ch26b Final Exam 2000

THE UNIVERSITY OF THE WEST INDIES
EXAMINATIONS OF
Code and Name of Course:
APRIL/MAY
2000
CH26B Process Dynamics and Control I
Paper:
Date and Time:
Duration:
INSTRUCTIONS TO CANDIDATES: This paper has
pages and
3 hrs.
questions
Calculators may be used in this examination. They must be silent, cordless and non-programmable.
Calculators will be examined to ensure that they comply with these requirements.
Answer questions 1, 2, 3, and two of questions 4, 5, 6, 7.

1.
For the following transfer functions, find (as appropriate) the time constant , damping
coefficient , and steady-state gain K p .
4
6s 1
(a)
G(s)
(b)
G(s)
6
3s 4 s 2
(c)
G( s)
3
4s 2s 7
[10 marks]
2.
Figure Q2 is a feedback control block diagram which depicts the proportional control of a
first-order-plus-deadtime process.
R(s)
s
e d
s 1
K
-
Y(s)
Figure Q2 - Proportional feedback control
(a)
Derive the closed-loop transfer function Y ( s ) / R ( s ) and state the characteristic

equation.
The University of the West Indies
Course Code
CH26B
1999/2000
DO NOT WRITE ON THE BACK OF THIS SHEET: USE ONE SIDE ONLY
INSTRUCTIONS: Each page of this draft must be signed by the UNIVERSITY EXAMINER. Completed forms should be handed to the Assistant
Registrar (Examinations). The EXTERNAL EXAMINER is requested to sign the draft paper and return it with comments, if any, to the Assistant
Registrar (Examinations).
...........................................
First Examiner
...........................................
University Examiner
........................................
Second Examiner
External Examiner (where applicable)
Date: 20....../......./......
Date: 20././.
page 2
(b)
Calculate the offset which the control loop would exhibit following a unit step
increase in setpoint. How would you modify the structure of the feedback
controller in order to produce a control system which asymptotically tracks step
setpoint changes?
(c)
Replace the delay term in the characteristic equation derived in 2(a) with the Pad
approximation
d s
1 ( d / 2) s
1 ( d / 2) s
Estimate the maximum proportional gain K max for which the closed loop system
remains stable. In doing so, you may wish to make use of the Routh array
Row
1
2
3
4
a0
a2
a4
a6
a1
a3
a5
a7
b1
b2
b3
c1
c2
c3
where
(d)
b1
a1 a 2 a0 a3
a a a 0 a5
, b2 1 4
,
a1
a1
c1
b1 a3 a1 b2
b a a1 b3
, c2 1 5
,
b1
b1
Consider the feedback system of Fig. Q2 when the deadtime is removed, i.e.
d 0. Is it possible to make the control loop unstable by choosing too large a
value of K?
(e) What can you conclude from parts 2(c) and 2(d) regarding the effect of process
deadtime upon the achievable performance of the control system?
[20 marks]
Course Code
CH26B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 3
3.
Figure Q3.1 illustrates a cascade control scheme for the level of liquid in a cylindrical
surge tank of cross-sectional area A.
q i (t)
LC
h(t)
FC
q o (t)
Figure Q3.1 - Level-flow cascade control

(a)
Why are surge vessels often installed between operating units in the chemical
industries? Is tight regulation of surge tank levels normally required?
(b)
The effluent flow control valve is air-to-open, i.e. fail-shut. Should the direction of
the flow controller FC be reverse (increase/decrease) or direct (increase/increase)?
Should the level controller LC be configured as reverse-acting or direct-acting?
(c)
What are the advantages and disadvantages of the cascade control scheme of Fig.
Q3.1 as compared to the strategy of Fig. Q3.2, in which the level controller
directly manipulates the effluent flow control valve?
q i (t)
LC
h(t)
q o (t)
Figure Q3.2 - Level control by manipulation of effluent control valve
Course Code
CH26B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 4
(d)
Derive the plant transfer function describing the response of the surge tank level to
changes in the outlet volumetric flowrate when the LC in Fig. Q3.1 is running in
manual. It may be assumed that the inlet flowrate remains constant at its initial
steady-state value ( qi (t ) qis ) and that the dynamics of the flow control loop
are negligible (that is, the outlet flowrate qo (t ) perfectly tracks operator changes
in the FC setpoint).
(e)
Show that zero offset would be obtained following a unit step increase in level
setpoint using proportional-only level control (i.e. when the LC in Fig. Q3.1 is a
proportional controller operating in automatic mode)
[20 marks]
4.
5.
A water heater in a fibre washing plant is controlled with a proportional controller and the
temperature of the water leaving the unit is recorded in the plant data historian. The
thermocouple is calibrated for the scale 50 F to 150 F and the controller operates with a
20 psi range of air pressure. The set point of the controller is fixed at the desired
temperature of 100 F. It is found that the steam control valve is designed so that a 1 psi
change in air pressure to the valve will cause the water exit temperature to rise by 5 F. A
response test to the unit revealed that by changing the air pressure to the control valve
with the controller on manual, the effluent temperature responds as a first order system
with a time constant of 10 minutes. If the inlet temperature is suddenly increased by 10
F, the unit also responds as a first order system with a time constant of 10 minutes and a
gain of unity.
(a)
Construct a block diagram for the process, assuming that the controller gain is K.
(b)
Derive the transform expression for the exit temperature in terms of the inlet feed
temperature.
(c)
Determine the offset of the feedback control system to a unit step change in inlet
water temperature.
[25 marks]
A chemical reaction involving a component A is carried out in a stirred, jacketed vessel.

