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: : CH33 Process Dynamics and Control
: 1
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2 :
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: 2
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1 : =
2 : = -
3 : = . - .
4 : = - + .
: 6
1 :
2 :
3 :
4 :
: 7
1 : HYSIS,ASPEN DYNAMICS 2 : MATHLAB, SIMULINK 3 : AUTOCAD, CFD 4 : 1. 2.
: 8time delay
1 :
2 : 1 2 3 :
4 :
: 9
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4 :
: 13
1 : reverse acting Kc<0 2 : reverse acting Kc>0
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3 : direct acting Kc<0 4 : 2. 3.
: 14
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: 15
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1 : 20 kg/m3 2 : 40 kg/m3 3 : 50 kg/m3 4 :
: 16
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1 : 12.5 min 2 : 5.5 min 3 : 10 min 4 : 11.5 min
: 17 I
1 :
2 :
3 :
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4 :
: 18 50-150
1 : zero 0
2 : zero 50
3 : 150 c 4 : 1. 3.
: 19
(valve charecteristic)(f) (l) (R)
1 :
2 :
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4 :
: 20
Quick opening (valve charecteristic)(f)
(l) (R) Quick opening
1 :
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: 21
Equal percentage (valve charecteristic)(f) (l) (R) Equal percentage
1 :
2 :
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3 :
4 :
: 22
1 : (proportional)
2 : -
3 :
4 : PID
: 23
1 :
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3 : 16 of 235
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4 : 1. 3.
: 24
1 :
2 :
3 :
4 :
: 25
1 :
2 :
3 :
4 : 1. 2.
: 26
Transfer fuction
- Transfer fuction (Gp(s)) = 1/(3s+1)- Transfer fuction (Gm(s)) = 1.7- Transfer fuction (Gv(s)) = 0.2- Transfer fuction (Gc(s)) = 4[1+1/(10s)]
closed-loop transfer function set-point change (G(s) = Y(s)/Ysp(s)) 1 : (15s+1)/[(10.10s+1)(0.91s+1)] 2 : (10s+1)/[(12.82s+1)(0.5s+1)] 3 : (10s+1)/[(12.82s+1)(0.86s+1)] 4 : (s+1)/[(12.82s+1)(15s+1)]
: 27
Transfer fuction
- Transfer fuction (Gp(s)) = 1/(3s+1)- Transfer fuction (Gm(s)) = 1.7- Transfer fuction (Gv(s)) = 0.2- Transfer fuction (Gc(s)) = 4[1+1/(10s)]
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1 :
2 :
3 :
4 :
: 28
1 :
2 :
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3 :
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4 : 2. 4.
: 29
1 :
2 :
3 :
4 : 1. 3.
: 30
1 :
2 :
3 :
4 : 2. 3.
: 31
1 :
2 :
3 : (Sensitive)
4 : 1. 2.
: 32 Ziegler Nichols P
1 : Kc =0.6Kcu 2 : Kc =0.55Kcu 3 : Kc =0.5Kcu
4 : Kc =0.45Kcu
: 3319 of 235
Ziegler Nichols PI
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g 1 : Kc =0.6Kcu 2 : Kc =0.55Kcu 3 : Kc =0.5Kcu 4 : Kc =0.45Kcu
: 34 Ziegler Nichols PID
1 : Kc =0.6Kcu 2 : Kc =0.55Kcu 3 : Kc =0.5Kcu
4 : Kc =0.45Kcu
: 35
1 :
2 :
3 :
4 : 1. 3.
: 36
jacket air-to-open
(Kp) (Kv) (Kc)
1 : Kp = +, Kv = -, Kc = + 2 : Kp = +, Kv = -, Kc = - 3 : Kp = -, Kv = +, Kc = + 4 : Kp = +, Kv = +, Kc = +
: 37
Phase Lag
1 : 45
2 : 90 20 of 235
3 : 180
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4 : 360
: 38Phase Lag
1 : 45
2 : 90
3 : 180
4 : 270
: 39
Phase Lag
1 : 45
2 : 90
3 : 180
4 : 270
: 40
Phase Lag
1 : 1
2 : 0
3 : 360
4 :
: 41 50-150
1 : 150
2 : 100
3 : 100/16 1/mA
4 :
2.
3.
: 4221 of 235
PI
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1 :
2 :
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4 :
: 43 (derivative) ( )
1 :
2 :
3 :
4 :
: 44 PD ( )
1 :
2 :
3 :
4 :
: 45
1 : (proportional)
2 : -
3 :
4 : PID
: 46
1 : (proportional) 2 : -
3 : 22 of 235
4 : PID
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: 47 (direct synthesis)
1 : P 2 : PI 3 : PID 4 : I
: 48 (direct synthesis)
1 : P 2 : PI 3 : PID 4 : I
: 49
1 : transmitter direct acting, valve Air-to-open ,controller direct acting
2 : transmitter direct acting, valve Air-to-open ,controller reverse acting
3 : transmitter direct acting, valve Air-to-open ,controller reverse acting
4 : 1. 2.
