51,77% − 50% ∆𝐶 = 1,9% − 0, %
∆𝐶 = 1,77% ∆𝐶 = 1,9%

Se halla el valor de k

∆𝐶 1,9%
𝐾= = = 1,9
∆𝑚 10%

Se hallan los valores de 𝑡> , 𝑡? .

𝑡> = 𝑉𝑖* + ∆𝐶 ∙ 0,283 𝑡? = 𝑉𝑖* + ∆𝐶 ∙ 0,632

𝑡> = 50 + 1,77 ∙ 0,283 𝑡? = 50 + 1,77 ∙ 0,632
𝐶(𝑡> ) = 50,501 𝐶(𝑡? ) = 51,12

En la tabla 1 se procede a ubicar 𝐶(𝑡> ), 𝐶(𝑡? ).

 Para 𝒕𝟏 Para 𝒕𝟐

𝑦> = 50,6 𝑥> = 50 𝑦> = 51,05 𝑥> = 80

𝑦? = 50,77 𝑥? = 60 𝑦? = 51,2 𝑥? = 90
𝑦6 = 50,501 𝑥6 = ? 𝑦6 = 50,12 𝑥6 = ?
𝑦6 −𝑦> 𝑦6 −𝑦>
𝑥6 = + 𝑥> 𝑥6 = + 𝑥>
𝑚 𝑚
𝑦? − 𝑦> 𝑦? − 𝑦>
𝑚= 𝑚=
𝑥? − 𝑥> 𝑥? − 𝑥>
50,6 − 50,3 50,2 − 50,05
𝑚= 𝑚=
50 − 40 90 − 80
𝑚 = 0,03 𝑚 = 0,015
50.501, −50,3 50,12 − 50,05
𝑥6 = + 40 𝑥6 = + 80
0,03 0,015
𝑡> = 46,697 𝑠𝑒𝑔 𝑡? = 84,67 𝑠𝑒𝑔
Hallamos el valor de 𝜏
3 3
𝜏= (𝑡? − 𝑡> ) = (84,67 − 46,697) = 56,96
2 2

Se halla el valor de 𝑡6 .

𝑡6 = 𝑡? − 𝜏 = 84,67 − 56,96 = 27,71

3. Consider the furnace shown in Fig. P7-3, which is used to heart the supply air to a catalyst
regenerator. The temperature transmitter is calibrated for 300 − 500 °𝐹. The following
response data were obtained for a step change of +5 % in the output of the controller.

Time
< T(t) (°F) T(t) (°F)
(min)
0,0 425,0 5,5 436,6
0,5 425,0 6,0 437,6
1,0 425,0 7,0 439,4
2,0 425,0 8,0 440,7
2,5 426,4 9,0 441,7
3,0 428,5 10,0 442,5
3,5 430,6 11,0 443,0
4,0 432,4 12,0 443,5
Imagen 3, Furnace for problem 3
4,5 434,0 14,0 444,1
5,0 435,3 12,0 445,0
Tabla 3, Datos caso No. 3

𝑉𝑖# = 300% 𝑉𝑓, = 445%

𝑉𝑓( = 500% ∆𝑚 = 5%
𝑉𝑖* = 425%

Se procede a pasar el valor inicial del “Moisture” a 𝐶(%𝑇6 )

𝑉𝑖* − 𝑉𝑖# 𝑉𝑓* − 𝑉𝑖#

𝐶𝑉𝑖* = 𝐶𝑉𝑓* =
𝑉𝑓( − 𝑉𝑖# 𝑉𝑓( − 𝑉𝑖#

425% − 300% 445% − 300%

𝐶𝑉𝑖* = 𝐶𝑉𝑓* =
500% − 300% 500% − 300%

𝐶𝑉𝑖* = 0,625 𝐶𝑉𝑓* = 0,725

A continuación de halla el ∆𝐶

∆𝐶 = 𝑉𝑓* − 𝑉𝑖* ∆𝐶 = 𝐶𝑉𝑓* − 𝐶𝑉𝑖*

∆𝐶 = 445% − 425% ∆𝐶 = 0,725% − 0,625%
∆𝐶 = 20% ∆𝐶 = 10%

Se halla el valor de k

∆𝐶 10%
𝐾= = = 2%
∆𝑚 5%

Se hallan los valores de 𝑡> , 𝑡? .

𝑡> = 𝑉𝑖* + ∆𝐶 ∙ 0,283 𝑡? = 𝑉𝑓* + ∆𝐶 ∙ 0,632

𝑡> = 425 + 20 ∙ 0,283 𝑡? = 425 + 20 ∙ 0,632
𝑡> = 430,66 𝑡? = 437,64

En la tabla 1 se procede a ubicar 𝑡> , 𝑡?

Para 𝒕𝟏 Para 𝒕𝟐

𝑦> = 430,6 𝑥> = 3,5 𝑦> = 437,6 𝑥> = 6

𝑦? = 432,4 𝑥? = 4 𝑦? = 439,4 𝑥? = 7
𝑦6 = 430,66 𝑥6 = ? 𝑦6 = 437,64 𝑥6 = ?
𝑦6 −𝑦> 𝑦6 −𝑦>
𝑥6 = + 𝑥> 𝑥6 = + 𝑥>
𝑚 𝑚
𝑦? − 𝑦> 𝑦? − 𝑦>
𝑚= 𝑚=
𝑥? − 𝑥> 𝑥? − 𝑥>
432,4 − 430,6 439,4 − 437,6
𝑚= 𝑚=
4 − 3,5 7−6
𝑚 = 3,6 𝑚 = 1,8
 430,66 − 430,6 437,64 − 437,6
𝑥6 = + 3,5 𝑥6 = +6
3,6 1,8
𝑥6 = 3,516 𝑠𝑒𝑔 𝑥6 = 6,02 𝑠𝑒𝑔

Hallamos el valor de 𝜏
3 3
𝜏 = (𝑡? − 𝑡> ) = (6,02 − 3,516) = 3,756
2 2

Se halla el valor de 𝑡6 .

𝑡6 = 𝑡? − 𝜏 = 6,02 − 3,756 = 2,264