EQ1035/2019

LECTURE 5
Problem nº1.
A proportional controller is used to control the temperature between 60 ºC and 100 °C. The
controller is adjusted to vary the output pressure between 0.2 bar (valve fully open) and 1 bar
(fully closed valve) when the measured temperature ranges from 71 ºC to 75 ºC, keeping
constant the set point.

a) Calculate the gain and proportional band.

b) Assume that the proportional band is changed to 800 K/bar. Calculate the gain and the
temperature change necessary to change the valve from fully closed to fully open.

Problem nº2.
A PI controller gives an output pressure of 0.68 bar when the set point signal and the
measurement of the variable match. At any given time, the set point is shifted 2 cm (a step
change is introduced the error), and data of the output pressure obtained are as shown in the
following table.

t (min) 0- 0+ 20 60 90
P (bar) 0,68 0,544 0,476 0,340 0,238

Determine the gain (bar / cm) and the integral time constant.

Problem nº3.
A PID controller has the following parameters: Kc = 10, = 1 I and D = 0.5. Represent the
response of the controller to the following inputs:
a) A unit step change in error.
b) A sinusoidal change in error, with unit amplitude and period of 2 seconds.

Problem nº4.
PD analogic controllers are built with a transfer function Grc that actually possesses the attached
form, where  = 0.05-0.2. The ideal transfer function of the PD controller Gic is obtained when
 = 0.
1 Ds
Grc  K c Gid  K c 1   D s 
 D s  1

a) Analyze the accuracy of the previous approach to the responses to a step and a ramp.
Treating α as a parameter and make   0.
b) Why can be difficult to build an analogic device with exactly the transfer function of
an ideal PD controller?
c) The actual PD controller has some advantage over the ideal?

Problem nº5.
Determine the transfer function that relates y ( s ) with x ( s ) in the following block diagrams.
EQ1035/2019

-
x (s) G1 G2 G3 y ( s)
+

-
x (s) + y ( s)
G1 + G2 G3
+

Problem nº6.
The set point signal of the control system shown in the following scheme undergoes a step
change of 0.1 units.
Determine the maximum value that y(t) will reach, the offset and the period of oscillation.

- 5
ySP ( s ) K c  1.6 y ( s)
+ ( s  1)(2 s  1)

Problem nº7.
Obtain the simplest design of PID control for the system shown in the figure, so that leads to a
zero offset when the following change in the set point is applied.

-
2e  s
ySP ( s ) Gc y ( s)
+ 3s  1

0 t0

ySP (t )  1 0  t  1
0 t 1

EQ1035/2019

Problem nº8.
Consider the two noninteractive tanks of the figure. It is desired to control the liquid level in
tank 2 (z2) by manipulating Qv1 with a proportional controller. Initially the system is in steady
state with Qv1 = 0.001 m3·min-1 and z1 = z2 = 1 m.

Assume that the cross sections of both tanks are equal to 2 m2.
Determine the values of the controller gain for obtaining:
a) A critically damped response.
b) A damped response with a damping ratio of 1/4.

Problem nº9.
A water tank is heated by a jacket of circulating oil. The tank is cylindrical with a diameter D =
0.7 m. Heat is transferred from the oil jacket to the water through the side surface and the
bottom of the tank. The tank discharge occurs through a valve so that the flow is proportional to
the square root of the liquid level in the tank (k=10-3 m2.5·s-1).

a) Obtain the outlet temperatures of the water and oil in steady state.
b) Obtain the transfer function relating the water outlet temperature T with the inlet
temperature T0 and the volumetric oil flow Qvc0.
c) Consider that you want to control the temperature of the water leaving the tank. This
requires a feedback control system in which T is measured and Qvc0 is the manipulated
variable. Draw the block diagram.
d) Calculate the offset that would occur in the feedback control system of the previous
section, considering that the static gain of the P controller is K c = 0.001 m3·s-1·K-1 and
the set point is reduced by 2 °C compared to the conditions nominal operation
(stationary initial values). Consider the transfer function of the final control element and
sensor are unity (Gf = Gm = 1).
EQ1035/2019

Data and notes.

Height of water in the tank at steady state: ze = 1.1 m.
Density of oil: c = 850 kg·m-3.
Heat capacity of oil: Cpc = 2047 J·kg-1·K-1.
Density of water: w = 1000 kg·m-3.
Heat capacity of water: Cpw = 4200 J·kg-1·K-1.
Overall coefficient of heat transfer between the oil and water: U = 2386 kJ·h-1·m-2·K-1.
Oil volume on the jacket Vc = 0.01 m3.
Volumetric flow of oil at steady state: Qv0ce = 0.0002 m3·s-1.
Oil inlet temperature at steady state: Tcoe = 95 °C.
Water inlet temperature at steady state: Toe = 20 °C.

The volume of water in the tank is constant: V = constant.

The inlet volumetric flow of water in the tank is constant: Qv0 = constant.
The volume of oil in the jacket is constant: Vc = constant.
The oil inlet temperature is constant: Tc0 = constant.
The oil temperature in the jacket is uniform and equal to the output.
All properties are constant (density, heat capacity, the overall coefficient of heat transfer, etc.)
Consider that the area of heat transfer is constant.