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CE 434 Exam 3 Tues, November 26, 2013

1. A first order process Gp(s) is regulated through a feedback loop, as shown below. D(s) is disturbance.
D

Gd

Ysp

Km

Gc

Gp

Gm

( )
a. What is the closed loop transfer function Y/D? (10 pts)

b. What is the characteristic equation for this feedback system? (10 pts) CE =

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c. Use 1-1 Pade approximation to write a second order polynomial function of s that needs to be solved to obtain the minimum and maximum values of the controller gain Kc for which the system is stable. What is the minimum value of Kc? (10 pts) Hint: 1-1 Pade approximation ( ( )( ( ) ) ( ) )

d. If Kc = 2 and d(t) = 0.7S(t), i.e. a step change of magnitude 0.7, what is the final offset? (10 pts)

Gain= Offset = ( ) ( )

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2. Given the following feedback system

Ysp + Gc Gp

Where

)
: (10 pts)

a. Determine if the system is stable against a set point change, i.e. i) ii) iii) iv) v) unstable, stable and underdamped, stable and critically damped, stable and overdamped unknown

b. Initially y = ysp = 7. If

( )

( ), what is the new steady state value of y(t)? (10 pts)

Offset = 0 ==>y(t)1.3 or y(t) 8.3.

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c. What is the maximum value observed for y(t) if ( ) ( )?

= 0.6

OS=exp(- /sqrt(1-^2)) = 0.095 y_max=1.095 * 1.3 = 1.42 y_max = 8.42

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3. The following is a steam heated tank with a feedback loop. Ti is the feedstock temperature, which varies unexpectedly over time. The hot steam flow rate ws is adjusted to maintain a constant outlet temperature T. Heat transfer only takes places between the steam and the liquid. Ignore any other heat transfer, including heat loss to the environment. You are given the following experimental data regarding the system. i. ii. Initially, q = 4 m3/min, Ti = 70 F, T = 130 F, ws = 30 kg/min. If ws changes to 34 kg/min, the T approaches the new steady state value 140 F in 5min. If q changes from 4 m3/min to 4.4 m3/min Ti, q unexpectedly, T approaches the new steady state value 114 F in 5 min. The thermocouple can measure temperatures between 80 200 F and outputs an electric signal in the range of 4 20 mA. The TT measurement is quick. T, q The controller is a PI controller of gain Kc = 1.5 TC and time constant 6 sec. (convert to minutes.) The I/P converter has a gain of KIP = 0.75 psi/mA IP and has no dynamics. ws The flow rate through the valve is related to the pressure by the following equation: ( )

iii.

iv. v. vi.

where Pt is the pneumatic pressure on the valve. The valve takes 1 min to change position. Evaluate the following transfer functions: (6 pts each x 5 = 30 pts) a. (process)

b.

mA/F (measurement)

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c. (disturbance)

d. Gc =

) (controller)

e. (

(valve) ) ( )