: 50
1 :
2 :
3 :
4 :
: 5123 of 235
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: 52
1 :
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4 :
: 53
jacket air-to-close
(Kp) (Kv) (Kc) : 1 : Kp = +, Kv = -, Kc = + 2 : Kp = +, Kv = -, Kc = - 3 : Kp = -, Kv = +, Kc = + 4 : Kp = +, Kv = +, Kc = -
: 54
. self regulating system
. input ramp
. Y(s) = 2/(s3+6s2+10s)
1 :
2 :
3 :
4 :
: 55
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4 :
: 56
1 : (s plane) 2 : (s plane)
3 :
(s plane) 4 : (s plane)
: 57
(critically damped system)
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: 60
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: 60
1 : 4-14 mA 2 : 5-15 mA 3 : 4-20 mA 4 : 5-20 mA
: 61Proportional band (PB) Kc
1 : PB = 10Kc
2 : PB = 100Kc 3 : PB = 10/Kc 4 : PB = 100/Kc
: 62
1 :
2 :
3 :
4 :
: 63
1 :
2 :
3 :
4 :
: 64 (Ziegler-Nichols)
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: 65
(dead time) D
1 :
2 :
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4 :
: 66
(ultimate gain)
1 : 4 2 : 16 3 : 32
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4 : 64
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: 67
(root locus)
1 : 1 0.2 2 : -1 -0.2 3 : 1 5 4 : -1 -5
: 68
(closedloop characteristic equation)
1 : Kc 55 2 : Kc 30 3 : Kc 30 4 : Kc 33 of 235
: 69 (Nyquist plot) (dead time)
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: 70 ( )
1 :
2 :
3 :
4 :
: 71
1 : Nyquist plots 2 : Bode plots 3 : Nichols plots 4 : Laplace plots
: 72
1 : 0-2 bar 2 : 1-3 bar 3 : 3-30 psig 4 : 3-15 psig
: 73
on
off 1 :
2 : 34 of 235
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4 :
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: 74 air-to-closed (AC)
1 :
0% 2 : 25% 3 : 50% 4 : 100%
: 75
air-to-open (AO)
1 : 0% 2 : 25% 3 : 50% 4 : 100%
: 76
1 : 20%
2 : 25%
3 : 30%
4 : 20%
: 77Gain margin = 2
1 : Nyquist plot GM(s)GC(s) 2 2 : Nyquist plot GM(s)GC(s) 0.5 3 : Nyquist plot GM(s)GC(s) -2
4 : Nyquist plot
GM(s)GC(s)
-0.5
: 7835 of 235
action
1 : NC NO
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2 : FC FO 3 : direct reverse 4 : ON OFF
: 79log modulus dead time (D)
1 : 0 2 : 20 3 : -20 4 : -40
: 80
KC gain margin 2
1 : 8 2 : 16 3 : 32 4 : 64
: 81
KC phase margin 45o 36 of 235
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1 : 3.3 2 : 11.3 3 : 22.6 4 : 33.3
: 82Algorithm overshoot
1 : Proportional 2 : Integral 3 : Linear 4 : Derivative
: 83Algorithm
1 : Proportional 2 : Integral 3 : Linear 4 : Derivative
: 84Algorithm
1 : Proportional 2 : Integral 3 : Linear
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4 : Derivative
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: 85Algorithm
1 : Proportional
2 : Integral 3 : Linear 4 : Derivative
: 86Algorithm
1 : Proportional 2 : Integral 3 : Linear 4 : Derivative
: 87
Algorithm
1 : Proportional 2 : Integral 3 : Linear 4 : Derivative
: 88Algorithm reset windup
1 : Proportional 2 : Integral 3 : Linear 4 : Derivative
: 89Phase margin
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1 : -90
2 : -45
3 : 15
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3 : 15
4 : 45
: 90log modulus load closedloop transfer function
1 : 0 2 :
3 :
4 : 90
: 91log modulus setpoint closedloop transfer function
1 : 0 2 :
3 :
4 : 90
: 92 “ Dynamic System”
1 :
2 :
3 : (Control Volume) 4 :
: 93 “ System”
1 : Process 2 : Model 3 : Plant 4 :
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: 94
Process, plant Model
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Process, plant Model 1 : Process, Plant Model
2 : Process Model
3 : Plant Process
4 : 2. 3.
: 95 Process, plant Model
1 : Process, Plant Model
2 : Process Model
3 : Plant Process
4 : 2. 3.
: 96
1 : time delays 2 : time constant 3 : rise time 4 : settling time
: 97 ± 5%
1 : time delays 2 : time constant 3 : rise time 4 : settling time
: 98
1 : time delays40 of 235
2 : time constant 3 : rise time 4 : settling time
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4 : settling time
: 99
1 :
2 :
3 :
4 :
: 100
1 : 1 2 : 1 3 : 1 4 : 0
: 101 time constant
1 :
2 :
3 : 1 4 : 0
: 102
. porprotional action offset . reset windup
derivative action . Y(s) = (1-s)/[s2+2s+4)
1 :
2 :
3 :
4 : 41 of 235
: 103
set-point
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p
1 : air to close, controller action direct action 2 : air to open, controller action direct action 3 : air to close, controller action reverse action 4 : air to open, controller action reverse action
: 104
1 :
2 :
3 : 1 4 : 0
: 105
.
feedforward
. Y(s) = 2(1+s)/[s3+3s2-3s+1)
. feedback
1 :
2 :
3 :
4 :
: 106 time constant
1 :
2 :
3 : 0 4 : 1
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: 107 time constant
1 :
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2 :
3 : 1 4 : 0
: 108
1 :
2 :
3 : 1 4 : 0
: 109
1 : 0 – 15 volts 2 : 3 – 15 psi 3 : 4 – 20 mA 4 : 1 – 5 watts
: 110
1 : 0 – 15 volts 2 : 3 – 15 psi 3 : 4 – 20 mA 4 : 1 – 5 watts
: 111 air to open
1 :
2 : 43 of 235
3 :
4 :
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: 112 fail open
1 :
2 :
3 :
4 :
: 113
Proportional
1 :
2 :
3 : reset windup 4 : Off set
: 114 Integral
1 :
2 :
3 : reset windup 4 : Off set
: 115 derivative
1 :
2 :
3 : noise 4 : Off set
: 11644 of 235
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4 : pole
: 121
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1 : pole
2 :
pole
3 : pole
4 :
: 122
1 : pyrometer 2 : thermister 3 : thermocouple 4 : RTD
: 123
Mathematical Modeling
1 :
2 :
3 :
4 : Transfer Function
: 124 Mathematical Modeling
1 : Process
2 :
3 :
4 :
: 125 Mathematical Model Theoretical Model Empirical Model
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3 :
4 :
: 130Gain margin
1 : BODE Plot 2 : Root- Locus 3 : Step response 4 : Nichol
: 131
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.
