UNIVERSITY OF NOTTINGHAM MALAYSIA CAMPUS

25 April 2011
Department of Chemical and Environmental Engineering
NUMERICAL ANSWERS TO SESSIONAL EXAMINATION QUESTIONS
H83PDC Process Dynamics and Control
Spring Semester 2009/10 UNMC
1. T1(s)/T0(s)=(30s+1)/(75s2+40s+1)=(30s+1)/[(38s+1)(1.97s+1)], s=min-1
2. a) =56 sec; b) =50.83 sec;
3. b(i): amplitude in xw=0.0252
4. b(i): new CVmax=53.8; b(ii): linear valve (normally 54% of pressure drop over new valve)
5. No numerical answer
Spring Semester 2008/9 UNMC
6. h2(s)/q0(s)=2/(9s2+9s+1); q2(s)/q0(s)=1/(9s2+9s+1)=1/[(7.85s+1)(1.145s+1)], s=min-1
7. K3=0.0889; K2=-16.63; K1=0.828; =5sec
8. No numerical answer
9. Kc=7.07 (PBW=14.1%), I=6min, R=1.5min.
10. KG(s)=2.51e-0.34s/(4.69s+1)2 time in min;, Kc=6.14, I=2.69min, R=0.673min
Spring Semester 2007/8 UNMC
1. Tb()=-2.2; Tb(t)=-2.2 - 3.575e-t/0.6 + 5.775e-t/2.2 ; Tb(max)=0.889
2. normal CV=0.1532; new linear A trim: 1 litre min-1 at 49% open, 1.27 litre min-1 fully open
3. C2(s)/C0(s)=1/(5s2+10s+1); Two LCs and one FC
4. KG(s)=1.585e-s/[(6.4s+1)(16.9s+1)]; PBW=10.8%, I=6.8min, R=1.71min
5. No numerical answer
Spring Semester 2006/7 UK
1. For step in FL:h(t)=0.25t and hw(t)=0.05t. For step in x:h(t)=0 and hw(t)=1.25t. Transport
lag of 4 min in temperature.
2. No numerical answer
3. From l.f.a. Kc=-7;Break frequency = 0.8 rad/min and =0.375. For F(t) forcing: peak
magnitude arises at =0.8 rad/min.
4. =5.4 sec. (a) amplitudes of response h(t) are: (a) 28.9cm (b) 0.296cm, so sensor sees
slow change but ignores fast change (surface waves). Set alarm for h(45)=66cm.
5. Kp =-2.137; Gain factor Kp not accounted for in tuning the PI controller (i.e. Kc set to loop
gain). Use PID action: Kc =3.43 (PBW=29.1%), I=3.96min, R=1min.
Spring Semester 2005/6 UK
1. T(t)=5(1- e-t/2.5); T(t)=10(1-1.026e-t/5 sin(t0.76+tan-1(50.76))
2. T(s)/q(s)=K/(s(s+1))where K= 0.004785 K kW-1; T(t)=7.177((t-)+e-t/);=4.5min
3. Best feedback control x(t) manipulating N(t); Feedforward control manipulating either
S(t) via Kff Gff(s)3.875(5.03s+1)/(2.06s+1), or N(t) via
KffGff(s)0.568(3.11s+1)/(2.06s+1), in response to changes in R(t).
4. Kccrit =5.15, Tp=11.42min; so PBW=32.4%, I=5.7min, R=1.4min. With repositioned sensor,
Kccrit =14.12, Tp=6.6min; so PBW=11.8%, I=3.3min, R=0.825min.
5. No numerical answer

