Electrical Engineering Department Jadavpur University, Kolkata, India

PROCESS INSTRUMENTATION & CONTROL : PART-II

Review Questions & Exercises
T.K.Ghoshal & S Sadhu 2010

PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

PROCESS CONTROL CONCEPTS

1. 2. 3. 4. 5. 6. 7. 8.

State the business justification of process control. State the objectives of process control. With the help of an appropriate table indicate how these objectives can be made with the help of control equipment. What is a control loop? With a neat diagram, describe the main components of a process control loop. What do you mean by the Final Control Element? What is an actuator? Explain how a control valve can be used as an FCE for (a) temperature control (b) level control (c) composition control. Explain how a valve can be operated from remote locations? (a) What is a transmitter in the context of process control? (b) How is a transmitter different from a transducer? (c) What are the standard levels of output in a transmitter? State the advantages of using 4-20mA signal levels in process control.

PLANT & PROCESS MODELLING

Linearization
9. The flow of water in a V-notch weir is related to the head (pressure difference) by the relation q = C (2 gh) 3 / 2 . Determine an expression for linearised flow resistance (h / q ) . For C=0.8 in MKS units determine the resistances for q=2, 10, 25 and 50 litres/min.
The heat transfer between the furnace walls and a sheathed thermo couple may be thought entirely radiant 4 and given by the equation q12 = EA(14 2 ) , where = 5.6697 10 8W /(m 2 K 4 ). For a particular case A=0.2356 m 3 , E=emissivity=1.0, 1 = 14000 C , 1 2 = 20 0 C. Calculate the linearised thermal resistance R, given by R = (1 2 ) / q12 .

10.

Valve & Flow

11. For a control valve, the flow coefficient ( CV ) is related to the per unit valve opening () by the relation

CV = C1 3 / 2 and the pressure drop across the valve at full opening was found to be 1 M Pascal at 1000 litres/minute. Determine the flow when (a) P = 1 Atm & = 0.2, (b) P = 30 psi & = 0.5 . (c) Determine the pressure drop at Q=20 US gallons/s and = 0.9 . With the valve operating at P = 3kg / sqcm & = 0.5 , sketch the flow wave forms with step change of (d) 10%in P and (e) sudden change of to 0.505.
12. A refinery pipeline 841 mm dia transports kerosene (Specific gravity =0.81) at the rate of 1000 kg/minute with a full open valve. (a) Compute the transport lag for 500m of pipeline length. If the pipeline feeds an up right cylindrical tank of 6m dia, at a distance of 1mile, (b) derive the transfer function between valve opening and the liquid level.

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PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

Liquid Level
13. An upright cylindrical tank of diameter D and length L is fed from a variable discharge source (of output Q1 (t ) ) from the top and feeds an outlet valve connected to the bottom. Assuming the volume outflow

