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Chapter 3 - Solution To Worked Examples

This document contains worked examples for deriving transfer functions from block diagrams of control systems. The examples include: 1. Deriving the transfer function from process output to disturbance given changes in disturbance. 2. Deriving transfer functions from process output to set point or disturbance, accounting for feedback control. 3. Deriving the closed loop transfer function for a cascade control scheme, where the inner loop controls one process variable that then feeds into the outer loop. 4. Deriving the transfer function for a Smith predictor control scheme, which aims to improve performance by removing time delay terms from the denominator of the closed loop transfer function.

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142 views4 pages

Chapter 3 - Solution To Worked Examples

This document contains worked examples for deriving transfer functions from block diagrams of control systems. The examples include: 1. Deriving the transfer function from process output to disturbance given changes in disturbance. 2. Deriving transfer functions from process output to set point or disturbance, accounting for feedback control. 3. Deriving the closed loop transfer function for a cascade control scheme, where the inner loop controls one process variable that then feeds into the outer loop. 4. Deriving the transfer function for a Smith predictor control scheme, which aims to improve performance by removing time delay terms from the denominator of the closed loop transfer function.

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Jack Lines
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Chapter 3 - Solutions to worked examples

1. Derive the transfer function representing the dynamics of the response of


the process output, 𝒚(𝒔) given a change in the disturbance, 𝒅(𝒔).

𝑑 𝑠
𝐺𝐹𝐹 (𝑠) 𝐺𝑑 (𝑠)

𝑆𝑃 𝑠 𝑢 𝑠 𝑦 𝑠
+ +
+ 𝐺𝑝 𝑠 +

From the block diagram,


𝑦(𝑠) = 𝐺𝑝 (𝑠)𝑢(𝑠) + 𝐺𝑑 (𝑠)𝑑(𝑠)

Also,
𝑢(𝑠) = 𝑆𝑃(𝑠) + 𝐺𝐹𝐹 (𝑠)𝑑(𝑠)

Substituting this into the first equation gives,


𝑦(𝑠) = 𝐺𝑝 (𝑠)[𝑆𝑃(𝑠) + 𝐺𝐹𝐹 (𝑠)𝑑(𝑠)] + 𝐺𝑑 (𝑠)𝑑(𝑠)

Re-arranging,
𝑦(𝑠) = 𝐺𝑝 (𝑠)𝑆𝑃(𝑠) + [𝐺𝑝 (𝑠)𝐺𝐹𝐹 (𝑠) + 𝐺𝑑 (𝑠)]𝑑(𝑠)

If there is no change in set point then,


𝑆𝑃(𝑠) = 0
Therefore,
𝑦(𝑠)
= 𝐺𝑝 (𝑠)𝐺𝐹𝐹 (𝑠) + 𝐺𝑑 (𝑠)
𝑑(𝑠)
2. Derive the transfer function representing the dynamics of the response of
the process output, 𝒚(𝒔) given a change in the set point 𝑺𝑷(𝒔) or disturbance,
𝒅(𝒔).

𝑑 𝑠
𝐺𝐹𝐹 (𝑠) 𝐺𝑑 (𝑠)

𝑆𝑃 𝑠 𝑢 𝑠 𝑦 𝑠
+ 𝐺𝑐 𝑠 ++ 𝐺𝑝 𝑠 ++
-

From the block diagram,


𝑦(𝑠) = 𝐺𝑝 (𝑠)𝑢(𝑠) + 𝐺𝑑 (𝑠)𝑑(𝑠)

Also,
𝑢(𝑠) = 𝐺𝑐 (𝑠)𝑒(𝑠) + 𝐺𝐹𝐹 (𝑠)𝑑(𝑠) = 𝐺𝑐 (𝑠)[𝑆𝑃(𝑠) − 𝑦(𝑠)] + 𝐺𝐹𝐹 (𝑠)𝑑(𝑠)

Substituting this into the first equation gives,


𝑦(𝑠) = 𝐺𝑝 (𝑠)[𝐺𝑐 (𝑠)[𝑆𝑃(𝑠) − 𝑦(𝑠)] + 𝐺𝐹𝐹 (𝑠)𝑑(𝑠)] + 𝐺𝑑 (𝑠)𝑑(𝑠)

Re-arranging,
𝑦(𝑠)[1 + 𝐺𝑝 (𝑠)𝐺𝑐 (𝑠)] = 𝐺𝑝 (𝑠)𝐺𝑐 (𝑠)𝑆𝑃(𝑠) + [𝐺𝑝 (𝑠)𝐺𝐹𝐹 (𝑠) + 𝐺𝑑 (𝑠)]𝑑(𝑠)

