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Chapter 16, Problem 1 1 Bookmark Show all steps: ON

Process Systems Analysis and Control (3rd Edition)

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Calculate the value of gain Kc needed to produce continuous oscillations in the control system
shown in Fig. P16–1 when
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(a) n is 2
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(b) n is 3

Do not use a graph for this calculation. My Textbook Solutions

FIGURE P16–1 Process Semiconduct Fundamental

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Routh-Hurwitz stability criteria
Maria
In Routh-Hurwitz stability criteria, generates Routh-Hurwitz table of control system. General form MSU-IIT 2157

of control system is given below.

Tyler
St. Cloud State Uni… 535

John
St. Joseph's College 329

Comment
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Step 2 of 10

Routh-Hurwitz table for above system is

For a stable system left column of Routh-Hurwitz table should be positive.

Comment

Step 3 of 10

Given control system for n = 2,

Reducing loop back,

Comment

Step 4 of 10

Therefore system is,

Routh-Hurwitz table for above system is,

4 0

‘a’ can be compute as,

Comment

Step 5 of 10

According to Routh-Hurwitz stability criteria, left column values should be positive.

Therefore,

Comment

Step 6 of 10

Given control system for n=3

Reducing loop back

Comment

Step 7 of 10

Therefore system is,

Comment

Step 8 of 10

Routh-Hurwitz table for above system is,

8 6 0

12 0

a 0 0

b 0 0

‘a’ can be compute as,

‘b’ can be compute as,

Comment

Step 9 of 10

According to Routh-Hurwitz stability criteria, left column values should be positive.

Therefore a>0,

Comment

Step 10 of 10

And,

From this and

Therefore,

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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5

The stirred-tank heater

system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

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(a) Plot the asymptotic Bode diagram \B/ε| versus ω for the control system shown in Fig. P16–2.

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(b) The gain Kc is increased until the system oscillates continuously at a frequency of 3 rad/min. 17 questions remaining

From this information, calculate the transportation lag parameter τd i

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FIGURE P16–2
Process Semiconduct Fundamental
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Reduced block diagram

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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5

The stirred-tank heater

system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

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Chapter 16, Problem 3 3 Bookmarks Show all steps: ON

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The frequency response for the block Gp in Fig. P16–3 is given in the following table:

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f,cycles/min Gain Phase angle, deg
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0.06 1.60 −68

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0.08 1.40 −88

0.10 1.20 −105

Process Semiconduct Fundamental

0.15 0.84 −145 Systems... or Physics... s of...
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0.20 0.61 −177

0.30 0.35 −235

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0.40 0.22

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0.60 0.11

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0.80 0.066

Block Gp contains a distance velocity lag e−τs with τ = 1 (this transfer function is included in the John
St. Joseph's College 329
data given in the table).

(a) Find the value of Kc needed to produce a phase margin of 30° for the system if τI = 0.2. Find me a tutor

(b) Using the value of Kc found in part (a) and using τI = 0.2, find the percentage change in the
parameter τ to cause the system to oscillate continuously with constant amplitude.

FIGURE P16-3

Step-by-step solution

Step 1 of 2

(a) For a phase margin of 30º, ϕ = -150º which occurs as f = 0.057 ng/min. For f = 0.057,

Comment

Step 2 of 2

(b) For the system to oscillate with constant amplitude George of mistability) Td must increase so
that 30º of phase lag is added, at f = 0.057 (Freg at which AR = 1 for Kc = 0.044, see part a)