.
.
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1 :
2 :
3 :
4 :
: 132
1 : Openloop response Closed loop response
2 :
Openloop response
Closed loop response
3 : Openloop response
4 : Openloop response
: 133
Temperature transmitter 0-100 4 – 16 mA 40
1 : 16 mA 2 : 11.2 mA 3 : 8.8 mA 4 : 6.4 mA
: 134
Process time constant Dead time
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1 : Process time = 1 Dead time = 1
2 : Process time = 25 Dead time = 1
3 : Process time = 6 Dead time = 5
4 : Process time = 5 Dead time = 1
: 135 closed loop control open loop control
1 : Open loop control recycle. 2 : Closed loop control recycle 3 : open loop control closed loop control recycle recycle
4 :
open loop control
recycle
recycle
closed loop control recycle
: 136 PID
1 : Response time
2 : Settling time 3 : % overshoot 4 :
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: 137
feed back control feed forward control 1 : Feed back control
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1 : Feed back control
2 : Feed forward control feed back control Feed forward control Manipulate
3 : Feed Forward control control variable Feed back control control variable 4 :
: 138 ratio control
1 : feed forward 2 : 2
3 : Ratio control
4 : 1 2
: 139 cascade control
1 : 2 control loops control variable
2 : Control variable control loop set point control loop
3 : feed back control feed forward control 4 : 2 3
: 140y(s) = 5/s(s+1) y
1 : 5 2 : 2 3 : 0.5 4 : 0.2
: 141
offset 1 : P
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2 : PI 3 : PID 4 : PD
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: 142 1 oscillate
1 : P 2 : I 3 : PI 4 : 2 3
: 143
1 : PID 2 : P 3 : D 4 : 3 4
: 144 gain reset time PI –controller 1
1 : gain reset time oscillate
2 : gain reset time oscillate
3 : gain reset time oscillate
4 : gain reset time oscillate
: 145 controller PID
1 : gain oscillate derivative time constant 2 : gain oscillate overshoot
3 : gain oscillate overshoot derivative time constant 4 : offset D mode
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: 146 PID controller 1
1 : offset oscillate
2 : offset oscillate
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3 : offset oscillate 4 : offset oscillate
: 147 ratio control
1 : feed back control 2 : feed forward control 3 : manipulated variables
4 : 1 3
: 148
1 : ratio control controlled variable manipulated variable
2 : ratio control manipulated variable disturbance
3 : ratio control disturbance controlled variable ma
4 : ratio control disturbance manipulated variable
: 149
1 : Gain margin 180
2 : Gain margin -180
3 : Gain margin 180
4 : Gain margin -180
: 150
1 : Phase margin amplitude ratio = 1 2 : Phase margin 180 O amplitude ratio = 1
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3 : Phase margin -180 O amplitude ratio = 1 4 : Phase margin 90 O amplitude ratio = 1
: 151
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: 151
1 : Multiple loop control system
controlled variable
1
manipulated variable
1
2 : Multiple loop control system controlled variable 1 manipulated variable 1
3 : Multiple loop control system controlled manipulated variables variable 1
4 : 1, 2 3
: 152
1 :
2 :
3 :
4 :
: 153
B isothermal CSTR ( , k) A A , V,
A F0 CA0 1 : d(CA)/dt = F( CA0-CA) + kVCA 2 : d(CA)/dt = F( CA0-CA) + kCA 3 : d(CA)/dt = F( CA0-CA)/V + kCA /V 4 : d(CA)/dt = F( CA0-CA)/V + kCA
: 154 input sine wave A output B
1 : Amplitude ratio = A/B 2 : Amplitude ratio = AB 3 : Amplitude ratio = B/A 4 : Amplitude ratio = |B-A|/A
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: 155
1 : Openloop response Closed loop response
2 : Air to close Air to open
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3 : Air to close
4 : Air to open
: 156Degree of Freedom process control
1 : -
2 : - + disturbance 3 : – disturbance –
4 : –
disturbance
: 157 single control loop
1 : control valve
2 : controller
3 : controller 1
4 : 1 2
: 158 - air to close air to open
1 : valve seat – valve plug air inlet orientation/spring 2 : valve seat – valve stem air inlet orientation/spring 3 : valve plug – valve stem air inlet orientation/spring 4 : valve position indicator- valve stem air inlet orientation/spring
: 159Temperature transmitter 50-150 4-20 mA
1 : zero = 0, span = 100, transmitter gain = 0.16 2 : zero = 0, span = 16, transmitter gain = 0.16
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3 : zero = 4, span = 100, transmitter gain = 0.16 4 : zero = 50, span = 100, transmitter gain = 0.16
: 160
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Gain margin
1 : gain controller ultimate gain 2 : gain controller ultimate gain 3 : amplitude ratio gain controller crossover frequency 1 4 : amplitude ratio crossover frequency
: 161Phase margin
1 : amplitude ratio=1 -180
2 : amplitude ratio=1 180
3 : crossover frequency -180
4 : crossover frequency 180
: 162Phase margin gain margin
1 : phase margin 0 gain margin 1 2 : phase margin 1 gain margin 0 3 : phase margin 0 gain margin 1 4 : phase margin 1 gain margin 0
: 163
1 : Ratio controller controlled variable setpoint
2 : feedback control loop, ratio controller
3 : Ratio controller feed forward control loop set point
4 :Ratio control feed forward control loop feedback control loop disturbance controlled variable
manipulated variable
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: 164
1 :
2 :
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3 :
4 :
: 165
1 :
2 :
3 :
4 :
: 166
characteristic
240 S3 + 120 S2 + (26-16 k)s + (1+4k) = 0
1 : ultimate gain = 1 ultimate frequency = 24-0.5 2 : ultimate gain = 1 ultimate period = 24-0.5 3 : ultimate gain = 2 ultimate frequency = 24-0.5 4 : ultimate gain = 2 ultimate period = 24-0.5
: 167
transfer function Y
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1 : a 2 : b 3 : c 4 : d
: 168
1 : Kc (proportional) offset
2 : Kc (proportional)
3 :
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4 : 1. 2.
