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Engenharia de Petroleo
Sistemas de Controle e Automao
Lista de Exerccios
Balnerio Cambori
2016
Exercise 1 - Part 1
It is known that a first order system have an exponential response to a step input. The main feature
of this kind of system is the time constant and this constant hace unit of time. The higher is the time
constant, the slower the system responds. Graphically, is the time that the output of system has 63.2%
of the steady state value, in 3 the output is in 95.0% of steady state value and 5 99.3% of steady state
value and at this point we consider the system already in steady state.
The two plants given are:
G1 (s) =
2
4s + 2
(1)
and
6
4s + 2
The steady state can be found using the final value theorem
G2 (s) =
(2)
(3)
Where G represents the plant and the step input. For G1 the steady state value is 1 and for G2 is 3.
Fig. 1 shows a drawing of this response in time. Analytically, the time constants are the found writing
y(t) = KM (1 exp(t/ ))
(5)
0.9
y
ln 1
= t/
KM
(6)
ln(0.1) = t/
(7)
t 2.3025
(8)
Since KM = y:
Finally,
Figure 2: Outputs of G1 and G2 to an unit step input and points identified by datatip
The steady state error is 0.7%.
For a ramp input, the system does not actually reaches a steady state, it continues to grow until the
input ceases. But it growth rate has a little transitory period and after this period, it becomes steady.
After it, the input and output, when output is normalized, have the same behavior with a little delay
between then. This delay have approximately the absolute value of the time constant of the system. Fig.
3 shows this features.
As can be seen, the delay between G1 and the step input is d = 8.98560 7.00469 = 1.98091 2 = ,
this is already normalized because gain is 1. For G2 ,yn orm = 21.0657/3 = 7.0219 7.00469 and the
delay is d = 8.99959 7.00469 = 1.9949 2 = .
Exercise 1 - Part 2
p
The higher point in this curve is when = 1 2 2 , in words it means that the oscillatory input
frequency is equal to the natural frequency of the plant. The main features of this system are the delay
Ao utput
and the ARn = KA
i nput
2
= tan 1
(9)
1 ( )2
1
ARn = p
[1 ( )2 ]2 + (2 )2
These features depend on the frequency of input. When 1,
value which is 1 2
2
(10)
12
For this case, a simulation was ran with = 0.5, = 0.1, = 2 and it is shown in Fig. 4
with datatip it is possible to identify some interesting points. Graphically:
=
17.3 16.5
2 = 1.621471
23.5 20.4
2
(11)
Figure 3: Outputs of G1 and G2 to an unit ramp input and points identified by datatip
Figure 4: Input and Output of a second order system with an oscillatory input
and
ARn =
5
2 0.1 1 2 0.12
(12)
and this value is close to that found in the plot that is 4.9. When the system gets steady, this difference
will be insignificant.
Exercise 1 - Part 3
A second order transfer function in the standard form is:
G(s) =
K
2 s2 + 2 s + 1
where = 1/n
If the system is underbalanced, the time to first peak is:
p
tp = / 1 2
(13)
(14)
The overshoot is
p
OS = exp(/ 1 2 )
(15)
DR = OS 2
(16)
2
1 2
(17)
The three plants given must be written in this form either. The first plant:
60
1
= 1 2 1
(18)
s2 + 10s + 60
+
s
60
6s + 1
p
Figure 5: G1 output
it yields tp = 0.5320s, OS = (1.0698 1)/(1) = 0.0698, DR = 0.00033/0.06976 = 0.0047278 and
P = 2 (1.0645 0.5320)s = 1.065 or P = 1.6033 0.5320 = 1.0713s .
The second plant:
G2 (s) =
25
=
s2 + 10s + 25
1 2
25 s
1
+ 10
25 s + 1
(19)
Thus, 2 = 1/5, 2 = 1 n = 5rad/s. System is critically dumped, the former definitions(tp ,OS,DR
and P ) are only valid for underdumped systems.
Graphically, by Fig. 6,
Figure 6: G2 output
it yields t95 = 0.9506s
Thus, 2 = 0.2582, 2 = 1.2910 n = 15rad/s. System is overdumped, the former definitions(tp ,OS,DR
and P ) are only valid for underdumped systems.
