class 27: block diagrams - apmonitorapmonitor.com/che436/uploads/main/lecture27_notes.pdf · block...
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Class 27: Block Diagrams
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Dynamic Behavior and Stability of Closed-Loop Control Systems
• We now want to consider the dynamic behavior of
processes that are operated using feedback control.
• The combination of the process, the feedback controller,
and the instrumentation is referred to as a feedback control
loop or a closed-loop system.
Block Diagram Representation
To illustrate the development of a block diagram, we return to a
previous example, the stirred-tank blending process considered in
earlier chapters.
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Composition control system for a stirred-tank blending process (Fig. 11.1)
CT CC
Controlled variable:
Measured variable:
Manipulated variable:
Disturbance variable:
Outlet concentration (x)Outlet concentration (x)Flow rate (w2)
Inlet concentration (x1)
(V, w1, and x2 assumed to be constant)
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Process
In section 4.3 the approximate dynamic model of a stirred-tank
blending system was developed:
xwwxwxwdt
dxV )( 212211 +−+=ρ
( )21
22
2
1
1
212211
)1(1
)(
wwx
f
xxxxw
f
wx
f
xwwxwxwf
ss
ss
ss
+−=
∂
∂
≡−=−=
∂
∂
=
∂
∂
+−+=
variables
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where
( )
( ) ( ) ( ) ( )sWw
xsX
w
wsXs
w
V
xwwxxwdt
xdV
211
211
11
)(1
′−
+′=′
+
′−′−+′=′
ρ
ρ
Combining partial fractions and deviation variables,
( ) ( ) ( )sWs
KsX
s
KsX 2
21
1
11′
++′
+=′
ττ
w
xKand
w
wK
w
V −===
1,, 2
11
ρτ
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Figure 11.2 Block diagram of the process.
Disturbance
ProcessManipulated
Variable
Controlled
Variable
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Wanted:Transfer function for each piece of equipment
+-
++
Please try to label variables, then transfer functions
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Standard Labels
YYsp spY~
Ym
E P U Yu
+-
++
Yd
D
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Definitions
Y = controlled variable
U = manipulated variable
D = disturbance variable (also referred
to as load variable)
P = controller output
E = error signal
Ym = measured value of Y
Ysp = set point
internal set point (used by the
controller)spY =%
Yu = change in Y due to U
Yd = change in Y due to D
Gc = controller transfer function
Gv = transfer function for final control
element (including KIP, if required)
Gp = process transfer function
Gd = disturbance transfer function
Gm = transfer function for measuring
element and transmitter
Km = steady-state gain for Gm
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Transfer Functions
YYsp spY~
Ym
E P U Yu
Km Gc Gv GP
Gd
Gm
+-
++
Yd
D
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CT CC
Now back to our problem(Blending Tank)
Need transfer functions for:
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Modified Block Diagram
YYsp spY~
Ym
E P U Yu
Km Gc Gv GP
Gd
Gm
+-
++
Yd
D
Gip
Pt
Notes:
1. All variables are in deviation variables except E
2. All variables are in Laplace coordinates (i.e., Y’(s))
3. Pink boxes need transfer functions
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Composition Sensor-Transmitter (Analyzer)
We assume that the dynamic behavior of the composition sensor-
transmitter can be approximated by a first-order transfer function:
( )( )
(11-3)τ 1
m m
m
X s K
X s s
′=
′ +
Controller
Suppose that an electronic proportional plus integral controller is
used. From Chapter 8, the controller transfer function is
( )( )
11 (11-4)τ
cI
P sK
E s s
′ = +
where and E(s) are the Laplace transforms of the controller
output and the error signal e(t). Note that and e are
electrical signals that have units of mA, while Kc is dimensionless.
The error signal is expressed as
( )P s′
( )p t′ p′
Gm
Gc
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( ) ( ) ( ) (11-5)sp me t x t x t′ ′= −%
or after taking Laplace transforms,
( ) ( ) ( ) (11-6)sp mE s X s X s′ ′= −%
The symbol denotes the internal set-point composition
expressed as an equivalent electrical current signal. This signal
is used internally by the controller. is related to the actual
composition set point by the composition sensor-
transmitter gain Km:
( )spx t′%
( )spx t′%
( )spx t′
( ) ( ) (11-7)sp m spx t K x t′ ′=%
Thus
( )( )
(11-8)sp
msp
X sK
X s
′=
′
%
Km
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Current-to-Pressure (I/P) Transducer
Because transducers are usually designed to have linear
characteristics and negligible (fast) dynamics, we assume that the
transducer transfer function merely consists of a steady-state gain
KIP:( )( )
(11-9)t
IP
P sK
P s
′=
′
Control Valve
As discussed in Section 9.2, control valves are usually designed so
that the flow rate through the valve is a nearly linear function of
the signal to the valve actuator. Therefore, a first-order transfer
function usually provides an adequate model for operation of an
installed valve in the vicinity of a nominal steady state. Thus, we
assume that the control valve can be modeled as
( )( )
2(11-10)
τ 1
v
t v
W s K
P s s
′=
′ +
Gip
Gv
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Block diagram for the entire blending process composition control system (Fig 11.7)
Done!
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What about PID with derivative on measurement?
( ) ( ) ( )
( ) ( ) ( )ssYKsEs
KsP
dt
dYKteteKtP
mDc
I
c
mDC
t
I
c
ττ
ττ
−
+=′
−
+= ∫
11
1
0
G1(s) G2(s)
Ysp spY~
Ym
E P
Km G1+
-
G2
++
( ) msp YYsE ′−′=~
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PID w/Derivative on Measurement
YYsp spY~
Ym
E P U Yu
Km GPI Gv GP
Gd
Gm
+-
++
Yd
D
Gip
Pt
Gderiv
++
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Your Homework Problem
11.11
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Problem 11.11
c
CT
CC
Want to control c, not cTL
Disturbance
Manipulated variable
1. First identify the controlled variable,
manipulated variable, and disturbance
variable.
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Prob. 11.11
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Problem 11.11
c
CT
CC
Want to control c, not cTL
Set point
2. Draw a block diagram similar to the one we did in
class. My diagram has 9 boxes for transfer functions,
including the unit conversion on the set point (Km).
Also, you will have a transfer function GTL for the
transport delay in the transfer line. The time delay box
should be in the feedback loop, since it only represents
the delay in measurement.
Derivative on measurement