Since T originally is l,

f w Magnitude Mag/Kc Angle Overa

Angle (Gp)
(cycles/min) (radians/min) (Gp) (controller) (controller) Mag/K

0.06 0.3769908 1.6 -68 13.30056878 -85.68823444 21.28

0.08 0.5026544 1.4 -88 9.997331422 -84.2593636 13.99

0.1 0.628318 1.2 -105 8.020339566 -82.83762015 9.624

0.15 0.942477 0.84 -145 5.398594334 -79.3253264 4.534

0.2 1.256636 0.61 -177 4.102616444 -75.89227317 2.502

0.3 1.884954 0.35 -235 2.834820134 -69.34407716 0.992

0.4 2.513272 0.22

0.6 3.769908 0.11

0.8 5.026544 0.066

0.01 0.0628318 3.675437588 56.5652504 79.58382169 -89.28011392 292.5

0.02 0.1256636 2.664293387 8.37683359 39.80133376 -88.5603791 106.0

0.03 0.1884954 2.20722694 -19.8115832 26.5446891 -87.84109843 58.59

0.04 0.2513272 1.931323573 -39.8115832 19.91950156 -87.1224979 38.47

0.05 0.314159 1.741297564 -55.3247884 15.94689271 -86.40480223 27.76

0.056707169 0.356301353 1.642472633 -64.0759519 14.06864989 -85.92404989 23.10

Linear extrapolation of Gp magnitude and phase angle plots using a straight used goal seek t
line between f=0.06 and f=0.08 on the bode plots phase margin of

f log f log Mag Gp Angle Gp

0.06 -1.22184875 0.204119983 -68

0.08 -1.096910013 0.146128036 -88

0.1 -1 0.079181246 -105

0.15 -0.823908741 -0.075720714 -145

0.2 -0.698970004 -0.214670165 -177

0.3 -0.522878745 -0.455931956 -235

magnitude plot

slope -0.464

intercept -0.363

angle plot

slope -160.08

intercept -263.59

Comment

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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5

The stirred-tank heater

system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

See solution

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Chapter 16, Problem 4 4 Bookmarks Show all steps: ON

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The system shown in Fig. P16–4 is controlled by a proportional controller. The concentration of
salt in the solution leaving the tank is controlled by adding a concentrated solution through a
Continue to post
control valve.
17 questions remaining

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FIGURE P16–4 Process Semiconduct Fundamental

Systems... or Physics... s of...
The following data apply:
3rd Edition 4th Edition 8th Edition
1. Concentration of concentrated salt solution C1 = 25 lb salt/ft3 solution. View all solutions

2. Controlled concentration C = 0.1 lb salt/ft3 solution.

3. Control valve: The flow through the control valve varies from 0.002 to 0.0006 ft3 /min with a
change of valve-top pressure from 3 to 15 psi. This relationship is linear.
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4. Distance velocity lag: It takes 1 min for the solution leaving the tank to reach the right now
concentration-measuring element at the end of the pipe.

5. Neglect lags in the valve. Maria

MSU-IIT 2157

(a) Draw a block diagram of the control system. Place in each block the appropriate transfer
function. Calculate all the constants and give the units. Tyler
St. Cloud State Uni… 535

(b) Using a frequency-response diagram and the Ziegler-Nichols rules, determine the settings of John
the controller. St. Joseph's College 329

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(c). Using the controller settings of part (b), calculate the offset when the set point is changed by
0.02 unit of concentration.

Step-by-step solution

Step 1 of 2

assume cutlet Flow ≅ inlet Flow This can be checked as follows.

A mass balance an tank gives

   (1)

  (2)

subtracting (2) From (1) and letting

or taking L.P. of this and rearranging gives

therefore the controller gain, Kc, must be negative as well (a direct-acting controller)