: 169
1 : Kc (proportional) offset
2 : Kc (proportional)
3 :
4 :
: 170
1 : Kc
2 : Kc
3 :
4 : 1. 3. 60 of 235
: 171
. feedback
. integral action
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. Y(s) = 2/[s2-3s+1)
1 :
2 :
3 :
4 :
: 172
1 :
2 :
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1 : Kc
2 :
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3 :
4 : 1. 2.
: 174
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1 : P 2 : PI 3 : PID 4 : PD
: 175
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: 176
1 :
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1 : P 2 : PI 3 : PID 4 : PD
: 178
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1 :
2 :
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4 :
: 179
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1 : 1. 2.
2 : 2. 1.
3 : 1. 3.
4 :
: 180
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4 :
: 181
Valve characteristic (f(x))
1 :
2 :
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4 :
: 182
1 : -2 < k < 14/9 2 : 0 < k < 14/9 3 : -2 < k < 0
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4 : 14/9 < k < 2
: 183 Kc
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1 : Kc > 1
2 : Kc > - 1
3 : Kc < 1
4 : Kc < -1
: 184
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3 :
4 :
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: 185Control valve
1 : Air to open
2 : Air to close Air to open 3 : Air to close
4 : Air to open
: 186
Gain margin
1 : BODE 2 : Root- Locus 3 : Step response 4 : Nichol
: 187
1 :
2 :
3 :
4 : 1
: 18878 of 235
1 :
2 :
3 :
4 :
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: 189
1 :
2 :
3 :
4 :
: 190
F1
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1 : h
2 : T1
3 : T
4 :
: 191
F2
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1 : T2
2 : T
3 : T
4 :
: 192 T1 = T2
1 : h
2 : F1
3 : F2 81 of 235
4 :
: 193 T1 > T2
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1 : F2 T1
2 : F2 T
3 : F1 T
4 : F1 T
: 19482 of 235
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1 : A 2 : h 3 : T 4 : Q
: 195
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1 : A 2 : h 3 : T 4 : Q
: 196
Q
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1 : h
2 : h
3 : T
4 : T
: 197
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1 :
2 :
3 :
4 :
: 198
Q 1 T 2 h
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1 : T Q 2 :
T Q
3 : Q h 4 :
: 199
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1 : F0 F1 2 : F1 F2 3 : F0 F2 4 : F0 F3
: 200
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1 : F1 F2 2 : F0 F3 3 : F1 F3 4 : h1 h2
: 201
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1 : 1 2 h1 > h2 2 : 1 2 F0 > F3 3 : 2
F3 > F2 4 : 1 F0 > F1
: 202
F3 h2
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1 : F3 = h2 2 : F3 h2
3 : F3
h2 4 :
: 203
F1 h1 h2
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1 : F1 h1 2 : F1 h2
3 : F1
(h1 – h2) 4 : F1 (h1 – h2)
: 204
F2 = h2
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1 : h1
2 : F1
3 : h2
4 :
: 206
F0 F3
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1 : h2
2 : F2
3 : h1
4 :
: 207
h1
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1 : F0
2 : h1 = h2 F0
3 : F2 = F 3
F0
4 : F1 = F2 F0
: 208
F0 > F3 h 1 > h2
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1 : F1 h2
2 : F1 h1
3 : h2
F2
4 :
: 209
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1 : Fi F Ti T 2 : Fi Ti h A 3 : Fi Ti Q 4 : h F T
: 210
( )
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1 : F Q 2 : T A 3 : F T 4 : h T
: 211
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1 : T
2 :
3 :
4 : 3 4
: 212
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1 :
2 :
3 :
4 :
: 213
Degree of freedom
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1 :
2 :
3 :
4 :
: 214
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1 : Q
2 : Q Ti < T 3 : Q Ti > T 4 :
: 215
h Q T
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1 : Q h
2 : T h
3 : Q T h
4 :
: 216
Ti
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1 : Q
2 : Q
3 : T
4 : T
: 217
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1 : Q
2 : Fi