If we assume that there is no change in the disturbance, then 𝑑(𝑠) = 0 and,


𝑦(𝑠) 𝐺𝑝 (𝑠)𝐺𝑐 (𝑠)
=
𝑆𝑃(𝑠) 1 + 𝐺𝑝 (𝑠)𝐺𝑐 (𝑠)

If we assume that there is no change in the set point, then 𝑆𝑃(𝑠) = 0 and,
𝑦(𝑠) 𝐺𝑝 (𝑠)𝐺𝐹𝐹 (𝑠) + 𝐺𝑑 (𝑠)
=
𝑑(𝑠) 1 + 𝐺𝑝 (𝑠)𝐺𝑐 (𝑠)
3. The following block diagram shows a cascade control scheme. Derive the closed loop
𝒚 (𝒔)
equation, 𝑺𝑷𝟐 (𝒔)
𝟐

𝑆𝑃2 𝑠 𝑆𝑃1 𝑠 𝑦1 𝑠 𝑦2 𝑠
+ 𝐺𝑐2 𝑠 + 𝐺𝑐1 𝑠 𝐺𝑝1 𝑠 𝐺𝑝2 (𝑠
- -

Feedback loop 1

Feedback loop 2

With a cascade control scheme there are two feedback control loops, a typical example
would be cascade control of temperature in a CSTR

In this figure, the inner loop is the feedback control of the temperature of the liquid in the
cooling jacket via adjustment of its flowrate into the jacket. This ensures disturbances (such
as variation in the inlet temperature of the cooling water) are eliminated as efficiently as
possible before they impact on the primary variable that we wish to control, which is the
temperature of the liquid within the reactor. In the figure, the temperature of the liquid at
the exit of the CSTR is measured and if it deviates from its set point, the outer controller
adjusts the set point of the inner feedback control loop.
To derive the closed loop transfer function, we note for the inner loop we have the closed
loop relationship,
𝑦1 (𝑠) 𝐺𝑐1 (𝑠)𝐺𝑝1 (𝑠)
= = 𝐺(𝑠)
𝑆𝑃1 (𝑠) 1 + 𝐺𝑐1 (𝑠)𝐺𝑝1 (𝑠)

Given this ‘’inner’’ loop relationship, we can then derive the over closed loop transfer
function in the usual manner. Therefore, we have,
𝑦2 (𝑠) = 𝐺𝑝2 (𝑠)𝐺(𝑠)𝐺𝑐2 (𝑠)[𝑆𝑃2 (𝑠) − 𝑦2 (𝑠)]

Re-arranging,
𝑦2 (𝑠) 𝐺𝑐2 (𝑠)𝐺(𝑠)𝐺𝑝2 (𝑠)
=
𝑆𝑃2 (𝑠) 1 + 𝐺𝑐2 (𝑠)𝐺(𝑠)𝐺𝑝2 (𝑠)

4. Derive the transfer function for the ‘’Smith predictor’’,

R(𝑠) 𝑒(𝑠) u(𝑠) 𝑦(𝑠)


𝐺𝑐 (𝑠) 𝐺𝑝 (𝑠)
+ +
- -

1 − 𝑒 −𝜃𝑠 𝐺(𝑠)

Note that,

𝐺𝑝 (𝑠) = 𝐺(𝑠)𝑒 −𝑠𝜃

As we did with the cascade control example, we derive the transfer function for the inner
𝑢(𝑠)
loop, i.e. . Given this transfer function, the block diagram will be of a similar structure as a
𝑒(𝑠)
standard feedback control loop.
So we have,
𝑢(𝑠) = 𝐺𝑐 (𝑠)[𝑒(𝑠) − 𝑝(𝑠)𝑢(𝑠)]

Where, 𝑝(𝑠) = (1 − 𝑒 −𝜃𝑠 𝐺(𝑠)

Re-arranging,
𝑢(𝑠) 𝐺𝑐 (𝑠)
= = 𝑄(𝑠)
𝑒(𝑠) 1 + 𝐺𝑐 (𝑠)𝑝(𝑠)
Then the closed loop transfer function is,
𝑦(𝑠) 𝐺𝑐 (𝑠)𝐺𝑝 (𝑠)
=
𝑅(𝑠) 1 + 𝐺𝑐 (𝑠)𝐺(𝑠)
A key point is that the time delay terms has been removed from the denominator of this
transfer function, which improves (at least theoretically) the performance of the control
algorithm.

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