Institut fr Chemie und Bioingenieurwissenschaften

Dr. Robert N. Grass

Regelungstechnik FS 12

Lsung 9
Aufgabe 1: ([SeEM11] Aufg. 10.3)
a) Offset = TR() - T() = 5 F 4.14 F = 0.86 F
b) Lets first derive the closed-loop transfer function:

G cl

K2
K m K c K IP K v

T ' s
s 1

T ' R s
K2
1 K m K c K IP K v

s 1

K
K
K m K c K IP K v 2
K m K c K IP K v 2
7 .2 K 2
s 1 5
s 1
T ' s T ' R s
K s
K s 5s 1 1.44 K 2
1 K m K c K IP K v 2
1 K m K c K IP K v 2
s 1
s 1

lim T ' t 4.14 F lim sT ' s

t

s 0

7 .2 K 2
K 2 3.34 F / psi
1 1.44 K 2

c) With the assumption that Ti = 0 we can write:

T ' s K v

K2
P ' t s
s 1

Multiplying by s and taking limit for s 0 we get

lim sT ' s K v K 2 lim sP't s

s 0

s 0

and applying the final value theorem and rearranging

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P 't lim P't t

t

lim T ' t
t

Kv K2

1.03 psi

For the reference steady-state we can write

Pt K v K 2 Ti 1 T Pt 3.74 psi
where overbar denotes reference steady-state value. Now we can go back from deviation
variables to the original values:
Pt lim Pt t Pt P't 4.77 psi
t

Aufgabe 2: ([SeEM11] Aufg. 4.4)

1) bertragungsfunktion: es sei K I

1
Tr

s 60Y s 600 K1Y s K I Y s 1500W s

Y s
1500s
2
W s s 601 10 K 1 s 600 K I
2) Wurzeln bei 60 60i : Vergleich zur Standardform:

s 2 2wn s wn2 0 s wn iwn 1 2

wn 60 2 , 0.707

600 K I 60 2

K I 12

601 10 K 1 2 0.707 60 2 K 1 0.1

oder durch Koeffizientenvergleich mit Lsung der quadratischen Gleichung:
ax 2 bx c 0 x1, 2

1
b b 2 4ac
2a

!
1
601 10 K 1 60 K 1 0.1
2
!
1
60 2 2 2 4 600 K I2 60i K I 12
2

-2-

Literatur

[SeEM11] D. E. Seborg, T. F. Edgar, and D. A. Mellichamp. Process Dynamics and Control. John
Wiley & Sons, New York, 2011.

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