Q2 (t ) is proportional to the liquid height (head), derive (a) an expression for the steady state head for a constant inflow and (b) the transfer function between the liquid height and input flow. (c) Sketch the time response for a step change in input flow rate .The proportionality constant between the outflow and the head may be varied by adjusting the outlet valve. Discuss the effect of valve adjustment on the head (d) in steady state and (e) transient condition.
14. Show that for an upright cylindrical tank fed from top and the outflow proportional to liquid height, the time constant is equal to the time required to fill the tank up to the steady state height obtainable with a constant inflow. A horizontal cylindrical tank of diameter D and length L is fed from a variable discharge source from the top and feeds an outlet valve connected to the bottom. When the tank is half full the discharge was ~ measured to be Q2 m3/s. Assuming the volume outflow is proportional to the liquid height (head), (a) derive an expression for the steady state head at a given constant inflow. Derive differential equations relating (b) liquid height and inflow (c) outflow and inflow. Assuming that the inflow is adjusted so that the steady state height of the liquid is D/2, derive the equation between small change q1 in inflow and the resulting small change in liquid height h over a period t . (d) Comment on your result. 16. A cylindrical tank with its axis of symmetry horizontal, is fed by a pump of variable discharge. (a) Derive the differential equation relating the liquid level and inflow rate. (b) Derive transfer functions between pump flow rate and liquid level when the level is 0.1r, 0.5r, 1.5r and 1.9r, r being radius of the cylinder. An upright cylindrical tank with 1sq.m sectional area has a normal level of 1.44m, when the inflow and outflow are 2.4 l/s. Assume that the outflow is through an orifice with flow equation q = C h . If the inflow is suddenly increased to 3.0 l/s, (a) Derive the differential equation relating the liquid level with the inflow. (b) Determine the new steady state height and outflow. (c) Linearise the differential equation and determine the time constant (d) Verify whether the steady state height obtained from the linearised model and the nonlinear model is the same. 18. An upright conical tank with 20-m2 sectional area at the top, the apex at the bottom and a height of 6-m has a normal level of 3.2-m, when the inflow and outflow are 25 l/s. Assume that the out flow is through an orifice with flow equation q = C h . If the inflow is suddenly increased to 30 l/s. (a) Derive the differential equation relating the liquid level with the inflow. (b) Derive the differential equation relating the outflow with the inflow (c) Determine the new steady state height and outflow. (d) Linearise the differential equation relating the liquid level with the inflow and determine the time constant 19. An upright (truncated) conical tank with 20-m2 sectional area at the top 10-m2 sectional area at the bottom and a height of 6-m has a normal level of 3.2-m, when the inflow and outflow are 25 l/s. Assume that the out flow is through a constricted pipe section with flow equation q = C h . If the inflow is suddenly increased to 30 l/s. (a) Derive the differential equation relating the liquid level with the inflow. (b) Determine the new steady state height and outflow. (c) Linearise the differential equation and determine the time constant. 20. A spherical tank with 5-m diameter has an outflow of 25 l/s when the tank is 70% full. Assume that the outflow is through a constricted ferrule with flow equation q = C h . (a) Determine the steady state height when the inflow is 25 l/s. Derive differential equations (b) relating the liquid level with the inflow and (c) relating the outflow with the inflow. (d) Linearise both the differential equations when the tank is half full and determine the time constant. 21. A spherical tank is fed by a pump of variable discharge. (a) Derive the differential equation relating the liquid level and inflow rate. (b) Derive transfer functions between pump flow rate and liquid level when the liquid volume is 60% of the max capacity of the tank.

15.

17.

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PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

Thermal Systems
22. 23. Derive the differential equation model of an electrically heated oven. State the simplifying assumption made. How would you experimentally determine the parameters of the model? An electrically heated oven has a time constant of 115s and negligible time delay. Its maximum temperature rise is 1500 0 C . Predict the rate of rise of temperature at 500 0 C . If the heater is switched off at this temperature, what would be the cooling rate? A thermo couple sheath has a thermal resistance of 40 0 K/kW, mass of 215 g and a specific heat capacity of 0.8 kJ/(kg-K), determine the thermal capacitance (= mass sp.heat ) and thermal time constant (=resistance capacitance in consistent units). Derive the transfer function and response in sheath temperature for unit step change in input (furnace wall) temperature. An aqueous solution flows at a normal rate of 2 kg/s through a heat exchanger (0.1 cu-m hold up volume) to an overflow tank of hold up volume 0.25 cu-m. The heat exchanger heat input is controlled by a valve. A 10% change in valve opening produces 10 kW change in heat transferred. The temperature is measured at the outlet of the tank with a thermometer having negligible lag. Assuming perfect mixing and neglecting the valve controller dynamics, derive the transfer function between outlet temperature rise and valve opening. An electrically heated oven with a 1-kW heater reached a ceiling temperature of 400 0 C above ambient, well after 10 minutes. At 17.5 second and 45 second after switch on, the temperature rise was noted to be respectively, 50 0 C and 160 0 C . Fit an appropriate equation for temperature rise for this oven. Determine the thermal capacity ( kJ / 0 C ) and heat loss factor ( W / 0 C ) for this oven. If the heat loss factor had been 30% more, what steady state temperature would have occurred with a 2000 W heater? 27. Liquid of specific gravity 0.8, with specific heat 1, flows at nominal rate of 4 kg/s through two insulated tanks each with a holdup volume of 2.5 cu-m connected in series. Liquid flow may be varied by +/- 20% through a control valve. The liquid is heated by a 10 kW heater which has a 0 to 10 V controller with linear characteristics (kW vs control voltage) in the first tank .The temperature is measured at the outlet of the second tank with a thermometer having a first order lag of 10s. Assuming perfect mixing and neglecting the heater controller dynamics, derive transfer functions between (a) outlet temperature and inlet temperature, (b) outlet temperature and heater controller input voltage.(c) Draw a block diagram of the system if the objective is to keep the outlet temperature constant.(d) What would be the limits of temperature rise obtainable by the system?