a) block diagram

Comment

Step 2 of 2

goal seek frequency to yield phase angle of -180

-180.000323 total angle

time

frequency delay first order angle total angle

angle

1 -57.3 -71.5703 -128.870323

1.1 -63.03 -73.147 -136.176989

1.2 -68.76 -74.4814 -143.241375

1.3 -74.49 -75.6242 -150.114176

1.4 -80.22 -76.6131 -156.833145

1.5 -85.95 -77.4769 -163.426899

1.6 -91.68 -78.2375 -169.917474

1.7 -97.41 -78.9121 -176.322089

1.71 -97.983 -78.9754 -176.958374

1.72 -98.556 -79.0379 -177.593949

1.73 -99.129 -79.0998 -178.228828

1.74 -99.702 -79.161 -178.86302

1.75 -100.275 -79.2215 -179.496537

1.751 -100.332 -79.2276 -179.559852

1.752 -100.39 -79.2336 -179.623161

1.753 -100.447 -79.2396 -179.686463

1.754 -100.504 -79.2456 -179.749758

1.755 -100.562 -79.2515 -179.813046

1.756 -100.619 -79.2575 -179.876328

1.757 -100.676 -79.2635 -179.939604

1.758 -100.733 -79.2695 -180.002873

Using Z–N Rule Kc = 0.5 Kcu = −919 psi/(lb/ft3)

Comments (4)

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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5
The stirred-tank heater
system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

See solution

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home / study / science / chemistry / chemical engineering / chemical engineering solutions manuals / process systems analysis and control / 3rd edition
Chapter 16, Problem 5 6 Bookmarks Show all steps: ON

Process Systems Analysis and Control (3rd Edition)

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The stirred-tank heater system shown in Fig. P16–5 is controlled by a PI controller. The following
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Flow rate ω of liquid through the tanks: 250 lb/min
17 questions remaining
Holdup volume of each tank: 10 ft3

Density of liquid: 50 lb/ft3

Final control element: A change of 1 psi from the controller changes the heat input q by 100 My Textbook Solutions
Btu/min. The final control element is linear.

Process Semiconduct Fundamental

Systems... or Physics... s of...
3rd Edition 4th Edition 8th Edition
FIGURE P16.5 View all solutions

(a) Draw a block diagram of the control system. Show in detail such things as units and
numerical values of the parameters.

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(b) Determine the controller settings by the Ziegler-Nichols rules.
right now

Maria
MSU-IIT 2157
(c) If the control system is operated with proportional mode only, using the value of Kc found in
part (b), determine the flow rate w at which the system will be on the verge of instability and
oscillate continuously. What is the frequency of this oscillation? Tyler
St. Cloud State Uni… 535

John
St. Joseph's College 329
Step-by-step solution

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Step 1 of 15

(a)

Consider the specified figure for the three-tank heating process such that process is at the
steady state (with respect to temperature) till time t = 0. The fluid flow rate in the each stream is
constant, since it is the continuous process.

Consider that the heat capacity of the inlet stream and outlet stream of each tank as C, density of
the fluid in each streams as , holdup volume of each tank as V and the mass flow rate of
each stream as w.

Tank 1:

The temperature of the inlet and outlet stream of tank 1 is and respectively.

Apply the unsteady state energy balance around tank-1 as follows:

The rate of energy input – The rate of energy output = The rate of energy accumulation.

…… (1)

Apply the steady state energy balance around tank-1 as follows:

The rate of energy input – The rate of energy output = The rate of energy accumulation.

…… (2)

Subtract equations (1) and (2) and write the resultant equation in the form of deviation variables
as follows:

…… (3)

Here, and are the deviation variables. Also, and .

Comment

Step 2 of 15

Apply the Laplace transform to equation (3) and then, obtain as follows:

Since, the deviation in temperature at the outlet of tank 1 , at time t=0 is 0.

…… (4)

Comment

Step 3 of 15

Tank 2:

Consider that the outlet of tank 1 is connected as inlet stream of the tank.

The temperature of the outlet stream of the tank is .

Apply the unsteady state energy balance around tank 2 as follows:

The rate of energy input – The rate of energy output = The rate of energy accumulation.

…… (5)

Apply the steady state energy balance around tank 2 as follows:

The rate of energy input – The rate of energy output = The rate of energy accumulation.

…… (6)

Subtract equations (5) and (6) and write the resultant equation in the form of deviation variables
as follows:

…… (7)

Here, and are the deviation variables. Also, , and .

Comment

Step 4 of 15

Apply the Laplace transform to equation (7) and then, obtain as follows:

Since, the deviation in temperature at the outlet of tank 2 , at time t=0 is 0.

