Sie sind auf Seite 1von 1

Department of Chemical Engineering, IIT Bombay CL 417, Process Control Mid semester exam Maximum Marks: 100 14 Sept.

2009 9:30-11:30 pm 1. For t 0, calculate the response y1 (t) when the input u1 (t) = t is applied to a plant whose impulse response is given as g1 (t) = 5ec(t2) . For t 0, calculate the response y2 (t) when the input u2 (t) = sin(4t) is applied to a plant whose impulse response is given as g2 (t) = e2t cos(3t). (20) 2. Consider the feedback diagram in which we have chosen the controller Gc (s)/s in such a way that the roots of s + Gc (s)G(s) = 0 are in the left half plane.
v

and Mala designs the following controller Gcm = Kc (1 + 0.5s) (a) Which of the two controllers is better and why? (b) At the time of implementation of the controller, however, it is found that the actual model of the plant, which we denote as G (s), is given as G (s) = 1 s(s + 1)(s + 3)

Which of the two controllers would you prefer now? Why? Hint: Qualitative arguments, possibly with root locus with a few calculations, could be sucient most of the time. (40) 4. It is proposed to implement a control law in the two degrees of freedom format as u= Tc Sc r y Rc Rc

1 s

Gc

(a) What should be the value of so that the error to setpoint changes of the form 1 r = and response to the disturbance s 1 signals of the form v = are made s zero? You may take that , and are positive integers. This is known as the internal model principle. Hint: you may consider addressing the servo and regulation problem separately. (b) Why do we have to make the above stated assumption on the roots of s + Gc (s)G(s) = 0? (20) 3. Corridor Consultants Ltd. has asked two of its engineers Ram and Mala to design a PD controller for the plant G(s) 1 G(s) = (s + 1)(s + 3) with the following requirements: (1) the closed loop system should respond reasonably fast (2) the closed loop system should be stable for large values of the proportional controller gain as well. Ram designs the following controller Gcr = Kc (1 + 0.2s)

represented diagrammatically in the following gure, where, r is the setpoint and the plant is indicated by G. A, B , Rc , Sc and Tc are polynomials in s.
r Tc Rc Sc Rc u G= B A y

(a) Find the condition(s) on Sc and Tc so that y follows r without any oset, when a step change is given in r, given that Rc (0) = 0. What assumption(s) do you have to make while arriving at this result? (b) If a PID control law has to be implemented in this fashion, (i) what is/are the relationship(s) between Sc and Tc (ii) is the above condition of Rc (0) = 0 satised in this case? (20)

Das könnte Ihnen auch gefallen