24.

25.

26.

Mixing Process
28. A stirred tank of capacity V is fed a solution of concentration c1 by a pump @ q m 3 / s . The tank is kept full by adjusting the outflow rate to be exactly the same as inflow. Assuming perfect mixing and the outflow concentration c2 being the same as that for the tank, derive transfer function relating c2 and c1 . Show that the time constant is equal to the hold-up time =V/q. Assuming a perfect level control system and constant inflow concentration, discuss the effect of step change in inflow rate. A stirred tank of capacity 5 cu-m is fed by two non reacting inflows A and B @ 100 l/s and 25 l/s respectively. The liquid level is kept constant by adjusting the outflow. If the inflow of B is suddenly change to 30 l/s, how soon will the concentration of B in the outflow reach 95% and 99% of the final value? (Ans: 95% in 2 minutes) A stirred tank of capacity 2.5 cu-m is fed by two inflows A and B of the same salt. The flow rate for stream A is 10.0 l/s and the concentration varies between 0.9 to 1.1 kg/cu-m. The concentration of stream B is 250.0 kg/cu-m and its flow rate is varied to keep the outflow concentration constant at 2.0 gm/l. The inflow rate of stream B is controlled by a valve whose flow characteristic is linear and maximum flow is 3 l/min. The out flow concentration is measured at the end of a pipe line 120 m long and a cross section of 100 cmsq. Derive a transfer function between the output concentration (as measured) and the valve opening. Also estimate the steady state valve opening for extremes of concentration in A.

29.

30.

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PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

Reactor
31. A reactor consist of a stirred tank, an inflow rate of q of concentration c1 , an outflow rate of q (to keep the liquid volume and level constant) with concentration c 2 . Assuming a first order reaction the reaction rate r is proportional to reactant concentration c 2 and is given by r = kc2 . Note that r gives the rate of conversion of the reactant into other compound whose concentrations are not of present interest. Write the mass balance equation and hence derive the transfer function between input and output concentrations. Express the time constant of the process as a function of the hold-up time. Derive also an expression for steady state outflow concentration. 32. A flow of 100 gal/h of solution containing 1 lb/gal of a reagent passes through a reaction vessel of 500gal capacity .The first order reaction rate constant is 5/h. Determine the concentration of residual reagent 15 min after the inflow concentration is increased by 10 percent and the final steady state value. { c 2 / c1 = 0.286 in steady state: T= 143h, c 2 =0.3096 lb/gal after 15 minutes}

CONTROLLED PLANTS
General
33. With neat diagrams show the structure of a process control loop. Explain the terms process variable, set point, controller output, final control element and error. State the difference between feed forward and feedback control. With a diagram show the components of a temperature control system, where heat input is controlled by controlling the flow of saturated steam. Identify the two loop employed. Explain the term per unit scaling .A valve controls the steam flow through a jacket around a chemical reactor. The valve is remotely actuated by a controller, whose maximum output is 20mA. The valve requires 12 mA for 50% opening .With 50% opening of valve and standard conditions, the steady state temperature of the reactor is 90 deg-C. Assume a linear relation between valve opening and controller current as well as for valve opening and reactor temperature. (a) If the 100% PV signal is chosen to be 120 deg-C, calculate the corresponding valve opening and controller current in % of their respective maximum values. (b) If 100% of controller output is chosen as the base for per unit scaling, what would be the per unit bases of valve opening and PV output?