…… (8)

Comment

Step 5 of 15

Tank 3:

Consider that the outlet of tank 2 is connected as inlet stream of the tank.

The temperature of the outlet stream of the tank is .

Apply the unsteady state energy balance around tank 2 as follows:

The rate of energy input – The rate of energy output = The rate of energy accumulation.

…… (9)

Apply the steady state energy balance around tank 2 as follows:

The rate of energy input – The rate of energy output = The rate of energy accumulation.

…… (10)

Subtract equations (5) and (6) and write the resultant equation in the form of deviation variables
as follows:

…… (11)

Here, and are the deviation variables. Also, , and .

Apply the Laplace transform to equation (7) and then, obtain as follows:

Comment

Step 6 of 15

Since, the deviation in temperature at the outlet of tank 3 , at time t=0 is 0.

…… (12)

Comment

Step 7 of 15

The overall transfer function of the three first order transfer functions is the product of individual
transfer functions.

Combine equations (4),(8) and (12).

If there is a change in the input flow rate instead of change in the input temperature, then the
overall transfer function is,

Thus, the transfer function for the process of three tanks is .

Comment

Step 8 of 15

The specified value of w is 250 .

Calculate the value of using the considered equation as follows:

Substitute 50 for , 10 ft3 for V, and 250 for w in the above equation.

Thus, the transfer function for the process of three tanks is .

Given the controller used is PI controller.

The transfer function for the PI controller is,

Here, is the controller gain, and is the integral time.

The final control element is linear, and change in 1 Psi from the PI controller changes the heat
input by 100 Btu/min.

Comment

Step 9 of 15

Note: The heat input changes by 100 Btu/min, so the total heat input to the three tanks is 300
Btu/min.

Comment

Step 10 of 15

Therefore, the total heat change is 400 Btu/min.

Comment

Step 11 of 15

The following are the transfer functions:

The block diagram is as following stirred tank in series with a PI controller:

Comment

Step 12 of 15

(b)

Assume the controller to be proportional controller and use the Ziegler –Nichols settings to
determine its gain and the integral time .

Then the block diagram reduces as follows:

The overall transfer function is,

Apply the Bode stability criterion to determine the cross over frequency as follows:

At the cross over frequency, the phase margin of the system is .

Comment

Step 13 of 15

Apply the rule of amplitude ratio as follows:

Overall amplitude ratio is the product of individual amplitude ratio. For the control system to be
stable, the overall amplitude ratio is less than 1, so AR =1

Therefore, the value of ultimate gain of the proportional controller is 5.

Comment

Step 14 of 15

The Ziegler –Nichols settings are as follows:

Use the Ziegler –Nichols settings are proportional –Integral controller:

Calculate the gain of the proportional –Integral controller as follows:

Therefore, the gain of the proportional –Integral controller is .

Comment

Step 15 of 15

Calculate the integral time of the proportional –Integral controller as follows:

Here, is the ultimate period of oscillation.

Determine the period of oscillation as follows:

Here, is the cross over frequency.

Therefore, the integral time of the proportional –Integral controller is .

Comment

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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5

The stirred-tank heater

system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

See solution

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The transfer function of a process and measurement element connected in series is given by

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(a) Sketch the open-loop Bode diagram (gain and phase) for a control system involving this
process and measurement lag.

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(b) Specify the gain of a proportional controller to be used in this control system.

Step-by-step solution
Process Semiconduct Fundamental
Systems... or Physics... s of...
3rd Edition 4th Edition 8th Edition
Step 1 of 2 View all solutions

For e−0.45, AR = 1 Chegg tutors who can help

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Tyler
Overall AR and ϕ: St. Cloud State Uni… 535

   (1)
John
St. Joseph's College 329
 (2)

AR and f are computed from (1) and (2) and shown in the following table:
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The Bode diagram is shown on the next page.

Comment

Step 2 of 2

(b) From the Bode diagram,

Comment

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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5

The stirred-tank heater

system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

See solution

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(a) For the control system shown in Fig. P16–7, determine the transfer function C/U.