3 : Fi Ti
4 : Q Fi Ti
: 218
Q
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1 :
2 :
3 :
4 :
: 219
F h
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1 : F h 2 : F h 3 : F h 4 : F h
T
: 220
Fi
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1 : Ti
2 : T
3 : F
4 : Q
: 221
Fi
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1 : Ti
2 : T
3 : F
4 : h
: 222
1 :
2 :
3 : 110 of 235
4 :
: 223 action
1 : NC, NO 2 : FC, FO
3 : direct, reverse 4 : on, off
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: 224
FT 101
1 : Sensor
2 : Transmitter 3 : Controller111 of 235
4 : Transducer
: 225 ----
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1 :
2 :
3 :
4 :
: 226
1 :
2 : 112 of 235
3 :
4 :
: 227
1 : Feed back
2 : Feed forward 3 : Ratio 4 : Cascade
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: 228
400 gal/min 15 psig 0 gal/min
3 psig . zero = 3 psig . span = 400 gal/min . gain = 33.33 (gal/min)/psig 1 :
2 :
3 :
4 :
: 229 action
1 : NC, NO 2 : FC, FO 3 : direct, reverse 4 : on, off
: 230
loop
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1 : 1 2 : 2 3 : 3 4 : 4
: 231
LT 101
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1 : Sensor 2 : Transmitter 3 : Controller 4 : Transducer
: 232
PLC 101
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1 : Sensor 2 : Transmitter 3 : Controller 4 : Transducer
: 233
FY 101C
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1 : Sensor 2 : Transmitter 3 : Controller 4 : Transducer
: 234
FCV 102
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1 : Sensor 2 : Control valve 3 : Controller 4 : Transmitter
: 235
FE 101
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1 : Sensor 2 : Control valve 3 : Controller 4 : Transmitter
: 236
FIC 101
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1 : boiler 2 : fuel 3 :
4 :
: 237
FT 101
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1 : boiler 2 : fuel 3 :
4 :
: 238
FY 102B
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1 : boiler 2 : fuel 3 :
4 :
: 239
----
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1 :
2 :
3 :
4 :
: 240
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1 : Feedback 2 : Ratio 3 : Cascade 4 : Feedback + ratio
: 241
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1 : Feedback 2 : Ratio 3 : Feedback + ratio 4 : Feedback + cascade
: 242
102
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1 : Feedback 2 : Ratio 3 : Feedback + ratio 4 : Feedback + cascade
: 243
setpoint
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1 : Local 2 : Dual 3 : Remote 4 : Balance
: 244 setpoint
1 : Local 2 : Dual 3 : Remote 4 : Balance
: 245 101 setpoint 127 of 235
1 : Local 2 : Dual 3 : Remote 4 : Balance
: 246 102 setpoint
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1 : Local 2 : Dual 3 : Remote 4 : Balance
: 247
128 of 235
1 : Time delays response 2 : Overshoot response 3 : unstable response 4 : inverse response
: 248 poles = 3 ± 2 i
1 : Time delays response 2 : Overshoot response 3 : Unstable response4 I
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4 : Inverse response
: 249 poles = 3, -2
1 : Time delays response 2 : Overshoot response 3 : Unstable response 4 : Inverse response
: 250
poles = -1, -3
1 : Time delays response 2 : Stable response 3 : Overshoot response 4 : Inverse response
: 251 zero = 3
1 : Time delays response 2 : Overshoot response 3 : Stable response 4 : Inverse response 129 of 235
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2 : S oxidizing inert
3 : J
4 : K
: 257 Thermister
1 :
2 :
3 :
4 :
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: 258
1 :
2 :
3 :
4 :
: 259
10
1 :
2 :
3 :
4 :
: 260
1 :
2 :
3 :
4 :
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: 261
1 :
2 :
3 :
4 :
: 262
1 :
2 : Dead weight
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2 : Dead weight 3 :
4 :
: 263
1 :
2 :
3 :
4 :
: 264
1 :
2 :
3 :
4 :
: 265
1 :
2 : 132 of 235
3 :
4 :
: 266
1 :
2 :
3 :
4 :
267
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: 267
1 :
2 :
3 :
4 :
: 268
1 :
2 :
3 :
4 :
: 269
1 :
2 :
3 :
4 :
: 270133 of 235
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3 :
4 : 2. 3.