34. 35.

Response Classification
36. 37. 38. With diagrams of step responses explain the terms type zero plant, type one plant etc. Certain types of plants can be modelled as a first order-with-delay transfer function while others are not. With step responses, elaborate the above statement. A thermocouple and its jacket each have a simple time constant. Derive the unit ramp response of the system for a given ratio of the time constants. When the ratio of time constants is greater than 10, the smaller time constant may be ignored in certain situations.

STANDARD TYPE ZERO (FIRST ORDER & DELAY) MODEL

Fitting Model to Step Response
39. Sketch the unit step response of a plant having standard type zero, first order model. Indicate how one can estimate the time constant and delay from the response. If the steady state step input response of a plant is different from unity but other wise similar to the above response, how would you estimate the parameters? Explain with diagrams.

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PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

40. 41.

(a) What is a process-reaction curve? Why is it used? (b) Describe a practical set up for obtaining the process reaction curve of an industrial plant. An electrically heated furnace with 40% step input reached a steady state temperature of 700 deg-C after about 2 hours. Temperatures measured 15 minutes and 60 minutes after switch on were respectively 80 and 520 deg-C. Assuming an ambient of 20 deg-C fit a first order with-delay model for the plant. If any per unit scaling is used, it should be stated clearly. The following table provides the unit step response of a plant using the maximum slope graphical method to fit a transfer function of the plant. Compare the original response with that obtained from the fitted transfer function and the first order Pad approximation. 1 0.4 2 0.72 3 3.0 4 7.1 5 12.7 10 44.1 15 66.0 20 79.4 30 92.4 40 97.2 60 99.6 600 100

42.

t= y=

Freq Response & Phase Crossover Freq

43. A standard type zero process plant has a time constant = 1s and a delay T=0.1s. Sketch the Bode magnitude and phase plot for the system. Choose the frequency band such that phase lag is between 1 and 270. Sketch the frequency response in Nyquist plane. Define phase cross over frequency and state its importance in designing a control system. A plant with only proportional control was found to start oscillating with a time period of 31.8s when the gain was gradually changed to 28. Estimate the PCF of the plant. Derive an expression for phase lag for a standard type zero process. Derive the expression for / where is the phase lag and also the limiting value of the derivative for large value of frequency. Show that with certain approximations the PCF of such a process can be predicted from the value of delay T only. Verify the accuracy of the expression with / T =20, 10, 5, 2, 1. A CONTROLLED plant with only proportional control was found to start oscillating with a time period of 31.8 s. Estimate the delay T of the plant assuming the time constant is 10 times delay. Justify any approximations made and verify the result with exact formulae. The transfer function of a plant is estimated to be G(s) =(1-0.3s)/[(1+s)(1+0.3s)]. Sketch Bode plots and estimate the phase crossover frequency.

44.

45.

46.

47.

Pad Approximation
48. State the expressions for first and second order Pad approximations for pure delay. Compare the frequency responses of these approximations with that for delay. Use frequency range 0 to 4/T rad/s. Phase and magnitude should be shown in Bode and Nyquist planes. State the expressions for first, second and third order Pad approximations for pure delay. Plot the polezero map in each case. Large number of small time constants behave like a delay. Justify or refute the statement. Compare the unit step responses of pure delay and its first order and second order Pad approximations. Plots should be made at intervals of 0.1 T, upto 2T seconds. Compare the unit step responses of a standard type zero process with a / T ratio of 6 and that for an approximation where the pure delay is substituted by a first order Pad equation. Plots should be made at intervals of 0.2 T upto 4 second.