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(b) ForKc = 2 and τD = 1,find C(1.25)andtheoffsetif U(t)= u(t), a unit step. 17 questions remaining

(c) Sketch the open-loop Bode diagram for Kc = 2 and τD = 1. For the upper part of the diagram
(AR versus ω), show the asymptotic approximation. Include the transfer function for the controller My Textbook Solutions
in the open-loop Bode diagram.

(d) From the Bode diagram, what do you conclude about the stability of the closed-loop system?

Process Semiconduct Fundamental

Systems... or Physics... s of...
3rd Edition 4th Edition 8th Edition

View all solutions

FIGURE P16–5
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Step-by-step solution Maria

MSU-IIT 2157

Step 1 of 4 Tyler
St. Cloud State Uni… 535

John
St. Joseph's College 329

Find me a tutor

Comment

Step 2 of 4

b) Kc = 2, TD = 1

Comment

Step 3 of 4

Comment

Step 4 of 4

d) System cannot govnstable, for one can not get 180º of phase lag.

Comment

Was this solution helpful? 1 5

Recommended solutions for you in Chapter 16

Chapter 16, Problem 5
The stirred-tank heater
system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

See solution

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Chapter 16, Problem 8 Bookmark Show all steps: ON

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The proportional controller of the temperature control system shown in Fig. P16–8 is properly
tuned to give a good transient response for a standard set of operating conditions.
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If changes are made in the operating conditions, the control system may become more or less
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stable. If the changes listed below are made separately, determine whether the system becomes
more stable, less stable, or remains the same. Try to use the Bode stability criterion and
sketches of frequency response graphs to solve this problem.

1. Controller gain increases. My Textbook Solutions

2. Length of pipe between measuring element and tank increases.

3. Measuring element is inserted in tank.

4. Integral action is provided in controller.

5. A larger valve is used (i.e., one with a higher Cv value). Process Semiconduct Fundamental
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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5
The stirred-tank heater
system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

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Chapter 16, Problem 9 2 Bookmarks Show all steps: ON

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For each control system shown in Fig. P16–9, determine the characteristic equation of the
closed-loop response and determine the value of Kc that will cause the system to be on the
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verge of instability (i.e., find the ultimate gain Kcu). If possible, use the Routh test. Note that the
feedback element for system B is an approximation to e−2s. 17 questions remaining

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Process Semiconduct Fundamental

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System B

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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5

The stirred-tank heater

system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

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(a) For the system shown in Fig. P16–10 determine the value of Kc that will give 30° of phase
margin.
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(b) If a PI controller with τI = 2 is used in place of the proportional controller, determine the value
of Kc for 30° of phase margin.

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FIGURE P16–10

Process Semiconduct Fundamental

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b) PI controller Ts = 2

 Frequency response calculation for a PI controller on p. 217.

 Trial + errpr goves w = 2.7

 check − 150 = −2 (69.7) – (10.5) = −149.9

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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5

The stirred-tank heater

system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

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Chapter 16, Problem 11 3 Bookmarks Show all steps: ON

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A stirred-tank heating process and its block diagram are shown in Fig. P16–11. The control
system is tuned by the Ziegler-Nichols method, and the ultimate frequency ωu is 2 rad/min.
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(a) Determine the value of Kc by the Ziegler-Nichols method of tuning.
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(b) What is the length of the pipe between the tank and the measuring element?

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(c) What are the gain margin and the phase margin for the control system when Kc is set to the
Ziegler-Nichols value found in part (a)?

Process Semiconduct Fundamental

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Note:The reason the gain margin is always 2 if the Ziegler-Nichols rule for prop. control is used
can be exclaimed as follows; . Since G.M is the factor bp which Kc can be multiplied
to cause the system to be on the verge of mistability, we see that Gm = 2.

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Recommended solutions for you in Chapter 16

Chapter 16, Problem 5
The stirred-tank heater
system shown in Fig.
P16–5 is controlled by a
PI controller. The
following data apply:Flow
rate ω of...

See solution

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