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CHE407 Part 9

The document discusses controller design and evaluation. It presents mathematical models and equations for an unsteady and steady state system. It describes using deviation variables and taking the Laplace transform to derive a transfer function. It also discusses measuring element response and setting up Simulink models to simulate and evaluate controller performance for different parameters.

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21 views

CHE407 Part 9

The document discusses controller design and evaluation. It presents mathematical models and equations for an unsteady and steady state system. It describes using deviation variables and taking the Laplace transform to derive a transfer function. It also discusses measuring element response and setting up Simulink models to simulate and evaluate controller performance for different parameters.

Uploaded by

zxczxcxzcxz xcfsdfzdfzdf
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 14

Controller design and evaluation of their effectiveness [1-5]

Unsteady state:
𝑑𝑇
𝑞 + 𝑤𝐶 𝑇𝑖 − 𝑇𝑜 − 𝑤𝐶 𝑇 − 𝑇𝑜 = 𝜌𝐶𝑉
𝑑𝑡
Steady state:
𝑞𝑠 + 𝑤𝐶 𝑇𝑖𝑠 − 𝑇𝑜 − 𝑤𝐶 𝑇𝑠 − 𝑇𝑜 =0

Subtracting steady state equation from unsteady state equation


𝑑(𝑇 − 𝑇𝑠 )
𝑞 − 𝑞𝑠 + 𝑤𝐶 𝑇𝑖 − 𝑇𝑖𝑠 − 𝑇 − 𝑇𝑠 = 𝜌𝐶𝑉
𝑑𝑡
Deviation variables:
𝑇𝑖 − 𝑇𝑖𝑠 = 𝑇𝑖′
𝑞𝑖 − 𝑞𝑠 = 𝑄
𝑇 − 𝑇𝑠 = 𝑇 ′
Rearranging the equation using deviation variables
𝑑𝑇′
𝑄 + 𝑤𝐶(𝑇𝑖′ − 𝑇 ′ ) = 𝜌𝐶𝑉
𝑑𝑡
𝑑𝑇′
𝑄 + 𝑤𝐶𝑇𝑖′ = 𝑤𝐶𝑇 ′ + 𝜌𝐶𝑉
𝑑𝑡
1 𝜌𝑉 𝑑𝑇′
𝑄 + 𝑇𝑖′ = 𝑇 ′ +
𝑤𝐶 𝑤 𝑑𝑡

Taking the Laplace transform of both sides


1 ′ ′
𝜌𝑉
𝑄(𝑠) + 𝑇𝑖 (𝑠) = 𝑇 (𝑠) + 𝑠𝑇′(𝑠)
𝑤𝐶 𝑤
𝜌𝑉 1 𝜌𝑉
𝑇 ′ 𝑠 1 + 𝑠 = 𝑄 𝑠 + 𝑇𝑖′ 𝑠 ; 𝜏=
𝑤 𝑤𝐶 𝑤
1
𝑇 𝑠 𝜏𝑠 + 1 = 𝑄 𝑠 + 𝑇𝑖′ 𝑠
′
𝑤𝐶
′
1/𝑤𝐶 1 ′ 1
𝑇 𝑠 = 𝑄𝑠 + 𝑇 𝑠 ; : ℎ𝑒𝑎𝑡𝑒𝑟 𝑔𝑎𝑖𝑛
𝜏𝑠 + 1 𝜏𝑠 + 1 𝑖 𝑤𝐶
𝜌𝑉 𝑉 𝑉 1750 𝐿
𝜏= = = = = 3.5 𝑚𝑖𝑛
𝑤 𝑤/𝜌 𝐹 500 𝐿/𝑚𝑖𝑛
1 1 1 𝑜𝐶 𝑜
𝐶
= = = 0.028
𝑤𝐶 𝐿 1 𝑘𝑔 1 𝑚𝑖𝑛 𝑘𝐽 34.87 𝑘𝑊 𝑘𝑊
500 4.184 𝑜
𝑚𝑖𝑛 1𝐿 60 𝑠 𝑘𝑔 𝐶
1 1 1
𝑇′ 𝑠 = 𝑄𝑠 + 𝑇𝑖′ 𝑠
3.5𝑠 + 1 34.87 3.5𝑠 + 1
Measuring element transfer function:
′
𝑇𝑚 (𝑠) 1
′
=
𝑇 (𝑠) 𝜏𝑚 𝑠 + 1
1
𝑇′ 𝑠 =
𝑠
′
1 1 𝐴 𝐵
𝑇𝑚 𝑠 = = +
𝑠 𝜏𝑚 𝑠 + 1 𝑠 𝜏𝑚 𝑠 + 1
𝑠
𝐴= =1
𝑠(𝜏𝑚 𝑠 + 1) 𝑠=0
(𝜏𝑚 𝑠 + 1)
𝐵= = −𝜏𝑚
𝑠(𝜏𝑚 𝑠 + 1) 𝑠=−1/𝜏 𝑚

