CHAPTER 3

MODELS OF INDUSTRIAL CONTROL DEVICES AND

SYSTEMS

3.1

R +

G2 G3 +G4

G1

H2
H1G2
G2G3 + G4

Y (s )
G1 (G2 G3 + G4 )
=
R( s )
1 + (G2 G3 + G4 )(G1 + H2 ) + G1 H1G2

3.2
H2

G1

G2

G3

(1G1)H1
G4

G1G2G3
Y ( s)
G4 +
=
R( s )
1 + G2 G3 H2 + G2 H1 (1 - G1 )

3.3

Y ( s)
( P D + P D + P3 D 3 + P4 D 4 ) / D
R( s ) = 1 1 2 2

P1 = G1G2; P2 = G1G3; P3 = G4H2G1G2;

P4 = G4H2G1G3
= 1 ( G1G3H1H2 G1G2H1H2)
1 = 2 = 3 = 4 = 1

SOLUTION MANUAL

13

Y ( s)
(1 + G4 H2 )(G2 + G3 )G1
= 1 + G H H (G + G )
R( s )
1 1 2 2
3

G2
R

G3

G1

H1

H2
G4

3.4
H3 /G 3
R

G1

G3

G2

1+G3 H 2

H1

Y (s)
R(s ) W =0

= M(s) =

G1G2 G3
1 + G2 H3 + G3 H2 + G1G2 G3 H1
H3 G 2

(G 1 H1 G 2+H 2)

Y (s )
W ( s)

= MW (s) =
R=0

W
+

G3 (1 + H 3G2 )
1 + H3G2 + G3 ( G1 H1G2 + H 2 )

G3

14

CONTROL SYSTEMS: PRINCIPLES AND DESIGN

3.5
1
R1

G1

G2

Y1

G6

Y2

1
Js

H1

H2
R2

G3

G4

G5

Y1
R1

R2 = 0

P1D1
D

G1G2 G3 (1 + G4 )

= 1 - (-G G - G + G H G G H ) + G G G
1 2
4
1 2 4 5 1
1 2 4

Y1
R2
Y2
R1

G4G5 H1G1G2G3
D

G1G4G5G6 H2 Y2
; R
2
D

R1 = 0

R2 = 0

R1 = 0

G4G5G6 (1 + G1G2 )
D

3.6
er

KA

if

Kg

e
t

1
Ra

Kb
Kt

w (s )
50
=
Er ( s)
s + 10.375

For Er(s) = 100/s,

ia

KT

SOLUTION MANUAL

100 50
w (s) = s( s + 10.375)
10.375 t
)
w(t ) = 481.8 (1 e

3.7
qR +

KP

1
sLf + Rf

KA

KT

Js2

1
+ Bs

qM

1 qL
50

q L (s)
1
q R (s ) = s( 0.1s + 1)(0.2 s + 1) + 1

3.8

TM = K1 ec + K 2& M

J&eq q&& M + Beq q& M

K2 = slope of the characteristic lines shown in Fig. P3.8b

=

K1 =

3- 0
= 0.01
0 - 300

TM
ec

J eq = JM +

Beq

& M =0

FG N N IJ
HN N K

1 3

FNN I
=G
H N N JK

J L = 0.0032

1 3

3- 2
= 0.1
30 - 20

BL = 0.00001

q M (s)
10
1
q L (s )
=
;
=
s(0.32 s + 1)
s(0.32 s + 1)
Ec (s )
Es
c

F q& I
+J G
H q& JK
F q& I
+B G& J
Hq K

3.9 (i)

J eq = JM

= 0.6

Beq = BM

KT = Kb

= 0.015

15

16

CONTROL SYSTEMS: PRINCIPLES AND DESIGN

KT
q M (s)
=
s[ J eq s + Beq )( sLa + Ra ) + KT K b ]
Ea ( s )
16.7

= s(s 2 + 100 s + 19.2)

