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18
The blending tank shown in Fig. P3-10 is perfectly mixed. The input variables are
f 2 ( t ) [ m3 /min ]. The volume of liquid in the tank V m 3 , can be constant, and variation
of stream densities with composition may be neglected.
a) Obtain the transfer functions for the outlet composition ( s ) , kg/m 3, and outlet flow
F ( s ) , m 3 /min , to the four input variables, and write the expressions for the time
constant and gains of the blender in terms of the parameters of the system.
b) Draw the block diagram for the blender, showing all transfer functions.
c) Calculate the numerical values of the time constants and gains for a blender that
is initially mixing a stream containing 80 kg /m3 of the solute with a second stream
containing 30 kg /m3 of the solute to produce 4.0 m 3 /min of a solution containing
50 kg /m3 of the solute. The volume of the blender is 40 m 3 .
SOLUCIÓN
d nS
ṅ1 + ṅ 2−ṅS = (2)
dt
ṅ=FC ; n=VC
d [CS (t)]
f 1 ( t ) C 1 ( t ) +f 2 ( t ) C 2 ( t )−f S ( t ) C S ( t )=V (3)
dt
f 1 ( t )+ f 2 ( t )=f S ( t ) ( 4 )
Se reemplaza ( 4 ) en (3):
d [CS (t) ]
f 1 ( t ) C 1 ( t ) +f 2 ( t ) C 2 ( t )−[ f 1 ( t ) + f 2 ( t ) ] C S ( t )=V (5 )
dt
d [CS (t )]
f 1 ( t ) C 1 ( t ) +f 2 ( t ) C 2 ( t )−f 1 ( t ) C S ( t )−f 2 ( t ) C S ( t )=V (6)
dt
dF [ x ( t ) , y (t ) ] dF [ x ( t ) , y (t) ]
F [ x (t ) , y (t) ] =x ss y ss + [ x −x ss ]+ [ y − y ss ]
dx (t) dy (t)
F [ f 2 ( t ) C2 ( t ) ] =f 2 ss C2 ss + f 2 [ C 2 (t)−C 2 ss ] + C2 [ f 2 ( t ) −f 2 ss ] (8)
d [CS (t) ]
V =( f 1 ss C1 ss + f 1 [ C 1 (t)−C 1 ss ] +C 1 [ f 1 (t)−f ss ]) + ( f 2 ss C 2 ss + f 2 [ C2 (t )−C2 ss ] +C 2 [ f 2 ( t )−f 2 ss ] ) −( f 1 ss C Sss + f 1
dt
d [ C Sss ]
f 1 ss C 1 ss+ f 2 ss C 2 ss−f 1 ss C Sss −f 2 ss C Sss =V ( 12 )
dt
Siendo:
Ć 1 ( t )=C 1 ( t )−C 1 ss ; Ć2 ( t )=C 2 ( t )−C 2 ss ; Ć S ( t )=C S ( t )−C Sss ; f́ 1 ( t )=f 1 ( t )−f ss ; f́ 2 ( t ) =f 2 ( t )−f 2 ss
d [ C S ( t ) −C Sss ]
V =( f 1 ss C 1 ss +f 1 [ C1 (t )−C 1 ss ] +C 1 [ f 1 (t)−f ss ]) + ( f 2 ss C 2 ss + f 2 [C 2 (t)−C2 ss ] +C2 [ f 2 ( t )−f 2 ss ] )−( f 1 ss C
dt
d [ C S ( t ) −C Sss ]
V =f 1 Ć 1 ( t ) +C1 f́ 1 ( t )+ f 2 Ć2 ( t ) +C 2 f́ 2 ( t )−f 1 Ć S ( t )−C S f́ 1 ( t )−f 2 Ć S ( t ) −C S f́ 2 (t ) (14)
dt
d Ć S ( t )
VL [ [ ]]
dt
= f 1 L [ Ć 1 ( t ) ] +C1 L [ f́ 1 ( t ) ] + f 2 L [ Ć 2 ( t ) ]+ C2 L [ f́ 2 ( t ) ] −f 1 L [ Ć S ( t ) ]−C S L [ f́ 1 ( t ) ] −f 2 L [ Ć S ( t ) ]−C S L [ f́ 2 (
V f1 [ C1−C S ] [ C 2−C S ] f2