: 273
1 : Air to close 2 : Air to open 3 :
4 :
: 274 controller action
1 : air to close, controller action direct action 2 : air to close, controller action reverse action 3 : air to open, controller action direct action
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y(s) =(5s+2)/[s(5s+4)] y(0) yss
1 : y(0) = 0.5, yss = 1 2 : y(0) = 1, yss = 0.5 3 : y(0) = 0.5, yss = 0.5 4 : y(0) = 2, yss = 0.5
: 280
a b (s+5)/[(s+1)(s+4)] = a/(s+1) + b/(s+4)
1 : a = 4/3, b = -1/3 2 : a = -4/3, b = 1/3 3 : a = 1/3, b = -4/3
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4 : a = -1/3, b = 4/3
: 281
Control valve
1 : Air to open
2 : Air to close Air to open 3 : Air to close
4 : Air to open
: 282
, q, , q1, , h, q1 = h/R
A
1 : Transfer function H(s)/Q(s) = 1/(ARs +1) Q1(s)/Q(S) = R/(AS+1/R) 2 : Transfer function H(s)/Q(s) = R/(ARs +1) Q1(s)/Q(S) = R/(AS+1/R)
3 : Transfer function H(s)/Q(s) = 1/(ARs +1)
Q1(s)/Q(S) = 1/[R(AS+1/R)] 4 : Transfer function H(s)/Q(s) = R/(ARs +1) Q1(s)/Q(S) = 1/[R(AS+1/R)]
: 283
2 A CA0 CA2 transfer function
CA2(s)/CA0(s) = 0.5/(5s+1)2 sine wave 0.1 mole/m3 0.2 rad/min
1 : A 0.25 mol/m3
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2 : A 0.5 mol/m3 3 : A
0.05 mol/m3
4 : A 0.025 mol/m3
: 284
transfer function perturbation A CA2p(s)/CA0p(s) = 0.5/(5s+1)2 CA2 CA0p= 2 mole/l ( CA0, CA0 = 1.5 mole/l, CA2 = 1 mole/l)
1 : CA2
2 : CA2 = 1 mole/l 3 : CA2 = 1.5 mole/l 4 : CA2 = 2 mole/l
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: 285
transfer function G(S) = 12/(8s+1)
1 : critical frequency 8 2 : resonance frequency 1.5 3 : corner frequency 0.125 4 : ultimate frequency 0.1
: 286
critical frequency amplitude ratio =0.235
1 : ultimate gain 0.235 2 : ultimate gain 4.255 3 : gain margin 4.255 4 : 2 3
: 287 t = 0 t = 2
1 : time delays 2 : time constant 3 : rise time
4 : settling time138 of 235
: 288
1 : time delays 2 : time constant 3 : rise time 4 : settling time
: 289 ± 5%
1 : time delays
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2 : time constant 3 : rise time
4 : settling time
: 290
1 : time delays 2 : time constant
3 : rise time 4 : settling time
: 291
1 :
2 :
3 :
4 :
: 292
1 : 1139 of 235
2 : 1 3 : 1 4 : 0
: 293 time constant
1 :
2 :
3 : 1 4 : 0
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: 294
1 :
2 :
3 : 1 4 : 0
: 295 time constant
1 :
2 :
3 : 1 4 : 0
: 296
time constant
1 :
2 :
3 : 1 4 : 0
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: 297
1 :
2 :
3 : 1 4 : 0
: 298
1 : 0 – 15 volts 2 : 3 – 15 psi3 4 20 A
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3 : 4 – 20 mA 4 : 1 – 5 watts
: 299
1 : 0 – 15 volts 2 : 3 – 15 psi 3 : 4 – 20 mA
4 : 1 – 5 watts
: 300
30 psig 20 mA 10 psig
4 mA . zero = 4 mA . span = 16 mA . gain = 0.8 psig/mA 1 :
2 :
3 :
4 :
: 301
. derivative action .
. input output
1 :
141 of 235
2 :
3 :
4 :
: 302 gain transfer function, G(s) = 2(s+0.5)e-5s/[(s+2)(2s+1)]
1 : 2 2 : 0.5 3 : 1 4 : 5
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: 303 pole transfer function, G(s) = 2(s+0.5)e-5s/[(s+2)(2s+1)]
1 : -2, -0.5 2 : -0.5 3 : -2 4 : -2, -1
: 304
zero transfer function, G(s) = 2(s+0.5)e-5s/[(s+2)(2s+1)] 1 : -0.5 2 : -2 3 : 0.5 4 :
: 305
1 :142 of 235
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: 308
Block diagram transfer function (G) Y D
1 G G3/(1+K (G3G1+G2)K )
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1 : G = G3/(1+Kc(G3G1+G2)Km) 2 : G = G3/[1+Kc(G3G1+G2)] 3 : G = G3/(1+Kc(G3G2+G1)Km) 4 : G = G2/(1+Kc(G3G1+G2)Km)
: 309
1 : 0.10 2 : 0.24 3 : 0.20 4 : 0.31
: 310144 of 235
1 : 0 04
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1 : 0.04 2 : 0.14 3 : 0.24 4 : 0.34
: 311
Block diagram
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1 : 2 2 : -2 3 : 0.1 4 : 0.5
: 312
block diagram
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1 : Gf = 5 2 : Gf = 1 3 : Gf = -5 4 : Gf = -2
: 313
block diagram
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1 : Gf = 5/[(5s+1)(s+1)] 2 : Gf = -1/(s+1)1 3 : Gf = 3/(5s+1) 4 : Gf = -2/(5s+1)
: 314
block diagram
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1 : GC = 2s/(5s+1) 2 : GC = -(s+2)/5s 3 : GC = [(s+1)(s+2)]/2s 4 : GC = (s+1)/2s
: 315
block diagram
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1 : Gf = 2 2 : Gf = 5 3 : Gf = -2 4 : Gf = -1
: 316
block diagram
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1 : Gf = 5/[(5s+1)(s+1)] 2 : Gf = -1/(s+1)1 3 : Gf = 3/(5s+1) 4 : Gf = -2/(5s+1)
: 317
block diagram
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: 320 transfer function output (y) input (x)
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transfer function output (y) input (x)
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3
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block diagram transfer function (Y(s)/X(s))
1 : 0 2 : 1 3 : 2 4 : 3
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: 323
block diagram gain transfer function (Y(s)/X(s))
1 : K1
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1 : K1
2 : K1K2 3 : K1/ K2 4 : K2/K1
: 324
block diagram zero transfer function (Y(s)/X(s))
1 :
2 :156 of 235
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4 :
: 325 Radiation
1 :
2 :
3 :
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1 :
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3 :
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: 328
1 :
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1 :
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: 330 (Filled System)
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(Filled System)
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Filled Syetem 1 :
2 :
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1 :
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: 333
1 :
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1 :
2 :
3 : (Spiral) 4 : (Helix)