The reaction is of zero order and the normal operating conditions of the system are noted
below:
Conversion of A: 30% in the reactor
Feed to reactor: 4000 lbm/hr containing 50% component A
Tank volume: 8000 lbm
Heat of reaction: 1200 BTU/lbm of A reacting
Initial steady-state temperatures: Feed 80 F, Reactor 130 F, Jacket 110 F.
Course Code
CH26B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 5
The heat of reaction is proportional to the fourth power of the absolute temperature over
the range 110 F to 150 F. The fluid circulating in the jacket is maintained at essentially a
uniform temperature by a high circulation rate.
6.
(a)
What is the time constant of the tank for small perturbations in feed temperature?
Assume that the heat capacities of the feed and effluent streams are constant at 1
Btu/lb/F.
(b)
What is the approximate tank temperature 10 minutes after the feed temperature
suddenly drops to 75 F?
[25 marks]
A feed stream of material A is fed at volumetric flowrate F A and temperature T1 to tank

1 where it is heated by a heating coil with hot fluid at temperature T f (see Fig. Q6). The
heat transfer between the heating coil and contents of tank 1 are described by a heat
transfer equation of the form
q f U A (T2 T f )
The stream leaving tank 1 at temperature T2 is then fed to tank 2 where it is mixed with
component B which enters at temperature T3 . The resulting mixture of A and B leaves
tank 2 at temperature T4 (no reaction takes place in this system).
(a)
Write steady-state and dynamic energy balances for tanks 1 and 2.
(b)
Find the transfer function relating the output temperature T4 to changes in T1 and T f .
(c)
Show that the transfer functions obtained in Question 6(b) must be overdamped
second order in form.
Course Code
CH26B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 6
FA, T1
V1, T2
TANK 1
FB , T3
FA, T2
q f U A (T2 T f )
V 2 , T4
F A B , T4
TANK 2
Figure Q6 - Mix tanks in series

[25 marks]
7.
Two isothermal well-stirred reactors are connected by a pipe as shown in Fig. Q7. Using
the symbols indicated, derive the transfer function relating the concentration of the inlet
feed (C A0 ) to that of the outlet of the second tank (C A 2 ) and solve for the response to
a unit step disturbance in C A0 . The reaction in each tank is irreversible and first order:
Hence the mass rate of disappearance of component A is k V1 C A1 (t ) in tank 1 and

k V 2 C A 2 (t ) in the second tank. The flows and volumes are constant and there are no
thermal effects. You may assume that no reaction or mixing occurs in the transfer pipe
connecting the two vessels.
Course Code
CH26B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.
page 7
F , CA 0
TANK 1
V1, C A1
V2, C A 2
Pipe Length L,
Cross Sectional Area A
F , C A2
TANK 2
Figure Q7 - Isothermal CSTRs in series

[25 marks]
END OF QUESTION PAPER
Course Code
CH26B
1999/2000
.........................................
First Examiner
...........................................
University Examiner
..........................................
Second Examiner
Date: 20....../......./......
Date: 20././.

ch26b Final Exam 2000

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THE UNIVERSITY OF THE WEST INDIES

CH26B Process Dynamics and Control I

Date and Time:

INSTRUCTIONS TO CANDIDATES: This paper has

Answer questions 1, 2, 3, and two of questions 4, 5, 6, 7.

Figure Q2 - Proportional feedback control

Derive the closed-loop transfer function Y ( s ) / R ( s ) and state the characteristic

The University of the West Indies

External Examiner (where applicable)

The University of the West Indies

External Examiner (where applicable)

Figure Q3.1 - Level-flow cascade control

Figure Q3.2 - Level control by manipulation of effluent control valve

The University of the West Indies

External Examiner (where applicable)

A chemical reaction involving a component A is carried out in a stirred, jacketed vessel.

The University of the West Indies

External Examiner (where applicable)

A feed stream of material A is fed at volumetric flowrate F A and temperature T1 to tank

Write steady-state and dynamic energy balances for tanks 1 and 2.

The University of the West Indies

External Examiner (where applicable)

Figure Q6 - Mix tanks in series

Hence the mass rate of disappearance of component A is k V1 C A1 (t ) in tank 1 and

The University of the West Indies

External Examiner (where applicable)

Figure Q7 - Isothermal CSTRs in series

The University of the West Indies

External Examiner (where applicable)

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