49. 50. 51. 52.

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PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

PROPORTIONAL CONTROL
Concept of Proportional Band
53. 54. Enumerate the advantages and disadvantages of high proportional gain. For a type zero plant, derive expressions for steady state errors for step input and steady load for a given proportional gain. Define proportional band. State the significance of the name. A proportionally controlled plant uses 8% PB. Estimate steady state errors for (a) 30% set point. (b) A steady load that requires 40% controller output for full cancellation if done manually.(c) For each case determine the controller outputs in steady state. Determine the sensitivity (proportional gain) and proportional band of an electronic temperature controller with a scale range of 0 to 120 deg-C, when the output is observed to change full scale (from 4 to 20 mA) with input (error) changing from 95 to 110 deg-C. If the proportional band is changed to 50%, determine the sensitivity and temperature change required for a full output. {Ans: 12.5% 1.0667 mA/deg-C, 60 degC, 267 mA/deg-C} An electronic temperature controller has input and output ranges of 0 to 15 mA (a bit unusual 0 to 20 is more common) and an input calibration of 50 to 200 deg-C. If the output is 5mA when the process variable is 80deg-C and the controller sensitivity 0.5mA/deg-C, determine (a) setpoint (b) proportional band (c) controller outputs at PV =90 deg-C and (d) PV=110 deg-C. A pneumatic temperature controller has an input and output range of 3 to 15 psi and the input range corresponds to 0 to 200 deg-C. With a proportional band of 25% and some set point, the controller output is 12 psi when the controlled process variable is 100 deg-C. What is the set point (in deg-C and psi)? With the same settings what would be the controller outputs when PV is 125 deg-C. A flyball governor is used to regulate the speed of a 2 MW, 500 RPM marine diesel engine. The controller is designed such that 2% speed change creates 10 deg rotation of fuel control lever. Around the rated speed each degree of fuel control lever movement creates 40 kW of change in the engine power. With this controller what would be the speed regulation from no load to full load? What is the equivalent proportional band?

55.

56.

57.

58.

Computing Gain Margin

59. A plant with only proportional control was found to start oscillating with a time period of 318 s when the gain is gradually changed to 28. What should be the proportional gain if the desired gain margin is 8 dB? Estimate the lag, delay and GCF of the system using suitable approximations. Check the phase cross over frequency and critical gain using these approximate values but exact formulae. A standard type zero process has a lag of 100 s and a delay of 30 s. Determine the phase cross over frequency and the minimum proportional band that may be used without making the system unstable. Verify the result if any approximate formula is used.

60.

Computing GCF & Phase Margin

61. For standard type zero process plants, derive the expression for GCF in terms of proportional gain and process lag. Show that k p / is an approximation for GCF with suitable assumptions. Given the plant G P ( s ) = exp(-5s)/(1+30s), K P =4.5, determine the GCF, PM, closed loop transfer function and BW. (a) Derive an approximate expression for suitable proportional gain to ensure 45 deg phase margin for standard type zero processes where the delay is much less compared to the lag. (Hint: GCF would be about 50% of PCF). Investigate the validity of the approximation when the lag/delay ratio is (b) 20, (c) 10, (d) 5, (e) 2. For the following process plants select proportional gains to obtain at least 45 deg phase margin. Compute (a) steady state error, (b) GCF and(c) GM in each case.

62. 63.

64.

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PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

(i) (ii) (iii) 65.

G P ( s ) =exp(-2s)/(1+30s) G P ( s ) =exp(-5s)/(1+30s) G P ( s ) =20 exp(-2s)/(1+25s)

A plant with only proportional control was found to start oscillating, with a time period of 318 s when the proportional band was gradually reduce to 3%. (a) What should be the proportional gain if the desired phase margin is 60 degree?