S Ć S ( s ) + Ć S ( s )= Ć 1 ( s ) + f́ 1 ( s ) + f́ 2 ( s )+ Ć ( s ) (19)
[f 1+ f 2] [ f 1+ f 2 ] [ f 1+ f 2 ] [f 1+ f 2] [ f 1+ f 2 ] 2
Ć S ( s )( τS+1 )= f́ 1 ( s ) k 1+ f́ 2 ( s ) k 2+ Ć 1 ( s ) k 3+ Ć 2 ( s ) k 4 (20)
Dónde:
V [ C1 −C S ] [ C 2−C S ] f1 f2
τ= ; k 1= ; k 2= ; k 3= ; k4 =
[ f 1 +f 2 ] [ f 1 +f 2 ] [f 1+ f 2] [f 1+ f 2] [f 1+ f 2]
k1 k2 k3 k4
Ć S ( s )= f́ 1 ( s ) + f́ 2 ( s ) + Ć 1 ( s ) + Ć 2 ( s ) (21)
( τS+1 ) ( τS+ 1 ) ( τS+1 ) ( τS+1 )
Ć S ( s ) k1 Ć ( s ) k2 Ć ( s ) k3 Ć ( s ) k4
= ; S = ; S = ; S =
f´ 1 ( s ) ( τS+ 1 ) f́ 2 (s) ( τS+1 ) Ć 1 ( s ) ( τS+1 ) Ć2 ( s ) ( τS+1 )
f 1+ f 2=f 3 (1)
Se factoriza f 1:
f 3 [ C 2−C S ]
f 1= (8)
( [ C1 −C S ]−[ C 2−C S ] )
4 m3 /min(30−50)
f 1=
( 80−50 ) −(30−50)
f 1=1.6 m 3 /min
f 2=5.4 m 3 /min
Ahora se reemplazan las variables para hallar las respectivas ganancias y el τ :
V 4 0 m3
τ= = =10 min
f 1 + f 2 ( 1.6+2.4 ) m3 /min
f1 1.6 m3 /min
k 3= = =0.4
f 1 +f 2 ( 1.6+2.4 ) m3 /min
f2 2.4 m3 /min
k 4= = =0.6
f 1+ f 2 (1.6 +2.4 ) m3 /min
EJERCICIO 4.9
EJERCICIO 5.4
Specify the proper fail –safe action for the valves in the following services. Specify
either fail-open or fail-close.
Se debe usar una válvula cerrada en falla para evitar que en caso de que falle la
energía que la acciona se produzca un nivel demasiado elevado dentro del reactor
y no pueda ser controlado adecuadamente.
En el caso en que una válvula manipule un flujo de gas natural hacia un horno se
debe emplear una válvula cerrada en falla, ya que es importante se debe evitar
que se produzca una acumulación excesiva de dicho gas ya que puede ocasionar
sobrecalentamiento, sobrepresión.
En el caso en que una válvula manipule un flujo de aire hacia un horno se debe
emplear una válvula abierta en falla ya que es necesario exceso de aire para que
ocurra una combustión completa y en caso de que falle la válvula se debe
garantizar que este sigua llegando al horno, además, puede actuar como un
diluyente en caso de que hayan cantidades de gas natural que hayan reaccionado.
EJERCICIO 5.8
You are asked to design a control valve to regulate the flow of benzene in the line
shown in Fig. P5-1. The process design calls for a nominal flow of 100,000 kg/h
and a temperature of 155°C. At the design flow, the frictional pressure drop in the
line between points 1 and 2 is 100 kPa. The density of benzene at the flowing
temperature is 730 kg/m3. Assume that the pressures shown in the diagram di not
change with flow.