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1 :
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: 336
1 :
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3 :
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1 :
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4 :
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1 :
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: 340
1 :
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3 :
4 :
: 341
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1 : Mc Leod
2 :
3 :
4 :
: 342
1 :
,
,
2 : , ,
3 : , ,
4 : , ,
: 343
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1 : Mc Loed 2 : (Thermal vacuum gage) 3 :
4 :
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1 :
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3 :
4 :
: 345
1 :
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3 :
4 :
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1 :
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3 :
4 :
: 347
1 :
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3 :
4
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: 348
1 :
2 : (Glass Gauge) 3 : (Displacer) 4 : (Air Purge Tube)
: 349
1 :
2 :
3 :
4 :
: 350
1 :
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3 :
4 :
: 360
1 :
2 :
3 :
4 :
: 361 (Probe)
1 :
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2 :
3 : Sleeve 4 :
: 362
1 :
2 :
3 :
4 :
: 363
Rotating paddle
1 :
2 :
3 : Torsion
4 :
: 364
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2 :
3 :
4 :
: 365
1 :
2 :
3 :
4 :
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1 :
2 :
3 :
4 :
: 367
1 :
2 :
3 :
4 :
: 368
1 :
2 :
3 :
,
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1 :
2 :
3 :
4 :
: 374
1 :
2 :
3 :
4 :
: 375
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1 :
2 :
3 :
4 :
: 376 (Coriolis)
1 : (Coriolis)
2 : (Coriolis)
3 :
4 : (Coriolis)
: 377
1 : 200
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2 : 300
3 : 400
4 : 500
: 378
1 :
2 :
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3 :
4 :
: 379
1 : 1 2 : 2 3 : 3 4 : 4
: 380
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2 :
3 :
4 :
: 381 (input variable)
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1 : V 2 : h 3 : T 4 : qi
: 382
(output variable)
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: 383
(manipulated variable)
1 : V 2 : h 3 : T 4 : qi
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: 384
(controlled variable)
1 : h 2 : T3 CA
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3 : CA 4 : 1. 2. 3.
: 385
(disturbance variables)
1 : Ti 2 : qi 3 : CAi
4 :
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1 : 2 2 :
3 : 2 4 :
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: 389
1 :
2 :
3 :
4 :
: 390 openloop transfer function, G = Ke-0.2s /(0.5s+1) ultimate gain, KU 174 of 235
1 :
2 :
3 :
4 :
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: 391
1 :
2 :
3 :
4 : 175 of 235
: 392
1 :
2 :
3 :
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4 :
: 393Temperature transmitter 0-100 oC 4 – 16 mA 40 oC
1 : 16 mA 2 : 11.2 mA 3 : 8.8 mA 4 : 6.4 mA
: 394
1 :176 of 235
2 :
3 :
4 :
: 395 (unit step response)
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1 : A 2 : B 3 : C 4 : D
: 396 (unit step response)
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1 : A 2 : B
3 : C
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4 : D
: 397 (unit step response)
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1 : A 2 : B 3 : D 4 : E
: 398
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(unit step response)
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1 : A 2 : B 3 : D 4 : E
: 399
1 w1 x1
2 x2 = 1
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1 :
2 : 181 of 235
3 :
4 :
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: 400
1 : (feedback) 2 : (feedforward) 3 :
4 :
: 401 d (degree of freedom)
1 :
2 : d/2 3 : 1 4 : d
: 402
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2 :
3 :
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4 :
: 403
1 : 0 2 : 1 3 : 5 4 : 0.6321
: 404
(inverse response)
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1 :
2 :
3 : pump 4 : drum boiler
: 405 offset
1 : (Proportional) 2 : – (Proportional-Integral) 3 : – – (Proportional-Integral-Derivative) 4 : (Integral)
: 406
1 : (Proportional)
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2 : – (Proportional-Integral) 3 : – – (Proportional-Integral-Derivative) 4 : (Integral)
: 407
1 : (Proportional) 2 : – (Proportional-Integral) 3 : – – (Proportional-Integral-Derivative) 4 : (Integral)
: 408 (inner loop) cascade
1 : (Integral) 2 : – (Proportional- Derivative) 3 : – – (Proportional-Integral-Derivative) 4 : (Proportional)
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: 409
1 : Process reaction curve method 2 : Continuous cycling method 3 : Relay feedback method 4 : Trial and error method
: 410
1 : Gain margin , Phase margin
2 : Gain margin , Phase margin
3 : Gain margin , Phase margin
4 : Gain margin , Phase margin
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: 411 (Gain)
1 : Gain margin
2 : Phase margin
3 : Gain margin
4 : Phase margin
: 412 (Gain)
1 : Gain margin
2 : Phase margin
3 : Gain margin
4 : Gain margin
: 413 Dead time
1 : Gain margin 185 of 235
2 : Gain margin
3 : Phase margin
4 : Phase margin
: 414
1 : Gain margin
2 : Phase margin
3 : Phase margin
4 : Gain margin , Phase margin
: 415 bypass (degree of freedom)
1 : 0 2 : 1
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3 : 2 4 : 3
: 416 bypass (degree of freedom)
1 : 0 2 : 1 3 : 2 4 : 3
: 417 (degree of freedom)
2
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1 :
2 : 3 3 : 4 4 : 5
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4 : 5
: 418
1 :
2 :
3 :
4 : ,
: 419
1 :
2 :
3 :
4 : ,
: 420187 of 235
off-set 1 : 1, P 2 : 1, PI 3 : (integrating process), P 4 : ,