Controlled Plant Time Response

66. Given the plant G P ( s ) = exp(-5s)(1+40s), K P = 4.5, determine the closed loop transfer function and BW. Using Pad approximation obtain the closed loop step input response. For t= 1/BW, 2/BW, 3/BW and 6/BW, calculate the output as a percentage of steady state output. For the following process plants select proportional gains to obtain at least 8dB gain margin. Compute steady state error GCF and PM in each case. Using Pad approximation, obtain closed loop step responses and BW. (i) 68.

67.

G P ( s ) = exp(-2s)/(1+30s); (ii) G P ( s ) = exp(-5s)/(1+30s) ; (iii) G P ( s ) =20 exp(-2s)/(1+25s)

A standard type zero process has a delay of 19s and a lag of 140s. (a) Calculate the proportional gain to assure 30 deg phase margin. Estimate the (b) gain margin and (c) Closed loop BW (d) Using suitable approximation derive the unit step response of the closed loop system and also (e) estimate the peak overshoot.

PI CONTROL
General
69. Show that integral action may eliminate steady state errors of a type zero plant for step input and step load. For a type 1 plant is it necessary to introduce integral control? Explain.

Controller Transfer Function & Responses

70. 71. 72. Define RESET time. State the meaning of the term. Discuss the physical significance of reset time with respect to controller response as well as closed loop system response. With sketches of Bode Plot discuss the salient frequency domain features of P-I controllers. A PI controller is subjected to ramp input f(t)=a.t. Sketch the outputs from the proportional and integral components as well as the combined output. Find the time t1 if any after which the integral component predominates. Would the expression for t1 be valid if the input were f(t) = a0 +at ? Discuss.

Selecting Controller Parameters

73. 74. Comment on the following statement, introduction of integral control always reduces phase margin. In the light of the above, state the desired location of the PI controller zero w.r.t. the GCF. With only proportional control, a type zero standard process plant has gain cross over at w0 and a phase margin of . Integral action is now introduced with a reset time of TI . What would be the new phase margin assuming that the GCF remains unchanged?

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PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

75.

State the Zeigler-Nichols recommended controller settings for PI controller (a) in terms of process lag L and delay D (b) in terms of time period of oscillation and critical gain K C . (c) Show that the settings are nearly equivalent. A type zero process plant has a delay of 0.1s and a time constant of 0.6s (a) Determine PI controller settings as per Z-N recommendation. Determine (b) GCF (c) PM (d) PCF (e) GM with the above settings. (g) Sketch the Bode magnitude plot for the plant and the controller together. In the above problem if the reset control is switched out, determine GCF, PCF, GM, PM. Compare these with those for PI control. A type zero process has a delay of 5s and a lag of 30s. (a) Select PI controller parameters to ensure maximum GCF and a PM of at least 40 deg. (b) When the reference input (setpoint) is 100%, estimate the proportional and integral components of the controller output. (c) For what per unit load will the controller output saturate (become 100%)? (d) Sketch the Bode plots for GC GP . (e) Using first order Pad approximation write the closed loop transfer function. (f) Draw the closed loop pole zero diagram and sketch the closed loop frequency response. Calculate the value of GM and PM for std type zero process employing PI control when the lag/delay ratio is 2, 3, 4, 8, 12, 16.

76.

77. 78.

79.

Integrator Wind up
80. 81. What is integrator windup? Can integrator windup happen in digital controller? Discuss the adverse effects of integrator windup in closed loop performance. State at least two approaches to eliminate the ill effect of wind up.

PD CONTROL
General
82. Define derivative time and discuss its significance. What is the process instrumentation diagram representation for a PD controller? Discuss its significance.