(ii) A sketch of multi-loop configuration may be made on the lines of
Example 3.5.
(iii) It will behave as a speed control system.
(iv) Relative stability and speed of response may become unsatisfactory.
3.10
J = JM = n2 JL = 1.5 10 5; n = 1
B = BM + n2BL = 1 105

M (s)
13.33
= 2
R (s)
s + 3.5s + 13.33
qR +

Ks

KA

ec

K1

TM

1
Js +B

qM

1
s

K2
Kt

3.11
qR +

Ks

KA

Kg +

1
sLf +Rf

qM
1
Js + B

KT
Ra

1
s

qM

Kb

M (s)
(s)
= L
R (s)
R (s )
3.12 (a)

(s)
=
Er ( s )

15 10 3
s + 54 s + 200 s + 15 10 3
3

K
; K = 17.2, z = 1.066, w n = 61.2
1 2 2
+
+
s
s
1
n
2n

(b) Modification in the drive system may be made on the lines of Fig. 3.64.

qM

SOLUTION MANUAL

er +

KA

Kr

KT
Js + B

1
sLa + Ra

Kb

Kt

3.13
TW

N(s)
qR +

KT

KA

KP

TM

G(s)

TM = JM q&&M + B(q& M - q& L ) + K (q M - q L )

B(q& M - q& L ) + K (q M - q L ) = JL q&&L + TW

(JMs2 + Bs + K) M(s) (Bs + K) L(s) = TM(s)
(Bs + K) M (s) (JLs2 + Bs + K) L(s) = TW(s)
qL ( s) = G(s) TM(s) N(s) TW(s)

K P K A K T G( s )
qL ( s )
=
1 + K P K A K T G( s )
qR ( s)
N ( s)
qL ( s )
= 1 + K K K G( s )
P A T
- TW ( s)
G(s) =

Bs + K
s [ JM JL s + ( JM + JL ) Bs + ( JM + JL ) K ]
2

17

qL

18

CONTROL SYSTEMS: PRINCIPLES AND DESIGN

N(s) =

JM s 2 + Bs + K
s 2 [ JM JL s 2 + ( JM + JL ) Bs + ( JM + JL ) K ]

Revisiting Example 2.7 will be helpful.

3.14 The required block diagram easily follows from Fig. 3.49.
K1 x - Ay& = K 2 Dp

( K 2 D p)

A
&&
K 2 = My

(r y) Kp KA K = x

Y ( s)
2
= 2
R( s)
s + 0.02 s + 2
K A K v K1 AK r / K2
Y ( s)
=
2
Yr ( s)
Ms + ( B + A2 / K2 )s + K A K v K1 K s A / K 2

3.15

Fw

er
yr

Kr

ea

KA

x
Kv

K1

A
K2

y
1
Ms + B

1
s

e0
A

Ks

3.16 Revisiting Example 3.7 will be helpful. From geometry of the linkage, we
get
b
a
X ( s) Y (s )
a+b
a+b
bK r AK1 / ( a + b) K2
Y ( s)
=
2
Ms + ( B + A 2 / K 2 )s + K + aAK1 / ( a + b) K2
Yr ( s)

E(s) =

SOLUTION MANUAL

yr

Kr

b
a+b

K1

1
Ms2 + Bs + K

A
K2

a
a+b

19

sA

3.17 Let z(t) = displacement of the power piston

d
Y(s) = e - st D Z(s) ; t D = sec
v
Y ( s)
G( s )
=
Er ( s )
1 + G( s ) H ( s )
( K A K v K1 A / K 2 )e - t D
; H(s) = Ks
s( Ms + B + A 2 / K 2 )
s

G(s) =

i
er +

KA

Fw

x
Kv

K1

A
K2

e0
A

Ks

3.18

A1

rgh1
dh1
= q1 - qw - R
dt
1

A2

rgh1 rgh2
dh2
= R - R
dt
1
2

z
1
Ms + B

z
1
s

estD

20

CONTROL SYSTEMS: PRINCIPLES AND DESIGN

Qw(s)
Q1(s) +

R2/rg
(t 1s + 1) (t 2s + 1)