: 421 off-set
1 : 1, P 2 : 1, PI 3 : (integrating process), P 4 : ,
: 422
1 1
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1 : 1 2 : 2 3 : 1 + dead time 4 : 2 + dead time
: 423 off-set (pure gain process)
1 : P
2 : I
3 : PI 4 : PID
: 424 off-set (integrating process)
1 : P
2 : I
3 : PI188 of 235
4 : PID
: 425
1 :
2 :
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4 :
: 426
1 : 189 of 235
2 :
3 :
4 :
: 427
. (controlled variables)
. (disturbance variables)
. (manipulated variables)
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( p ) 1 :
2 :
3 :
4 : ,
: 428
1 : Open-Loop Control System 2 : Closed-Loop Control System 3 : Feedback Control System 4 : Feedforward Control System
: 429
190 of 235
1 : Ratio Control System 2 : Closed-loop System 3 : Feedback Control System 4 : 1
: 430
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1 : Open-loop Control System 2 : Ratio Control System 3 : Feedback Control System 4 : Feedforward Control System
: 431
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1 : Step Input 2 : Impulse Input
3 : Ramp Input 4 : Sine Input
: 432
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1 : Step Input 2 : Impulse Input
3 : Ramp Input 4 : Sine Input
: 433
1 : Step Input
2 : Impulse Input
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3 :
4 :
: 437
1 :
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2 :
3 :
4 :
: 438
Block diagram
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1 :
2 :
3 :
4 :
: 439 Block diagram
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g
1 :
2 :
3 :
4 :
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: 440 proportional control
1 : output
2 : output set point 3 : output
4 : output
: 441
output Integral Controller
1 :
2 :
3 :
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4 :
: 442
1 : Proportional control 2 : Integral Control 3 : Proportional plus integral Control 4 : Derivative Controller
: 443
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1 : A 2 : B 3 : C 4 : D
: 446
1 w1 x1
2 x2 = 1
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1 : x w2 2 : x w1 3 : x x1 4 : w w1
: 447
1 w1 x1
2 x2 = 1
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1 : w1 w2
2 :
x
w1 3 : x1 w2 4 : w w2
: 448 1
x1 2 w2 x2 = 1
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1 :
2 :
x
w1 3 : w1 w2 4 : w w2
: 449
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1 : 0.25 2 : 0.5 3 : 0.75 4 : 0.4
: 450
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1 :
2 :
3 : 204 of 235
4 :
: 451
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1 :
2 :
3 :
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4 :
: 455 ( )
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1 :
2 :
3 :
4 : ,
: 456
( )
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1 :
2 :
3 :
4 : ,
: 457
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1 :
2 :
3 : 209 of 235
4 :
: 458
Y(s)/U(s)
1 :
2 :
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2 :
3 :
4 :
: 459
210 of 235
1 :
2 :
3 :
4 :
: 460
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: 460 Laplace Transform, F(s)
1 :
2 :
3 :
4 :211 of 235
: 461
Laplace Transform 1 : Laplace Transform Linear operator 2 : Laplace Transform
3 : Laplace Transform Transfer function 4 :
: 462
1 :
2 :
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3 :
4 :
: 463
1 :
2 :212 of 235
3 :
4 :
: 464
1 :
2 :
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3 :
4 :
: 465
1 : 213 of 235
2 :
3 :
4 :
: 466
1 :
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2 :
3 :
4 :
: 467
214 of 235
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: 469
1 :
2 :
3 :
4 :
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: 470 s3+s2- s-1 = 0
1 : higher order system 2 :
3 :
4 :
: 471
216 of 235
1 :
2 :
3 :
4 :
: 472
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1 :
2 :
3 :
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4 :
: 473
1 : 1
2 :
3 : s
4 :
: 474 a
1 : 1
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2 :
3 :
4 :
: 475
218 of 235
1 :
2 :
3 :
4 :
: 476
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1 :
2 :
3 :
4 :
: 477
219 of 235
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3 :
4 : ,
: 480
1 :
2 :
3 :
4 : ,
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: 481
1 :
2 :
3 :
4 : ,
221 of 235
: 482
1 :
2 :
3 :
4 :
,
: 483
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1 :
2 :
3 :
4 : ,
: 484222 of 235
1 :
2 :
3 :
4 : ,
: 485
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1 :
2 :
3 :
4 : ,
: 486
223 of 235
1 :
2 :
3 :
4 : ,
: 487
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1 :
2 :
3 :
4 : ,
: 488
224 of 235
1 :
2 :
3 :
4 : ,
: 489
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1 :
2 :
3 :
4 : ,
: 490
225 of 235
1 :
2 :
3 :
4 : ,
: 491
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1 :
2 :
3 :
4 : ,
: 492
226 of 235
1 :
2 :
3 :
4 : ,
: 493Laplace transform Unit – Step Input
1 : 1
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2 :
3 :
4 :
: 494Laplace transform Unit – Impulse Input
1 : 1 227 of 235
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2 :
3 :
4 :
: 497
(Mit/PDC/Assignment/P_set02) (4) ( )
1 :
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1 :
2 :
3 :
4 :
: 498
229 of 235
1 :
2 :
3 :
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4 :
: 499
230 of 235
1 :
2 :
3 :
4 :
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: 500
231 of 235
1 :
2 :
3 :
4 :
: 501
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1 : 6.5 2 : 10 3 : 8 4 : 7.5
: 502
232 of 235
1 : 2.12 2 : 1.12 3 : 4.22 4 : 3.22
: 503
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1 :
2 :
3 :
4 :233 of 235
: 504 t x y
1 :
2 :
3 :
4 :
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: 505
1 :
2 :234 of 235
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