SOLUCIÓN
Formula:
2788,71 101.3kpa
(15,9008− 155+220,8 )(760 mmHg )
PV =e =643 Kpa(1)
Se despeja C V :
W
CV= ( 3)
500 √ G f ∆ Pv
730
PS = ( 1000 x 9.8 x 25 )+630+100=909 Kpa
14.7 Psia
∆ P v =970−909=61 Kpa x =8.85 Psia
101.3 Kpa
kg 2.2lb
W =100000 x =220000 lb /h
h 1 kg
220000
CV= =173.1
500 √ 0.73(8.85 Psia )
lb /h
C V ,max =173.1 ( 2 )=346.2
Psia 1/ 2
gpm
De la figura C-10,1 de masonelan: C V ,max =400
Psi 1/2
EJERCICIO 5.10
The nominal flow of a liquid through a control valve is 480 gpm. At this flow the
frictional pressure drop in the line is 15 psi. The total pressure drop available
across the valve and line is 20 psi, independent of flow, and the specific gravity of
the liquids is 0.85.
b) Find the flow through the valve when it is fully oponed. ( Hint: it is not 960 gpm.)
c) Calculate the again through the valve at design flow assuming it has linear
inherent characteristics.
SOLUCIÓN
f
CV= (1)
∆ Pv
√ Gf
∆ P0 =∆ P L +∆ P v
∆ P v =∆ P0−∆ PL =20−15
∆ P v =5 Psi
Se reemplaza en la ecuación ( 1 ) :
48 gpm 480
CV= =
5 2.42
√ 0.85
gpm
C V =197.9 →C V , max =2 ( 197.9 ) =395,8
Psi 1/ 2
gpm
De la figura C-10,1 de masonelan: C V ,max =400
Psi 1/2
b)
C V , max ∆ P0
f max =
√ 1+ K L ( CV ,max )
2
√ Gf
∆ PL 15 Psi −5 Psi
K L= 2
= 2
=7.65 x 10
Gf f 0.85 ( 480 ) gpm2
400 20
f max =
√ 1+( 7.65 x 10 −5
) ( 400 )2 √ 0.85
=533,23 gpm
c) Para una válvula con características lineales se utiliza una caída de presión
variable.
dF C V ,max 2 −3 / 2 ∆ P 0 C V ,max
KV =
d C V 100 [ ][
= ( 1+ K L C V )
Gf 100 √ ]
20 400
K V =( 1+7.65 x 10−5 ( 197.9 )
2 −3 /2
)
√ [ ]
0.85 100
gpm
K V =2.42 → Se asume que es cerradaen falla
%CO
d)
CV ∆ P0
f ( 95 % )=
√ 1+ K L ( CV )
2
√ Gf
380 20
f ( 95 % )=
√ 1+7.65 x 10 −5
( 380 ) 2 √ 0.85
=531.07 gpm
20 20
f ( 5 % )=
√ 1+ 7.65 x 10 −5
( 20 ) 2 √ 0.85
=95.56 gpm
Ahora se dividen:
531.07
Rangeabilidad= =5.55
95.56
EJERCICIO 5.18
Consider the level loop shown in Fig. 5-3.3. The steady-state operating conditions
are f́ i= f́ 0=150 gpm and h́=6 ft .For this steady state, the FC valve requires a 50%
signal. The level transmitter has a range of 0 ¿ 20 ft .A proportional-only controller,
with K c =1 , is used in this process. Calculate the offset if the inlet flow increases to
170 gpm and the valve requires 57 %to pass this flow. Report the offset in % of scale
and in feet.
Solution:
% CO
directa del controlador: K c =−1 ¿
%¿
SOLUCIÓN
m ( t )= ḿ+ K c e (t)
e (t )=m−ḿ/K c
[ 57−50 ] %CO
e (t )=
%CO
−1 [ %TO ]
e (t )=−7 %TO
20 ft
e (t )=−7 %TO x
100 %TO
e (t )=−1.4 ft
EJERCICIO 6.3
A feedback control loop is represented by the block diagram of fig. 6-1.4. The
process can be represented by a first-order-lag and the controller is proportional-
integral (PI):
K
G 1(S )=
tS +1
1
GC (S)=K C 1+ ( tI S )
Without loss of generality you can set the process time constant t equal to 1, and
the process gain K equal 1.
a) Write the closed-loop transfer function and the characteristic equation of the
loop. Is there offset?
b) Is there an ultimate gain for this loop?
c) Determine the response of the closed-loop to a step change in set point for
t I =t as the controller gain varies from zero to infinity.