Controller Transfer Function & Responses

83. Derive the time response of a PD controller to ramp, truncated, ramp and triangular input waveforms.

Roll-Off
84. 85. What is roll-off of a PD controller? Why it is used? What are typical values of roll off time constant wrt derivative time? Sketch the Bode plane frequency response of a PD controller with roll-off. A PD controller has 5 % PB and a derivative time of 2s.The roll-off pole is located 3 octave away from the derivative zero. (a) Write the controller transfer function. (b) Sketch the Bode plot showing relevant corners, slopes and magnitude. (c) Determine the frequency at which the lead is maximum. (d) Derive the time domain function for unit step response of the controller. Sketch the qualitative waveform.

Selecting Controller Parameters

86. Show that for a standard type zero plant the first corner frequency of the PD controller need be more than the GCF. A proportionally controlled plant has a PB of 10% and a GCF of w1 . Derivative control of time constant 1/ w1 is now introduced. What would be the change in GCF and phase margin. Assume that the time delay is about 8% of the time constant. What would be the Gain Margins for only proportional and PD control.

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PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

87.

A type zero process has a delay of 5s and a lag of 30s. A proportional gain of 6 and a derivative time TD was selected to ensure 45 deg phase margin. Determine TD , GM and closed loop BW.

PID CONTROL
Controller Transfer Function and Response
88. 89. (a) Express the standard transfer function of a PID controller. (b) Sketch typical pole-zero diagram of such a controller. (c) Sketch the unit step response waveform of such a controller. (a) State the transfer function of a PID controller. (b) What is the product form approximation of PID controller transfer function? When is the approximation valid? (c) What are the advantages of such an approximation? (a) State the product form approximation of PID controller transfer function with a roll-off pole. (b) Sketch typical pole-zero diagram of such a controller. (c) Sketch the Bode magnitude and phase plot of the controller. A PD controller has 5% PB and a derivative time of 2s.The roll-off pole is located 3 octave away from the derivative zero. The reset time is 8s. (a) Write the controller transfer function. (b) Sketch the Bode plot showing relevant corners, slopes and magnitude. (c) Derive the time domain function for unit step response of the controller. Sketch the qualitative waveform.

90.

91.

Analytical Tuning of PID Controller

92. 93. 94. State the meaning of the term analytical tuning. What are known and which things are to be determined? State the steps required to analytically tune a PID controller for specified phase margin and gain margin. A type zero process has a delay of 5s and a lag of 30s. A PID controller is to be used to ensure 45 deg phase margin and at least 6 dB gain margin. (a) Obtain appropriate controller settings. (b) Determine the GCF.

Empirical Loop Tuning

95. 96. (a) What is meant by ultimate gain of a plant? (b) With a block diagram show how the ultimate gain of a plant may be experimentally determined. (c) Why is it necessary to determine ultimate gain? Sketch the Zeigler Nichols recommended controller setting for PID controller (a) in terms of process lag L and delay D (b) in terms of time period of oscillation P and ultimate/critical gain K C .(c) Show that the setting are equivalent. A type zero process plant has a delay of 0.1 s and a lag of 0.8 s. (a) Determine the PID controller settings as per Z-N recommendation. Determine (b) GCF (c) PM (d) PCF (e) GM with the above settings. (g) Sketch the Bode magnitude plot for the plant and controller together.

97.

CASCADE CONTROL
98. 99. 100. (a) With a neat diagram, explain what is Cascade Control. (b) With PI diagram show an example of using Cascade Control. State the type of plants where cascade control can be employed. Enumerate the advantages and disadvantages of Cascade Control.

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PROCESS INSTRUMENTATION & CONTROL: PART-II REVIEW QUESTIONS &EXERCISES E.E. Dept., Jadavpur University, Prof T.K.Ghoshal & Prof S.Sadhu 2010

FEED FORWARD CONTROL

101. 102. Explain why cascade control is helpful for feed forward control. (a) With a neat diagram, explain what is meant by feed forward control. (b) With PI diagram show an example of where Cascade Control and feed forward control is commonly used.

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