′
1 𝜏𝑚 1 1
𝑇𝑚 𝑠 = − = −
𝑠 𝜏𝑚 𝑠 + 1 𝑠 1
(𝑠 + 𝜏 )
𝑚
′
𝑇𝑚 𝑡 = 1 − 𝑒 −𝑡/𝜏 𝑚
0.85 = 1 − 𝑒 −15/𝜏 𝑚
𝜏𝑚 = 7.91 𝑠 = 0.132 𝑚𝑖𝑛
′
𝑇𝑚 (𝑠) 1
′
=
𝑇 (𝑠) 0.132 𝑠 + 1
Simulink Model
clear all
clc
Kcplot(3,1)=0.0;
offset(3,1)=0.0;
for i=1:3
z=[10,30,80];
Kc=z(1,i);
[t,x,y]=sim('hw_part_c',30);
plot(t,y(:,1))
hold on
[norow,nocol]=size(y);
offset(i,1)=y(norow,2)-y(norow,1);
Kcplot(i,1)=Kc;
end
grid
title('Deviation in Tank Temperature vs time for Kc=10,30,80');
hold off
figure;
plot(Kcplot,offset);
title('Offset vs Kc For Set Point Tracking');
Simulink Model:
clear all
clc
Kcplot(3,1)=0.0;
offset(3,1)=0.0;
for i=1:3
z=[10,30,80];
Kc=z(1,i);
[t,x,y]=sim('hw_part_d',20);
plot(t,y(:,1))
hold on
[norow,nocol]=size(y);
offset(i,1)=y(norow,2)-y(norow,1);
Kcplot(i,1)=Kc;
end
grid
title('Deviation in Tank Temperature vs Time For Kc=10,30,80');
hold off
figure;
plot(Kcplot,offset);
title('Offset vs Kc For Set Point Tracking');
Simulink Model:

clear all
clc
h(1,:)='g-';
h(2,:)='r-';
h(3,:)='b:';
h(4,:)='--';
h(5,:)='k-';
taui=1;
for i=1:3
z=[10,30,80];
Kc=z(1,i);
[t,x,y]=sim('hw_part_e',50);
plot(t,y(:,1),h(i,:))
hold on
end
grid
hold off
clear all
clc
h(1,:)='g-';
h(2,:)='r-';
h(3,:)='b:';
h(4,:)='--';
h(5,:)='k-';
Kc=10;
for i=1:2
z=[1,5];
taui=z(1,i);
[t,x,y]=sim('hw_part_e',50);
plot(t,y(:,1),h(i,:))
hold on
end
grid
hold off
Simulink Model
clear all
clc
h(1,:)='g-';
h(2,:)='r-';
h(3,:)='b:';
h(4,:)='--';
h(5,:)='k-';
taui=1;
for i=1:3
z=[10,30,80];
Kc=z(1,i);
[t,x,y]=sim('hw_part_f',50);
plot(t,y(:,1),h(i,:))
hold on
end
grid
hold off
clear all
clc
h(1,:)='g-';
h(2,:)='r-';
h(3,:)='b:';
h(4,:)='--';
h(5,:)='k-';
Kc=10;
for i=1:2
z=[1,5];
taui=z(1,i);
[t,x,y]=sim('hw_part_f',50);
plot(t,y(:,1),h(i,:))
hold on
end
grid
hold off
Simulink model

clear all
clc
h(1,:)='g-';
h(2,:)='r-';
h(3,:)='b:';
h(4,:)='--';
h(5,:)='k-';
for i=1:3
z=[0.132,5,10];
taum=z(1,i);
[t,x,y]=sim('hw_part_g',50);
plot(t,y(:,1),h(i,:))
hold on
end
grid
hold off

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