Tutorial Sol CH 11

McMaster University
Solutions for Tutorial 11

Digital Control
11.1 Your goal is to control the

concentration of B in the reactor effluent
by adjusting the pure A control valve.
In Tutorial 9, your determined the tuning

for the proposed PID controller based on
the process reaction curve in Figure 9.5,
with concentrations in mole/m3 and time
in minutes. The results are reported here.
τ = 1.5 ( t63% - t28% ) = 1.5 ( 13.4 – 8.56 ) = 7.2 minutes

θ = t63% - τ = 13.4 – 7.2 = 6.2 minutes
Kp = ∆/δ = 2.5 mole/m3 / 10% open = 0.25 (mole/m3)/%open
PID tuning from the Charts, Figure 9.5 a-c.
θ/(θ+τ ) = 6.2/(13.4) = 0.47

KcKp = 0.9 Kc = 0.9/0.25 = 3.6 %open/ (mole/m3)
TI/(θ+τ) = 0.67 TI = 0.67 (13.4) = 9.0 min
Td/(θ+τ) = 0.06 Td = 0.06 (13.4) = 0.80 min
The analyzer to be used for control is not continuous; it provides a new measurement
from a sample every 10 minutes. Estimate the tuning for a PID controller.
First, we note that the controller execution period should be not be shorter than
the time between new measurement values. This guideline makes sense because
there is no advantage to perform feedback without (new) information about the
controlled variable.
We will apply the guideline that tuning should be calculated using the modified
dead time, which is the sum of the process dead time and one half of the
execution period of the controller.
θ’ = θ + ∆t/2 = (6.2 + 5) = 11.2
11/12/2005 Copyright © 2005 by T. Marlin 1

McMaster University
PID tuning from the Charts, Figure 9.5 a-c.
θ’/(θ’+τ ) = 11.2/(18.4) = 0.61

KcKp = 0.7 Kc = 0.7/0.25 = 2.8 %open/ (mole/m3)
TI/(θ’+τ) = 0.61 TI = 0.6 (18.4) = 11.04 min
Td/(θ’+τ) = 0.10 Td = 0.1. (18.4) = 1.84 min
We note that the tuning is less aggressive, with a smaller controller gain and
larger integral time.
11.2 Suppose that you had an option to purchase a different analyzer with a faster
measurement period for the feedback control system in Tutorial Question 11.1. What
would be a good sample period?
We would like to have a faster sample period, so that we could improve the
feedback control performance. Naturally, a period of 0.0, which is a continuous
measurement, would be ideal. Perhaps, a continuous measurement is not possible
or is very costly. Therefore, we would like to determine the slowest sampling
period that would not significantly affect the control performance.
The textbook provides a guideline that the sampling period should be less than
5% of the t63% of the process reaction curve. An acceptable sampling period is
calculated below using the guideline.
Sampling period = ∆t = 0.05 (13.4) = 0.68 minute
11.3 The textbook gives advantages and disadvantages for distributed computing in a
digital control system. Discuss additional advantages and disadvantages.
Advantages
1. Low initial cost, because the smallest system requires limited equipment.
2. Possible to perform control near the sensor and valve, reducing
transmission time.
3. Information for processes that are far apart geographically can be used for
control and monitoring.
Disadvantages
1. High cost for a single controller compared with an analog system, because
the digital system requires more infrastructure.
2. Control at the sensor and valve requires more time to repair, because a
person must travel to the local, which could be 100s of meters.

McMaster University
3. More parallel equipment would increase the failure rate, although the
impact of each failure would be limited because of the few controllers per
computer.
4. Equipment from different vendors is difficult to integrate. The ability to
integrate is termed “interoperability”.
5. Loss of the LAN would not directly affect feedback control; however, the
operating personnel could not monitor or intervene.
6. The communication between processors must not be at too high a rate to
prevent overloading the LAN.
11.4 Search library references and the internet for examples of on-stream analyzers that
provide essentially continuous and that provide periodic, sampled measurements.
Describe examples of sampled measurements and why these sensors do not provide
continuous values.
11.5 Search library resources and the internet for information on new digital technology for
sensors, valves and signal transmission between the control room and the field devices (sensors
and valves). You can use the following key worlds; smart sensors, digital valve positioners,
fieldbus. Briefly describe advantages and disadvantages for (a) digital sensors, (b) digital
computation at the valve, and (c) digital signal transmission.

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Solutions for Tutorial 11

11.1 Your goal is to control the

In Tutorial 9, your determined the tuning

τ = 1.5 ( t63% - t28% ) = 1.5 ( 13.4 – 8.56 ) = 7.2 minutes

PID tuning from the Charts, Figure 9.5 a-c.

θ/(θ+τ ) = 6.2/(13.4) = 0.47

θ’ = θ + ∆t/2 = (6.2 + 5) = 11.2

11/12/2005 Copyright © 2005 by T. Marlin 1

PID tuning from the Charts, Figure 9.5 a-c.

θ’/(θ’+τ ) = 11.2/(18.4) = 0.61

Sampling period = ∆t = 0.05 (13.4) = 0.68 minute

11/12/2005 Copyright © 2005 by T. Marlin 2

11/12/2005 Copyright © 2005 by T. Marlin 3

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