H2 (s)

t 1 = A1R1 ; t 2 = A2R2
rg
rg
hr

er +

Ks

Ka

Ke

Kv

q1

h2

e0
Ks

3.19 Ct

dq
dt

= h-

q -qa
Rt

qa

1/Rt
h

Rt
ts+ 1

t = Rt Ct
er

Rf
R

eA

R2
R1

3.20 Heater:

C1

q1 - q
dq 1
= hR1
dt

Kh

Kt

SOLUTION MANUAL

Air:

Vrc

q1 - q
dq
- Qrc(q - q i )
=
R1
dt

These equations give us

1
t = R1C1, Kg = Qrc , w n =
2zw n =

Q
R1C1V

R1C1Qrc + Vrc + C1
VR1C1 rc

qi
ts + 1
Kg
h

Kg

+
1
wn2

qr

Ks

er

KA

eA

s2

2z
s+1
wn

Kh

e0
Ks

3.21 Process:
V2 r 2 c2

d
(q 2 + q 2 ) = Q2 r 2 c2 (q i 2 + q i 2 ) - UA(q 2 + q 2 - q 1 - q 1 )
dt

Q2 r 2 c2 (q 2 + q 2 )
Linearized equation is

V2 r 2 c2

dq 2
= Q2 r 2 c2q i 2 - UA(q 2 - q 1 ) - Q2 r 2 c2q 2
dt

21

22

CONTROL SYSTEMS: PRINCIPLES AND DESIGN

Rearranging this equation and taking Laplace transform yields

(t 2 s + 1)q 2 ( s) = K1 1 ( s ) + K 2 i 2 ( s )
t 2 = 544.5; K1 = 0.423; K 2 = 0 .577

Cooling water:
V1 r1c1

d
(q 1 + q 1 ) = (Q + q ) r c (q i + q i ) + UA(q + q
1
1 1 1
1
1
2
2
dt
- q 1 - q 1 ) - (Q1 + q1 )r 1c1 (q 1 + q 1 )

Linearized equation is

V1 r1c1

dq 1
= Q1r 1c1q i1 + q i1 r1c1q1 + UA(q 2 - q 1 )
dt
Q1 1c1 1 1 1c1q1

From this equation, we obtain

(t 1s + 1)q 1 ( s) = K3 Q1 ( s ) + K 4 2 ( s ) + K 5 i1 ( s )

1.82 1000 4184

t 1 = 3550 5.4 + Q 1000 4184
1
K3 =

( -27 + q 1 ) 1000 4184

3550 5.4 + Q1 1000 4184

3550 5.4
K 4 = 3550 5.4 + Q 1000 4184
1
K 5 =

Q1 1000 4184
3550 5.4 + Q1 1000 4184

q 1 and Q1 are obtained from the following energy-balance equations at

steady state:

Q1r 1c1 (q i1 - q 1 ) + UA(q 2 - q 1 ) = 0

Q2 r 2 c2 (q i 2 - q 2 ) - UA(q 2 - q 1 ) = 0
These equations yield
3 3
q 1 = 40C; Q1 = 5.28 10 m /sec

SOLUTION MANUAL

qi1

qi2

K5

K2

+
q1

K3

q1
1
t1 s + 1

K1

23

q2
1
t2 s + 1

K4
qr

K1

K2

K3

K4

q2

q1

K1

With these parameters,

t 1 = 184.55 sec, K3 = 1318.2, K 4 = 0.465, K 5 = 0.535
q 2 ( s)
q r ( s)

(5.55 10 -3 ) K1 K 2 K 3 K 4
s 2 + 7.26 10 -3 s + 119
. 10 -5

G( s)
; G(s) =
1 + G( s )

Refer Fig. 3.57 for suitable hardware required to implement the proposed
control scheme.
3.22
q2

q1
qr

Controller I

Controller II

Process II

Process I

Sensor II

Set-point
adjustment
Sensor I

Refer Fig. 3.57 for suitable hardware required to implement the proposed
control scheme.