Spring Semester 2004/5 UK

1. KG(s)=2.51e-0.34s/[(3.13s+1)(6.13s+1)]; Kccrit =9.72; PBW=17.2%, I=2.85min, R=0.714min
2. T4(t)=4/3(1- e-t/10 ) -2(1+e-(t-0.5)/5 -2e-(t-0.5)/10)
3. No numerical answer
4. No numerical answer
5. Recommend new valve trim with Cvmax=0.3765 and an equal percentage characteristic
Spring Semester 2003/4 UK
1. K=1.376; a=0.79; b=16.7; c=0.163; Steady state perturbation=1.367
2. No numerical answer
3. T=2.14min; =0.214; Offset=0.2% Temp scale
4. Vmin=0.27m3; Kc=13.4, I=1.55min, R=0.388min (Kccrit=22.86, crit=2.028 rad/min)
5. No numerical answer
Spring Semester 2002/3 UK
6. Tb()=-2.2; Tb(t)=-2.2 - 3.575e-t/0.6 + 5.775e-t/2.2 ; Tb(max)=0.889
7. CVmax=0.1532; for linear F trim, 1 litre min-1 at 49% open, 1.27 litre min-1 fully open
8. C2(s)/C0(s)=1/(5s2+10s+1); Two LCs and one FC
9. KG(s)=(1.5e-0.98s)/(104s2+21.6s+1); PBW=11.11%, I=6.9min, R=1.73min
10. No numerical answer
Autumn Semester 2001/2 UK
1.
Kc=4.8, I=3.64min, R=0.91min
2.
Kccrit =0.866; crit=1.9rad/min; Kc=0.52, I=1.65min, R=0.41min
3.
No numerical answer
4.
x2(s)/y0(s)=0.51/[(3.1s+1)(7.8s+1)]
5.
Ideally Kff Gff(s)=1.5exp(-s)/(s+1) 1.5/(s+1) using lag/lead element
Autumn Semester 2000/1 UK
1.
PBW=4.63%, I=4.6min, R=1.15min
2.
1=2min, 2=1min, normal flowrate q=3.65 litres/min
3.
No numerical answer
4.
F2(s)/Vc(s)=595/(1.57s+1), T(s)/Vc(s)=297/{(5.49s+1)(1.57s+1)}, in min
5.
Kccrit =2.24; crit=0.62rad/min; Kc=1.34, I=5.05min, R=1.26min
With new sensor: Kccrit =7.76; crit=1.4rad/min; Kc=4.65, I=2.24min, R=0.56min
Autumn Semester 1999/2000 UK
1.
3.22 minutes (ramp rate is 5.549oC/min)
2.
1.45 sec (very fast - means valve and transmitter dynamics should also be considered)
3.
Kff Gff(s)=(40s+1)exp(-13s)/[(35s+1)(5s+1)] 1/[(13s+1)(5s+1)]
4.
Cvmax=120; use equal percentage characteristic
5.
KG(s)=1.413exp(-s)/[(8s+1)(4s+1)]; Kc=5.35, I=5.24, R=1.31
Autumn Semester 1998/9 UK
1.
No numerical answer
2.
P(s)/Xv(s)=102.6(75.8s+1)/{(3.74s+1)(207.7s+1)}
3.
Kc crit =0.785
4.
1=15s ; a=35s ; x=0.03 ; b=50s ;
5.
No numerical answer

Autumn Semester 1997/8 UK

1.
T(t)=20+4{20+exp(-at)sin(bt+)/b-exp(-a(t-20))sin(b(t-20)+)/b}
where a=0.03583, b=.1628, =2.708
2.
x(s)/Q(s)=-1.054e-4/(22.4s+1)
3.
Kc crit =8.32; crit=2.42rad/min; Kc=4.16; Kc=3.74, I=2.16; Kc=5, I=1.3, R=0.324
4.
Should prove (s)/i(s)=-22.5(60s+1)/{3600s2+60(2-K)s+(1-57.25K)}
a) T=7.86, =0.197, ()=0.386; b) T=3.95, =0.198, ()=0.0978
5.
No numerical answer
Autumn Semester 1996/7 UK
1.
Kc crit =11.14; PBW=8.97%; Kc=5.38, I=1.59, R=0.396
2.
ho(s)/Fgin(s)=-7.03e-4(1.11s+1)/{s(6s+1)(1.25s+1)}
3.
Introduce feedforward control with Kff(s)Gff(s)=0.5(36s2+12s+1)/(12s+1)0.5(1+3s)
4.
KG(s)=0.5exp(-2s)/(0.777s2+0.26s+1})
5.
No numerical answers
J A Wilson