4 e−θs 4 e−θs 3. 使 G ( s )= = ( 0.4 s+1 )2 (2 s2 +3 s +1) ( 0.4 s+ 1 )2(2 s+1)(s+1) ~ −θs 近似值模型 G¿ ( s ) = K e τ~ s +1 In order for the approximate model and the original models to have the same steasy- state gain, we set ~ K=4 The largest time constant in G ( s ) to neglect is 1.
() ~τ =2+ 1 ( 1 )=2.5 2 Approximate the smallest time constant by 1 −0.4 s ≈e 0.4 s+1
Thus, ~ θ ≈ θ+ 1 2 () 2+ 2 ( 0.4 )=θ+ 1.8
−3 s −3 s 4.(a)使G ( s )= 320(1−4 s)e 80 (1−4 s )e = 2 24 s +28 s+ 4 (6 s+ 1)(s+1) Gain = 80 ; Time delay =3 ; Time constantτ 1 =6,τ 2=1 ; Poles = -1,-1/6 ; Zeros = 0.25 (b)自從 τ a=−4<0 時，將會有逆反應。
5.(a) p ( t ) =p + K c [ y sp ( t )− y m ( t) ]式 8-1 8-2
y m ( t )=K T h ( t ) ※ h 是 liquid level 當 K T > 0 , 得到 direct acting transmitter. The control -valve relation is q ( t )=K v p(t ) ※ q 是 manipulated flow rate K v 是 control valve.
(a) Configuration (a) in Fig. E8.5:
As h increase, we want to decrease q i, the inlet flow rate. For an air-to-close control valve, the controller output p should increase. Thus as h increase p decrease → a direct-acting controller. Configuration (b): As h increase, we want to increase q , the exit flow rate. For an air-to-close control valve, the controller output should decrease. Thus as h increases p decrease → a reverse-acting controller. (b) Configuration (a) in Fig. E8.5: As h increase, we want to decrease q i, the inlet flow rat. For an air-to-open control valve, the controller output p should decrease. Thus as h increase p decrease → a reverse-acting controller. Configuration (b): As h increase, we want to increase q , the exit flow rate. For an air-to-open control valve, the controller output should increase, Thus as h increase p increase → a direct-acting controller. ( ) P( s) 1 Kc M 6. =K c 1+ =K c + E ( s )= E( s) τ1 s τ1 s s Kc M K c M K M P ( s )= + 2 將此式作拉普拉斯轉換得 P ( t ) =K c M + c t for t ≥0 s τ1 s τ1 M = - 2.5 mA 一開始電流的瞬間變化 = - 1.3 mA −1.3 mA −1.3 mA K c= = =−0.52 M 2.5 mA Kc M 斜率= = -0.0335 mA/sec τ1 K c M −0.52(2.5 mA ) τ1= = =2.6 sec K c M −0.05 mA /sec τ1 K c 是負值，∴是 direct acting。
7.Gc ( s )=K c =5 ma/ma
假設 τ m=0 , τ v =0 , and K 1=1 (a) Offset = T 'sp ( ∞ )−T ' ( ∞ )=5 ℉−4.14 ℉=0.86 ℉
(b) T (s) = ' K m K c K IP K v ( τs+1 K2 ) ' T sp(s) K2 1+ K m K c K IP K v ( ) τs+1 Using the standard current range of 4-20 ma, 20 ma−4 ma Km= =0.32 ma/℉ 50 ℉ 5 K v =1.2 , K IP=0.75 psi/ma , τ =5 min , T 'sp = s ' 7.20 K 2 T ( s )= s(5 s+1+1.440 K 2 ) ' ' 7.20 K 2 T ( ∞ )=lim s T ( s )= s→ 0 (1+1.440 K 2 ) T ' ( ∞ )=4.14 ℉ K 2=3.34 ℉ / psi (c) From Fig.11.7, since T i' =0 ' ' ' Pt ( ∞ ) K v K 2=T ( ∞ ) , Pt ( ∞ ) =1.03 psi And P't K v K 2 +T i K 1=T , Pt =3.7 4 psi ' Pt ( ∞ ) =P t−Pt ( ∞ )=2.71 psi 8. (a) Y =Y 3+ Y 2=G3 Z +G2 P Y =G 3 ( D+Y 1 ) +G2 K c E Y =G 3 D+G3 G1 K c E+G2 K c E Y =G 3 D+ ( G3 G1 K c +G2 K c ) E E=−K m Y Y =G 3 D−K c (G3 G1 +G2 )K m Y Y G3 = D 1+ K c (G3 G1+ G2) K m (b) 特徵方程式： 1+ K c ( G3 G1 +G2 ) K m=0
1+ K c [ 5 + 4 s−1 2 s +1 =0 ] 1+ K c [ (s−1)( 2 s+1) ] 5 ( 2 s +1 ) +4 (s−1) =0
( s−1 )( 2 S +1 ) + K c [ 5 ( 2 s+1 ) + 4 ( s−1 ) ] =0
2 2 s −s−1+ K c ( 10 s +5+ 4 s−4 )=0 2 2 s + ( 14 K c −1 ) s+ ( K c −1 )=0
必要條件： K c > 1 ∧K c >1
14 → K c >1 will result in a stable closed-loop system.