Graphically, by Fig. 7,
G3 (s) =
Figure 7: G3 output
it yields t95 = 1.7764s
Exercise 1 - Part 4
These figures are the second order system response to a step. Modeling the transfer function:
G(s) =
K
2 s2 + 2 s + 1
(21)
1
s2 + 2s + 1
(22)
With this transfer function some simulations were ran into XCOS varying according to the given figures.
The results are shown in Figs. 8 and 9
Exercise 1 - Part 5
If the system is underbalanced, the response behaves like this: Figure 11 shows the main features of
10
this system. Analytically, if the system is underbalanced, the time to first peak is:
tp = /
p
1 2
(23)
The overshoot is
p
OS = exp(/ 1 2 )
(24)
DR = OS 2
(25)
2
1 2
(26)
Now it is possible to find and . From figure 12,OS = 0.37, tp = 1.5s and P = 5 1.5 = 3.5s.
= sqrt
(27)
ln(OS)2
= 0.4095
ln(OS)2 2
(28)
p
1 2 / =
(29)
p
1.5 1 0.30252 / = = 0.4356
Using these values Fig. 13 can be obtained
(30)
11
Exercises 2 and 3
The plant has the following transfer function:
G(s) =
K(a s + 1)
(1 s + 1)(2 s + 1)
(31)
s+
t0
(32)
But what describes the "direction" of any curve at a given point is its derivate, so, it is natural to
think that applying the initial value theorem in the time derivative will be necessary. Starting with:
f (t) =
dy
dt
dy
L f (t) = F (s) = L
= sY (s) y(0) = sY (s)
dt
(33)
(34)
12
Figure 15: Example 6.2 outputs in time domain for different values of a
where Y (s) represents the output of G(s) with and unit step input. The initial value theorem gives:
lim sF (s) = lim s2 G(s)) = lim s2
s+
s+
s+
K(a s + 1)
1
K(a + 1/s)
= lim
(1 s + 1)(2 s + 1) s s+ (1 + 1/s)(2 + 1/s)
13
and Finally:
Ka
1 2
lim sF (s) =
s+
The result shows that the initial "direction" of the output depends on the sign of a , since K, 1 and 2
are positives.
1
M Kc
M Kc
M Kc
1+
)=
+
s
i s
s
i s2
(35)
(36)
M Kc
t + ys p
i
(37)
p0 (t) = M Kc +
p(t) = M Kc +
When t = 0s, p(0) = 10mA, M = 3mA, so
10mA = 3mAKc 1 +
1
0s + 12mA
i
2mA
= Kc
3mA
(38)
(39)
2mA
1
1 + 20s + 12mA
3mA
i
20s
= i = 20s/(0.5) = 40s
1
3mA
2mA
(40)
(41)
1 + d s K1 + K2 + K2 1 s
=
d s + 1
1 s + 1
(42)
(43)
Kc
2
1 + K1 +K
1 s
1 + d s
2
= (K1 + K2 )
d s + 1
1 s + 1
For analogy d = 1 , K1 + K2 = Kc ,
With a litte manipulation:
K2
K1 +K2 1
K1 =
(44)
= d
1
Kc
(45)
and
1
Kc Kc
30
1 + 3027
0.2s
1 + 2s
= (30 27)
0.2s + 1
0.2s + 1
1=1
(46)
(47)
(48)
14
I s + 1 d s + 1
I1 s + 1 + I1 d1 s2
= Kc
I1 s
I s
1
(49)
(50)
M Kc
t
i
(51)
2Kc
zero
i
(52)
p0 (t) = M Kc +
When t = 0
0 6 = 2Kc +
Kc = 3
(53)
2 3
= 1.2min 1
i
(54)
2 3
= 1.2min 1
i
(55)
i = 5min
(56)
Exercise 5
a)The example 6.1 consists in a lead-lag element with and step input:
Y (s) =
KM (a + 1)
s(1 s + 1)
(57)
It was simulated in XCOS, the Fig. 16 shows the scheme and the Fig. 17 shows the output in time domain.
The example 6.2 was already metioned in exercise 2, the scheme and outputs are shown in Figs. 14
and 15, respectively.