SOLUCIÓN
Tenemos:
K
G 1(S )= (1)
tS +1
1
GC (S)=K C 1+ ( tI S )
(2)
Resolviendo
K K
C(S)
=
( )(
tS+ 1
KC+ C
tI S)
R(S) K K
tS+1 ) ( t S)
1+( C
K + C
I
K tI S KC+KC
C(S) ( tS+ 1 ) ( t S )
I
=
R(S) K t SK +K
tS+1 ) ( )
1+( I C C
t S I
t I S K K C + KK C
C(S) t I S (tS+ 1)
=
R(S) t S K K C + KK C
1+ I
t I S (tS+1)
(t¿ ¿ I S+ 1) KK C
C(S) t I S (tS+1)
= ¿
R(S) (t¿ ¿ I S +1) KK C
1+ ¿
t I S (tS+1)
(t¿¿ I S+1) KK C
C(S) t I S(tS+ 1)
= ¿
R(S) (t¿ ¿ I S +1) KK C + t I S (tS+ 1)
¿
t I S (tS+1)
C(S)
=¿ ¿
R(S)
(t ¿¿ I S +1)KK C +t I S ( tS+1 ) =0 ¿
t I S tS+ t I S+ KK C t I S + K K C =0
t I t S2 +t I S ( 1+ KK C ) + K K C =0(5)
(t¿ ¿ I (0)+1)KK C KK C
lim 2
= =1 ¿
S →0 t I t (0) +t I (0) ( 1+ KK C ) + K K C KK C
Este resultado quiere decir que la variable controlada coincide con el set point en
el estado estacionario, por tal razón no hay offset.
b. Para poder saber si hay una ganancia última en el lazo de control, debemos
resolver la ecuación característica igualándola a 0 y reemplazando s=iw u y
K c =K cu:
t I t S2 +t I S ( 1+ KK C ) + K K C =0
t I t ( i wu )2 +t I (iw u) ( 1+ KK Cu ) + K K Cu =0
Se reemplaza i 2=−1
−t I t ( wu )2 +t I (i wu ) ( 1+ KK Cu ) + K K Cu=0
−t I t ( wu )2 +t I i wu + ( KK uC ) t I i wu + K K Cu =0
Organizando términos reales con términos imaginarios:
−t I t ( wu )2 + K K Cu ¿+ [ t I ( i wu ) ( 1+ KK Cu ) ]=0
−t I t ( wu )2 + K K Cu ¿=0
[ t I ( i wu ) ( 1+ KK Cu ) ]=0
Si w u=0 , entonces K K cu =0en el término real, lo que quiere decir que para este
proceso con un controlador PI, no hay ganancia última.
