Process Control

CME 321

Chapter 12

Transient Response of Simple Control

Systems

Dr. Hadil Abu Khalifeh

Control System for Stirred tank Heater

8-2
Block Diagram

Controller:
software component implements math
hardware component provides calibrated signal for actuator
Actuator:
physical (with dynamics) process triggered by controller
directly affects process
Sensor:
monitors some property of system and transmits signal back to controller
8-3
Block Diagram: Process

8-4
The Stirred tank Heater
 Consider the control system for the
heated, stirred tank that we previously
discussed.
 The block diagram is shown below.
 To reduce the number of symbols,
1/wC has been replaced by A

 Assume that the valve does not have any dynamic; G1 = Kv = 1.

 If Kv 1, we may simply replace Gc by Gc Kv
 Also assume unity-feedback system: m = 0 and Km = 1
Proportional Control: Load Change
 This time the set point remains fixed; TR = 0
 We are interested in the response of the
system to a change in the inlet stream
temperature, i.e., to a load change
 Remember that the goal of the control system in this case is to reject the effect
of disturbances and maintain the controlled variable, the tank temperature at the
set point.
 Since the set point has not changed from its steady-state value for this case
(T’ R = 0), we want T’ () = 0.
Overall closed – loop transfer function:
1
T ' (s)
 s  1 
1
'
Ti ( s ) 1  cK A s  1  K c A
s  1
 First order  Write in standard form for first order system
 1
T ' (s) 1  Kc A A2 A2 
1

  where 1  Kc A
and
 1s  1
'
Ti ( s ) s 1
1  Kc A 
1 
1  Kc A
 The overall time constant 1 is the same as for set point changes.
 For a step change in inlet temperature: T’1 (s) = 1/s:

T ' (s) 
1 1 /(1  K c A)
s [ /(1  K c A)]s  1

T ' (t )  A2 1  e  t / 1 
and the ultimate (steady-state) value of T’ is:
1
T ' ()  lim sT ' ( s )   A2
s 0 1  Kc A
1
Offset  T ' R ()  T ' ()  0 
1  Kc A
1
Offset   ↑ Kc  ↓Offset
1  Kc A
Proportional – Integral Control: Load Change
In this case: Gc ( s)  K c (1  1 /  I s)
Overall closed – loop transfer function:
1
T ' (s)
 s  1
Ti ' ( s ) 1  K c (1  1 /  I s ) A
s  1
T ' ( s) Is
Rearranging: 
Ti ' ( s ) s  1  K c (1  1 /  I s ) A
Is
 PI changes the order
 I s  ( K c A I   I ) s  K c A
2
of the process.
In standard form of second order:
T ' ( s) ( I / K c A) s 
A1s
  12 s 2  2s  1
Ti ( s ) ( I / K c A) s 2   I (1  1 / K c A) s  1
'
 I  I
where: A1  1  &  
1  I 1  Kc A
2  Kc A
Kc A Kc A

 For a step change in inlet temperature: T’1 (s) = 1/s:

A Impulse with  < 1:

T ' ( s)  2 2 1
 1 s  2s  1 1
T ' (t )  A1 
1
e t / 1 sin 1  2 t 
 1 1  2  1 


One of the most important advantages of

Offset  T ' R ()  T ' ()  0  0  0
PI control is the elimination of offset.
Proportional Control: Effect of Measurement Lag
Consider the same control system, the stirred-
tank heater, with a first-order measuring
element having a transfer function 1/(ms + 1).
Closed – loop transfer function for set-point
changes:
T ' (s) A1 ( m s  1)

TR' ( s )  22 s 2  2 2 2 s  1

Kc A  m   m 1
where: A1  2  
1  Kc A 1  Kc A & 2  m 1  K c A

In general, the response

becomes more oscillatory,
or less stable, as Kc or m
increases.
Proportional Control: Set-Point Change
The goal of the control system for this case is to force the system
to “track” the desired set point changes.
For proportional control: Gc = Kc
Overall closed – loop transfer function:
Kc A
 s  1 
T ' (s) Kc A
TR ( s ) 1  K c A s  1  K c A
s  1
 First order  Write in standard form for first order system
Kc A
T ' (s) 1  Kc A A1

 
T 'R ( s) s 1  1s  1
1  Kc A
 
where A1 
Kc A
and 1 
1  Kc A 1  Kc A

Fundamental characteristics of P-action:

1. Proportional action does not change the order of the process.
2. Proportional action respond faster than the open-loop process
 Speeding the process is the primary benefit of P-control
3. For a unit-step change in the set-point (T’R=1), the steady-
state gain is not equal to unity

 Offset is available
Kc A
Offset  T ' R ()  T ' ()  1 
1  Kc A
1
Offset 
1  Kc A
↑ Kc  ↓Offset Theoretically as Kc    Offset  zero
 STABILITY ????
Example: Proportional control for stirred-tank heater for set-
point tracking
Consider the stirred-tank heater shown in the
drawing. Determine the response of a closed-loop
proportional control system for Kc = 5, 10,
20, and 100 for a set point change of 5oC.
Determine the offset for each value of Kc .
 Impulse + step responses with  < 1:

1 1 2 t
  1  2 t 1 1  
2 
T ' (t )   e t / 
1
sin 1    1 
 e t / 
1
sin  1    tan 
1 1  
2
1   1  
2
 1  

Offset  T ' R ()  T ' ()  1  1  0