15
Figure 17: Example 6.1 output in time domain for different values of a
b) The pade approximation is a way to represent the system delay es . The 1/1 approximation is
given by:
1 2 s
es
(58)
1 + 2 s
16
1 2 s
1 + 2 s
1 2 s +
1 + 2 s +
2
12 s
2
12 s
(59)
(60)
Using a delay of 3 seconds simulations were ran in XCOS, simulation scheme is shown in Fig. 18, and
the output in Fig. 19.
17
Exercise 6
Using the Routh-Hurwitz criteria the expanded form of characteristic equation is:
s3 + 6s2 + 11s + 6 + 4Kc = 0
Routh-Hurwitz: Thus,
66(64Kc )
6
6
11
6+4Kc
6+4Kc
0
0
0
(61)
18
Exercise 7
In example 2.7, three different kinds of controllers were used in order to elucidate the main features
of these controllers. The system is the same used before.
Starting with the proportional controller does not have a good action, depending on the need of
accuracy on set point, a offset remains "forever" in the steady state.
19
20
anticipates the action, it controller try to "foretell" the "direction" of the error, making the system a little
faster than the PI. Is the most used controller.
21
Exercise 8
a)The schematic diagram of the tuning is showed in Fig. 21 25
22
The constants are Kp = 4.8 i = 1.825 d = 0.45625. With these constants a simulation was ran with
an step input. It is shown in Fig. 28
23
For the second method, the Fig. 29 shows the schematic diagram of the tuning. Derivatives were used
in order to identify the inflection point easily. The Figs. 30 and 31 show the points used in analysis. The
Fig. 32 shows the system with PID controller and the calculated constants based on the table shown in
Fig. 33
24
Figure 34: Ziegler Nichols, comparison between First and Second Methods
25
b) CHR method uses the same analysis, but the table is a little different. The results and scheme are
shown in the figure
Exercise 9
a) Using mass conservation in a tank:
dm
= win wout
dt
dAh
= (qi n qo ut)
dt
(1)incompressible fluid, (2) proportional valve qR = h;(3) Constant area
(62)
(63)
h
dh
= qin
dt
R
(64)
dh
h
= qin
dt
R
(65)
dh h
hh
= qin qin
dt
R
(66)
dh0
h0
0
= qin
dt
R
(67)
In steady state
26
Laplace Transform:
dh0
h0
0
} = L{qin
} L{ }
dt
R
H0
A[H 0 s h(0)] = Qin
R
L{A
(68)
(69)
1
] = Qin
R
H0
R
=
Qin
RAs+]
H 0 [As +
(70)
(71)
1
Q0out
=
= Gtank
Qin
RAs + 1
(72)
1
1
1
=
R 1 A1 s + 1 R 2 A2 s + 1
(R1 A1 s + 1)(R2 A2 s + 1)
(73)
b) If the tank 1 takes 7 hours to gets filled, the flow rate is q = R12 h/t = (10m)2 8m/(3600 7s) =
0.0997m3 /s and in steady state, the output flow rate of tank 2 is equal to q The delay will be modeled
with Pade 2/2. The Fig. 37 shows the schematic diagram of the system. The using Ziegler-Nichols method,
Exercise 10
The loop transfer function is
Gt =
Thus, 2 =
1
5+Kc
Kc
s2 +6s+5
Kc
+ s2 +6s+5
and =
3
5+Kc
Kc
Kc
=
1
s2 + 6s + 5 + Kc
(5 + Kc )( 5+K
s2 +
c
6
5+Kc s
+ 1)
(74)
27
s
=
ln(OS)2
3
=
ln(OS)2 2
5 + Kc
(75)
Thus, for OS = 0.0432, Kc = 12.9982. Now it is needed to check out if this Kc does not make system
unstable. Fig 41 shows that a K 13 is makes the system stable.
The other features:
= 3/(12.9982 + 5)0 .5 = 0.7071
(76)
= 1/(12.9982 + 5) = 0.05556
p
tp = / 1 2 = 0.1750s
(77)
(78)
28
(79)
The period
P =p
2
1 2
= 0.3500s
(80)
29