K K C ( τ 1 s +1 )
C (s )= ( R(s) )
( τs+1 ) ( τ 1 s ) + K K C ( τ 1 s+ 1 )
K K C ( τ 1 s +1 ) 1
( τs+1 ) ( τ s ) + K K ( τ s+ 1 ) s )
(
C (s )=
1 C 1
K C ( τs+1 ) 1
C (s )= ()
( τs+1 ) ( τs ) + K C ( τs+ 1 ) s
KC 1
C (s )=
[ ( τs ) + K C ] s ()
Dividimos por K C
1 1
C (s )=
τ
( s)
[( ) ]
KC
s +1
τ
Donde τ c =
KC
1 1
C (s )=
[ ( τ c s ) +1 ] s ()
Dividimos todo por τ c
1
τc
C (s )=
1 ( 1s )
[ ]
s+
τc
1 1
( 1s )
C (s )=
τc
[[ ]]s+
1
τc
Aplicamos Laplace inversa con la siguiente formula:
1 1 1
L
[ ( ) ] [( )
s+ a s
=
a
(1−e−at )
]
1 1
( 1s )
L [ C ( s) ]=
τc
L
[[ ]]
s+
1
τc
−1 −1
1
[ t
C (t )= τ c (1−e τ ) =1−e τ
τc
c
] c
t
−K C
t
τ
C (t )=1−e
EJERCICIO 6.6
Design of Gas Flow Control Loop.A flow control loop, consisting of an orifice in
series with the control valve, a differential pressure transmitter, and a controller, is
to be designed for a nominal process flow of 150 kscf/h (kscf = 1000 cubic feet of
gas at standard conditions of 60°F and 1 atm). The upstream conditions are
constant at 100 psig and 60”F, the downstream pressure is constant at 80 psig,
and the fluid is air (mol. wt. = 29). The valve has equal percentage characteristics
with ∝= 50, and a square root extractor is built into the transmitter so that its output
signal is linear with flow. The valve time constant is 0.06 min, and the transmitter
time constant is negligible. A proportional-integral (PI) controller controls the flow.
Draw the block diagram of the flow control loop, showing the specific transfer
functions of the controller, the control valve, and the flow transmitter. Write the
closed-loop transfer function for the loop, and find the time constant of the loop for
Kc = 0.9 %CO/%TO and τ I =τ v
SOLUCIÓN
El tamaño de un transmisor de flujo con un diseño del 150%, está dado por:
kscf kscf
(
f smax =1,5 f s=1,5 150
h )=225
h
100%TO %TO h
KT= =0,444
kscf kscf
225
h
1
(
Gc ( s )=K c 1+
τI s )
El tamaño de la válvula de control considerando que está completamente abierta;
C f =0,9
f s √¿
C v=
836 C f p 1 ( y−0,148 y3 )
Donde
1,63 Δ pv 1,63 p1 −p 2
y=
Cf √ p1
=
Cf √ p1
29lbmol
C v=
150 kscf /h
√
29lb
x ( 60+460 ) R
3
=0,05764
836 ( 0,9 ) ( 114,7 psia) ( 0,75−0,148 ( 0,75 ) )
ln ( α ) ln (50 ) kscf
Kv= fs x 150 kscf /h=5,87
100 %CO 100 %CO h %CO
Kv
Gv =
τ v s+1
La función de transferencia para lazo cerrado y la contante de tiempo para el lazo
Fs (s ) K sp G c ( s ) G v ( s )
sp
=
F (s )
s
1+ K T Gc ( s ) Gv ( s )
Kv 1
Fs (s )
=
(
K sp ∙ K c 1+
τ I s τ v s+ 1 ) ∙
F sp
s (s ) 1 Kv
1+ K T ∙ K c 1+ ( ∙
τ I s τ v s +1 )
Sabemos que τ I =τ v ; K sp =K T ; remplazando y resolviendo
τ v s+1 Kv τ v s +1 1
Fs (s )
=
KT K c
( τv s )( τ v s+1
=
) KT Kc K v
( τvs )( τ v s +1 )
F sp
s s
( ) τ v s ( τ v s+1 ) + K T K c K V ( τ v s+1 ) τ s+ K T K c K V
τ v s ( τ v s+1 )
( τ v s+1 ) v [
τ v s ( τ v s+1 ) ]
1
Fs (s )
=
KT Kc Kv (τ s)v
sp
F (s ) τ v s+ K T K c K V
s
[ τv s ]
Fs (s ) KT Kc K v 1
sp
= =
F (s )
s
τ v s + K T K c K V τ c s+1
KT Kc K v 1
=
τ v s + K T K c K V τ c s+1
τ v s+ K T K c K V
τ c s +1=
KT Kc KV
τ v s+ K T K c K V τ v s+ K T K c K V −K T K c K V
τ c s= +1=
KT K c KV KT K c KV
τv s
τ c s=
KT Kc KV
τv
τ c=
KT K c KV
0,06 min
τ c= =0,0256 min
%TO h kscf
( 0,444
kscf ) (
( 0,9 ) 5,86 )
h %CO