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ProcessControl_Lecture18

The document discusses methods for determining closed-loop stability in control systems, including the Rootlocus method and Bode plot analysis. It outlines the conditions for stability, the significance of critical frequency, and provides examples of stability analysis for various transfer functions. Additionally, it touches on controller tuning parameters and the importance of balancing stability, performance, and robustness.

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zarandluxurey
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
2 views

ProcessControl_Lecture18

The document discusses methods for determining closed-loop stability in control systems, including the Rootlocus method and Bode plot analysis. It outlines the conditions for stability, the significance of critical frequency, and provides examples of stability analysis for various transfer functions. Additionally, it touches on controller tuning parameters and the importance of balancing stability, performance, and robustness.

Uploaded by

zarandluxurey
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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10/10/2021

Ali M. Sahlodin
Department of Chemical Engineering
AmirKabir University of Technology
Fall 1397 S.H

 Rootlocus method
 Bode plot

1
10/10/2021

 Closed loop stable if open-loop TF GOL=GCGPGVGM has


AR<1 at the critical frequency. Otherwise, it is
unstable.

What is critical frequency (wc)?

Stability limit

Phase angel at
critical frequency

 Determine closed-loop stability of


2
G p ( s)  GV  0.1, GM  10
(0.5s  1)3
 Proportional controller Kc=1, 4, 20.

2
10/10/2021

Process Dynamics & Control, Seborg et. al


KC AROL Stable?
1 0.25 Yes
4 1.0 Conditionally stable
20 5.0 No

 Determine stability of the following process (Ex.


13.7) 2e  s
G p (s)  , Gc  K c
5s  1
Process Dynamics & Control, Seborg et. al

Stability affected by delay!


6

3
10/10/2021

 The largest value of K that results in a stable


closed-loop system

 Open-loop TF: GOL= KcG and G = GvGpGm

 At stability limit:   c  AROL (c )  1

 Similar results can be derived for PI control.


7

Process Dynamics & Control, Seborg et. al

 PI control (Ex. 13.5)


5
G p (s)  ,
( s  1)(0.5s  1)
Gm  Gv  1

4
10/10/2021

 Limited to
 Systems that are open-loop stable
 Systems with only one critical frequency

Process Dynamics & Control, Seborg et. al


9

 Example: G(s)=1/(s-2)

 Not useful for Bode stability analysis

10

5
10/10/2021

Controller Tuning
Chapter 11 Seborg Intl 3rd Ed.

11

 Determine controller parameters Kc, Ti, and Td


 Stability, performance, robustness (conflicting objectives)
Process Dynamics & Control, Seborg et. al

12

6
10/10/2021

 Obtain ultimate gain Ku and ultimate period


Pu
 Bode diagram
 Continuous cycling (keep increasing gain until
instability)
Pu=2П/ωc
 Find tuning parameters from Z-N table

13

Marlin’s Process Control book

14

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