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EXAMINATIONS OF
APRIL/MAY
2000
Paper:
Duration: 3 hrs.
10
pages and
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.
2.
(a)
(b)
Steam
set
TC
TT
Process Inlet
Flow, F
Temperature, T
Process Outlet
Flow, F
Temperature, T
Heat
Exchanger
1
TC = Temperature Controller
TT = Temperature Transmitter
Trap
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.
page 2
(a)
(b)
Derive the positional form of a discrete or digital PID controller from its continuous
equivalent.
(c)
What modification would you make to this algorithm to avoid derivative action (i.e. the
so-called derivative kick) on setpoint changes?
[15 marks]
3.
R (s )
(s )
+
-
D(z)
c (s)
T
e-s
s (s 2)
ZOH
y (s )
Design the deadbeat controller D(z), i.e., compute the transfer function
D( z )
4.
0 1 z 1 2 z 2 k z k
1 1 z 1 2 z 2 m z m
(b)
Express the discrete controller output, c(nT), as the output of a difference equation
with input (nT ), the control error signal.
[15 marks]
(a)
y ( z )
1 2 z 1 0.1 z 2
(1 z 1 ) (1 0.2 z 1 ) (1 2 z 1 z 2 )
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.
page 3
(b)
Figures Q4.1 and Q4.2 represent the block diagrams of two discrete-time systems.
Calculate and plot the behaviour with respect to time of the requested signals with T = 0.4
seconds.
1
2s 1
ZOH
T 0 .4
T 0.4
1
2s 1
T 0.4
T 0.4
?
0
[25 marks]
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.
page 4
5.
(a)
Figure Q5.1 displays the zero (o) and poles (x) of an open-loop process
HG p (z ) which has a gain of 0.5.
0.8
1.25
The block diagram of Fig. Q5.2 is that of a closed-loop system operating under
proportional control with gain K c 1 and sampling interval T 1.
r( z )
KC
c( z )
y ( z )
ZOH
m (s )
G p (s )
y (s )
The closed-loop response of the process output y(nT) to a sudden step change in setpoint
r (nT ) from 10 to 12 is plotted in Fig. Q5.3.
The University of the West Indies
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.
page 5
(i)
(ii)
(iii)
Sketch the open-loop response to a unit-step change in the process input m(t).
12.5
r(nT)
12
11.5
y(nT)
11
10.5
10
9.5
0
10
15
20
25
Time in seconds, nT
6.
(a)
(6.1)
(b)
c
Determine the pole locations for the system (6.1) in the z-plane and s-plane
(assume T = 1).
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.
page 6
(d)
Consider once again the heat exchanger feedback control scheme illustrated in Fig.
Q2. One of the main disturbances to this process is the changing inlet stream
flowrate, F. This disturbance can be measured. A feedback-plus-feedforward
control strategy is to be implemented for this process using a microprocessor. The
important transfer functions of this plant can be denoted by
G p ( s ) e 1 s
GL ( s) e 2 s
If the dynamics of the sensor, transmitter and final control element can be
considered to be negligible and 2 1 , do the following:
7.
(a)
(i)
(ii)
(iii)
(iv)
z
z 3z 2
2
(b)
(i)
(ii)
Determine the initial and final value of y(t) whose z-transform is given by
( z)
y
(c)
2z
( z 1) (1 0.4 z 1 )
Consider the digital feedback control system presented earlier in Fig. Q3. Design a
digital Dahlin controller
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.
page 7
D( z )
0 1 z 1 2 z 2 k z k
1 1 z 1 2 z 2 m z m
for that process using a sampling interval T = 0.1. Choose the desired closed-loop
transfer function as
es
1
0.2 s 1 s
[25 marks]
END OF QUESTION PAPER
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.
page 8
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.
page 9
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.
page 10
Course Code
CH32B
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
Date: 20....../......./......
Date: 20././.