c3set(t)

AC

m(t)

f(t)

c1(t)

c2(t)

ci(t)

Problem data:

V := 1000gal

Analyzer transmitter:

k := 0.1min

cmin := 0

lb
gal

AT
V

gal
fp := 100
min

cmax := 1.0

lb
gal

cip := 4

lb
gal

100%TO
KT :=
cmax cmin

KT = 100

Control valve: linear with constant pressure drop and sized for 100% overcapacity.
200% fp
gal
p v := 5psi
Cvmax :=
Cvmax = 89.443
min psi
p v
Cvmax := 110

Kv :=

100%CO

Model of the reactors, from mass balances on each reactor, assuming

Perfectly mixed, constant volume
Constant density and physical properties

%TO gal
lb

v := 0.1min

gal

min psi
The valve fails closed (air-to-open)
gal
to prevent overflowing the reactors
Kv = 2.46
min %CO
on power failure.

Cvmax p v

c3(t)

d c1 ( t )
dt
d c2 ( t )
dt
d c3 ( t )
dt

= f ( t) ci( t) f ( t) c1 ( t) k V c1 ( t)

= f ( t) c1 ( t) f ( t) c2 ( t) k V c2 ( t)

= f ( t) c2 ( t) f ( t) c3 ( t) k V c3 ( t)

Linearize:

V
V

At the initial steady-state:

Rearrange:

:=

d C1 ( t )
dt
d C2 ( t )
dt
d C2 ( t )
dt
V

fp + k V

= 5 min

d C2 ( t )

d C3 ( t )

= fp C2 ( t) fp + k V C3 ( t) + c2p c3p F( t)

dt

F( t) = ( t) fp

c1p :=

fp cip

c2p :=

fp + k V

fp c1p

Ki Ci( s) + K1 F( s)
s + 1

C3 ( 0 ) = 0

cip c1p
K1 :=
fp + k V
lb min
gal

C2 ( s) =

c1p c2p
K2 :=
fp + k V

K2 = 0.005

fp + k V

C2 ( 0 ) = 0

+ C2 ( t) = Ki Ci( t) + K3 F( t)

K1 = 0.01

fp c2p

C1 ( 0 ) = 0

+ C2 ( t) = Ki C1 ( t) + K2 F( t)

fp
Ki :=
fp + k V

c3p :=

fp + k V

+ C1 ( t) = Ki Ci( t) + K1 F( t)

Ki = 0.5

= fp C1 ( t) fp + k V C2 ( t) + c1p c2p F( t)

dt

Laplaxce transform:
C1 ( s) =

= fp Ci( t) fp + k V C1 ( t) + cip c1p F( t)

dt

Cj( t) = Cj( t) cjp

where

where

d C1 ( t )

Ki C1 ( s) + K2 F( s)
s + 1

lb min
gal

C3 ( s) =

c2p c3p
K3 :=
fp + k V

K3 = 0.0025

G1 ( s) =

s + 1

G1 ( s) =

)2

( s + 1)3
Ki K1 + Ki K2 ( s + 1 ) + K3 ( s + 1 )

( s + 1) 3

C3 ( s)

gal

Ki C2 ( s) + K3 F( s)

Combine to obtain the transfer functions:

C3 ( s)

1 Ki Ki K1
G1 ( s) =
=
+ K2 + K3

F( s)
s + 1 s + 1 s + 1

Ki Ki K1 + K2 ( s + 1 ) + K3 s + 1

lb min

Ki

G2 ( s) =
=
Ci( s)
( s + 1)3

(a) Block diagram of the loop:

Ci(s)
C3set(s)
Ksp

E(s)

F(s)

M(s)
Gc(s)

G2(s)

Gv(s)

G1(s)

C3(s)

H(s)
Ksp := KT

G2 ( s) =

H( s) = KT
Ki

Kv

Gv ( s) =

Proportional controller:

v s + 1

G1 ( s) =

( s + 1) 3
2

KA := Ki K1 + Ki K2 + K3

KA + KB s + K3 s

( s + 1)3

KB := 2 K3 + Ki K2

= 5 min

K3 = 0.0025

(b) Offset for a change in inlet concentration

Offset =

Gc( s) = Kc

Ksp c3

set

KT G2 ( 0 ) ci

1 + KT Kc Kv G1 ( 0 )

KA = 0.0075

lb min
gal

ci := 1

KB = 0.0075

lb
gal

gal

lb min
gal

%CO
Kc := 1.
%TO

Offset :=

KT Ki ci
1 + KT Kc Kv KA

Offset = 4.39 %TO

For the open loop, Kc = 0:

lb min

Offset := KT Ki ci

Offset
KT

Offset = 12.5 %TO

For a PI controller the offset is zero.

(c) Ultimate gain and period of the loop with a proportional controller.

= 0.044

lb
gal

Characteristic equation of the loop:

1 + KT Kc

2 2

Kv
v s + 1

KA + KB s + K3 s

( s + 1) 3

=0

Rearrange and substitute s = u i at Kc = K cu :

3

v u 3 v u i 3 v + A Kcu u + v + B Kcu u i + 1 + KL Kcu = 0

where

A := KT Kv K3

B := KT Kv KB

KL := KT Kv KA
2

A = 15.373 min
Real part:

%TO
KL = 1.845
%CO
B = 9.224 min

v u 3 v + A Kcu u + 1 + KL Kcu = 0
2

Kcu =

3 v u v u 1
KL A u

2
3
4

3 v u v u 1
Imaginary part: 3 v u + v + B
u = 0
2

KL A u

3 2 3 4 + 3 2 K + 3 2 = 0
A
B v u
v
L
v A
B
v u
B
v

Let

a := 3 v A B v

b := 3 v KL v A + B 3 v
14

a = 1.962 10

u :=

( )

b 4 a B
2 a

min

b = 1.537 min

u = 2.45i min

The imaginary value of the ultimate frequency shows that there is no ultimate gain for this loop. This
is because the net order of the loop is one--three poles and two zeros--and it cannot be unstable for
any positive value of the controller gain. The controller gain is positive, reverse acting: increases
concentration decreases the signal to the valve. This decreases the reactants flow and the
concentration decreases.