Process Dynamics

and Control
WEEK SEVEN
Eng. M.Sc. Manuel A. Figueredo
 Block Algebra
Eng. M.Sc. Manuel Alfredo Figueredo
 Outline
• Block Diagram
• First and Second Order Process Dynamics
 Block Diagrams

• It consists of a specific combination of 4 elements:

– Blocks
– Summing points
– Takeoff points
– Arrows representing unidirectional signal flows.
Block Diagrams
 Feedback control system

G1-G2 y H are transfer functions

 Block Diagrams
• Block multiplication

• Conmutative property
 Exercise
• Find Xn/X1
 Answer
• A

• B

• C
Canonical Feedback Loop
Exercise
 Answer
• A

• B

• C

• D
 Transformation Theorems
• Available in virtual sabana
Unit Feedback System
Exercise
Answer
 Multiple input
SUPOSITION: Lineal System
STEP 1:Set all inputs except one equal to zero
STEP 2:Transform the block diagram to canonical form3
STEP 3:Calculate the response due to the chosen input
acting alone
STEP 4:Repeat steps 1 -3 for the remaining inputs
STEP 5:Algebraically add all responses (outputs) determined
in steps 1. This sum is the total output of the system with all
inputs acting simultaneously
Example
 Example
• Step 1: U=0
• Step 2: Reduce blocks
 Example
• Step 3. Calculate CR
CR=[G1G2/(1+G1G2)]*R
• Step 4: R=0. Modify block to represent the feedback
negative effect (-1)
 Example
• Reorganizing:

• Join -1 with the summing point

 Example
• The block output is

• CU=[G2/(1+G1G2)]*U
 Reduction of Complicated
Block Diagrams
• STEP 1: Combine all cascaded blocks using Tranformation1
• STEP 2: Combine all parallel blocks using Transformation 2
• STEP 3: Eliminate all minor feedback loops using Transformation 4
• STEP 4: Shift summing points to the left and take-off points to the right
of the major loop, using Transformation 7, 10 y 12.
• STEP 5: Repeat steps 1 to 4 until the canonical form has been
achieved for a particular input
• STEP 6: Repeat steps 1 to 5 for each input, as required
Example
 Example
• STEP 1:

• STEP 2
• STEP 3: Example

• STEP 4: Does not apply

• STEP 5:

• STEP 6: Does not apply

Example
 Example
• Step 3 does not apply. Step 4 moves the takeoff point after
G2+G3 block
 Example
• Reorganize summing and takeoff points. Use
transformation 6 and transformation 1.
 Example
• STEP 3:
 Example
• Using Transformation 5
Exercise
Answer
Exercise
 Answer
• These are the answers for C2. There are two additional
answers for C1
 Exercise
• Find the equivalent open-loop transfer function
Answer
 First-order
Dynamic Systems
Eng. M.Sc. Manuel Alfredo Figueredo
 First-Order Dynamic Systems
A short review

• What is a controlled variable?

• What is a manipulated variable?

• What is a disturbance?
 First-Order Dynamic Systems
• The following function corrresponds to a First-order
system
𝐾
𝑌 𝑆 = 𝑈(𝑠)
𝜏𝑠 + 1
• If U(S) is known, a time-dependent solution can be
given. U(s) can be
– Step
– Pulse
– Sinusoidal.
 First-Order Dynamic Systems
STEP RESPONSE
For a step function of amplitude M, its transform is M/s, and
the transfer function is
𝐾𝑀
𝑌 𝑆 =
𝑠(𝜏𝑠 + 1)
The time-domain response is: (u(t) is the unit step function)
𝑡
−𝜏
𝑌 𝑡 = 𝐾𝑀(𝑢(𝑡) −𝑒 )
 First-Order Dynamic Systems
STEP RESPONSE
The time-domain response is
𝑡
−𝜏
𝑌 𝑡 = 𝐾𝑀 𝑢(𝑡) − 𝑒
Some questions:
• Is it a stable system?
• What happens when t=𝜏?
• When will the system be stable?
First-Order Dynamic Systems
 First-Order Dynamic Systems
• Answers
– The system is stable
– When t= 𝜏, the systes in only at 63,25% of its final
chance
– The system will be stable when tα
– For practical purposes, a first-order system is
considered stable when t=5𝜏
Exercise
 First-Order Dynamic Systems
RAMP RESPONSE
𝑎
For a ramp function of slope a, 𝑈 𝑠 = 2 , and the transfer
𝑠
function is
𝐾𝑎 𝛼1 𝛼2 𝛼3
𝑌 𝑆 = 2 = + + 2
𝑠 (𝜏𝑠 + 1) (𝜏𝑠 + 1) 𝑠 𝑠
𝐾𝑎𝜏 2 𝐾𝑎𝜏 𝐾𝑎
+ + 2
(𝜏𝑠 + 1) 𝑠 𝑠
𝑡
−𝜏
The time-domain response is: 𝑌 𝑡 = 𝐾𝑎𝜏 𝑒 − 1 + 𝐾𝑎𝑡
It t>>>> 𝜏  𝑌 𝑡 = 𝐾𝑎(𝑡 − 𝜏)
First-Order Dynamic Systems
 First-Order Dynamic Systems
• The response is a ramp with slope K*a, but shifted by a
constant unit 𝜏
 First-Order Dynamic Systems
SINUSOIDAL RESPONSE
For a sinusoidal function u t = Asen(wt), the transfer
function is
 First-Order Dynamic Systems
SINUSOIDAL RESPONSE
The time domain response is:

Notice that the frequency response is the same compared

to input frequency. There is an additional phase angle ∅
 First-Order Dynamic Systems
• SINUSOIDAL RESPONSE
 First-Order Dynamic Systems
Homework:
–What will be the
responses with time
delay and lead-lag-unit?
Second-order dynamic
systems response
Second-order dynamic systems response
Second-order dynamic systems
Respuesta dinámica de sistemas
de Segundo Orden
Respuesta dinámica de sistemas
de Segundo Orden
Respuesta dinámica de sistemas
de Segundo Orden
 Respuesta dinámica de sistemas
de Segundo Orden
• En resumen
En el caso Las raíces La respuesta será
serán
Reales y Sobreamortiguada
diferentes (overdamped)=Monotónica y estable
Par Conjugado Subamortiguada (underdamped)=
complejo Oscilatoria y estable
Imaginario Sin amortiguación (undamped)=oscilaciones
sostenidas
Par Conjugado Inestable =oscilaciones crecientes
complejo
Reales y (Runaway)= Monotónica inestable
diferentes
Reales e Amortiguación critica (critically damped). Se
Iguales toma como Sobreamortiguada.
Respuesta de Procesos de
Segundo Orden
 Respuesta dinámica de sistemas
de Segundo Orden
• Respuesta paso (Step Response):
– Sobreamortiguada

– Amortiguación Crítica

– Subamortiguada
 Respuesta dinámica de sistemas
de Segundo Orden
• Subamortiguada
 Respuesta dinámica de sistemas
de Segundo Orden
• Sobreamortiguada
Respuesta dinámica de sistemas
de Segundo Orden
 Respuesta dinámica de sistemas
de Segundo Orden
• A tener en cuenta:
– La respuesta presenta un grado mayor de oscilación a
medida que la tasa de amortiguamiento se acerca a
cero.
– Se obtienen respuestas lentas a medida que la tasa de
amortiguamiento es mayor
– La respuesta obtenida más rápidamente es en el caso
críticamente amortiguado
Second-order dynamic systems
 Second-order dynamic systems
HOMEWORK
• Rise Time:

• Settling Time:

• Time to First Peak

• Period Of Oscillation:
Workshop
 Workshop
• For the same exercise, suppose there is a sudden change
in flow, going from 37 l/min (0.037m^3/min) to 137 l/min
(0,137 m^3/min). An expert colaborator tells you that the
change might result in a tank spill. Is it true? When willl the
spillover start?
Workshop (cont.)
Workshop (cont.)
 References
• OGGUNAIKE, B. Process Dynamic, Modeling and Control.
Oxford University Press.1994.
• DI STEFFANO, J. Feedback and Control Systems. McGrawHill.
1990
• KUO, B. Sistemas de Control Automático. Séptima Edición.
Prentice Hall. 1996
• OGATA, K. Ingenieria de Control Moderna. Tercera Edición.
Pearson. 1998
• SMITH,C. CORRIPIO, A. Principles and Practice od Automatic
Process Control. Third Edition.Wiley. 2006.
• JONES, J.B. DUGAN, R.E. Ingeniería Termodinámica. 1 Edicion.
Prentice Hall. 1997
• BEQUETTE, Wayne. Process Dynamics. Modeling, Analysis and
Simulation. 1 Edicion. Prentice Hall. 1998