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Faculty of Engineering and Applied Science

CHEE 319 – PROCESS DYNAMICS AND CONTROL

Course Syllabus – Winter 2020

This is your course syllabus. Please download the file and keep it for future reference.

TEACHING TEAM

COURSE INSTRUCTOR

Martin Guay, PhD

Chemical Engineering

Queen’s University

E-mail: martin.guay@queensu.ca

Please check the course website for an up-to-date list of TAs and other course personnel.

CHEE 319 – Process Dynamics and Control Winter 2020

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COURSE INFORMATION

COURSE DESCRIPTION

The dynamic behaviour and automatic control of processes are studied. Mathematical tools for

analyzing the transient behaviour of open and closed-loop systems are presented. The steps of

controller development are treated: process characterization (using mathematical models),

controller design, and implementation. Methods for assessing system stability and performance

are investigated, and are used in the design of controllers. Frequency response methods are

introduced, as is the development and implementation of controller enhancements including

feedforward and cascade control. (0/0/0/30/12)

PREREQUISITES: CHEE 210, CHEE 222 or MINE 201, MTHE 225 (MATH 225), CHEE 321 or

permission of the department.

COURSE LEARNING OUTCOMES (CLO)

The objective of this course is to provide a comprehensive introduction to the concept of

controller design and analysis of dynamical systems, using a model-based approach where the

dynamics of the process have been modeled adequately using either empirical (data-driven) or

mechanistic models.

Specific course learning outcomes include:

CLO DESCRIPTION INDICATORS

CLO 1 Develop ordinary differential equation models to describe

process dynamic behaviour, using fundamental material and

energy balances, and constitutive relationships.

KB-Proc(a)

CLO 2 Identify nonlinearity in model equations, and linearize

appropriately.

KB-Math(a)

KB-Proc(d)

CLO 3 Derive transfer function models from process models and process

data.

KB-Math(a)

KB-Proc(d)

CLO 4 Identify important dynamic features of single-input single-output

(SISO) and multi-input multi-output (MIMO) linear dynamical

systems.

KB-Proc(d)

PA-Formulate

CLO 5 Apply modern control theory to design controllers for uncertain

SISO linear dynamical systems. DE-Solutions

CLO 6 Explain the trade-offs in performance that arise in the design of a

controller. DE-Assess

CLO 7 Analyze the frequency response behaviour of a process (using

Nyquist and Bode approaches), and use this information to

design controllers.

DE-Solutions

CHEE 319 – Process Dynamics and Control Winter 2020

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CLO 8 Determine when to use controller enhancements such as the

internal model principle and feedforward control, and design

such enhancements.

DE-Solutions

DE-Assess

This course assesses the following program indicators at a 3rd year level:

Knowledge base for engineering (KB)

KB-Math(a) Selects and applies appropriate mathematical tools to solve problems that

arise from modeling a real-world problem.

KB-Proc(a) Formulates and solves steady-state and dynamic mass and energy balances

for a chemical process.

KB-Proc(d) Derives transfer function models from dynamic process models and process data to

apply control theory.

Design (DE)

DE-Solutions Create a product, process or system to solve a problem, that meets specified needs,

and subject to appropriate iterations.

DE-Assess Evaluate performance of a design, using criteria that incorporates specifications,

limitations, assumptions, constraints, and other relevant factors.

COURSE STRUCTURE AND ACTIVITIES

3 lecture hours + 1 tutorial hour per week. Please refer to SOLUS for times and locations.

EXPECTATIONS FOR LECTURES/TUTORIALS

Lecture slides will be posted in advance. Some lectures will include examples and problem

solutions not contained in the posted slides. Students are expected to read associated sections

and study worked examples in the textbook. Students are expected to bring a copy of the

tutorial problem (posted in advance) to class.

COURSE MATERIALS

Recommended Textbook

Seborg, D.E., T.F. Edgar, D.A. Mellichamp, and F.J. Doyle, Process Dynamics and

Control, Wiley, New York (2010).

Other Material

Matlab / Simulink are available in the computer cluster, Dupuis Hall, and in the teaching studio

(Room 213, Beamish-Munro Hall).

All course lecture slides, assignments and tutorials will be posted on the course website, or

Learning Management System.

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COURSE EVALUATION

Deliverable Week or Date Weight

Quiz 1 Week 6 or 7 20%

Quiz 2 Week 10 20%

Final Exam Exam period 65%

All assessments in this course will receive numerical percentage marks. The final grade you

receive for the course will be derived by converting your numerical course average to a letter

grade according to the established Grade Point Index.

Unless other arrangements have been approved, departmental policies regarding late and missed

assignments, and missed quizzes/exams will be followed. Only a Casio 991 non-programmable,

non-communicating calculator will be allowed during tests and exams.

COURSE POLICIES Please review the following policies concerning copyright, academic integrity, absences and

academic accommodations:

COPYRIGHT

Unless otherwise stated, the material on the course website is copyrighted and is for the sole use

of students registered in this course. The material on the website may be downloaded for a

registered student’s personal use but shall not be distributed or disseminated to anyone other

than students registered in this course.

ACADEMIC INTEGRITY

Information on policies concerning academic integrity is available in the Queen’s University

Code of Conduct, in the Senate Academic Integrity Policy Statement, on the Faculty of

Engineering and Applied Science website, and from your instructor.

ABSENCES (ACADEMIC CONSIDERATION) AND ACADEMIC ACCOMMODATIONS

For absences and academic accommodations please review the information on the FEAS

website.

TECHNICAL SUPPORT

No specialized computer-related technical skills are required for this course. If you require

technical assistance, please contact Technical Support.

PERSONAL SUPPORTIVE COUNSELLING

If at any time you find yourself feeling overwhelmed, anxious, sad, lonely, or distressed,

consider confidential supportive counselling offered by the Faculty of Engineering and Applied

Science.

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CHEE 319 || Module overview

Course learning outcomes (CLO): Students will be able to:

1. Develop ordinary differential equation models to describe process dynamic behaviour, using fundamental material and energy balances, and constitutive relationships.

2. Identify nonlinearity in model equations, and linearize appropriately. 3. Derive transfer function models for process models and process data. 4. Identify important dynamic features of single-input single-output (SISO) and multi-input multi-output (MIMO) linear dynamical systems. 5. Apply modern control theory to design controllers for uncertain SISO linear dynamical systems. 6. Explain the trade-offs in performance that arise in the design of a controller. 7. Analyze the frequency response behaviour of a process (using Nyquist and Bode approaches), and use this information to design

controllers. 8. Determine when to use controller enhancements such as cascade and feedforward control, and design such enhancements.

Students are expected to augment lecture material through reading of associated sections of the textbook, and to practice execution of course principles by completing posted problem sets

Module Lecture approach and content Tutorial approach and content Assessment (CLO, and % of course grade)

Module 1 (Wks 1)

Introduction to Process Control

What/where/why/how of process control

Objectives for process control

Motivation for process control Piping and Instrumentation Diagrams

(P&IDs) – conventions and interpretation

Economic justification for process control

Worked examples, based on lecture material

A set of practice problems is also posted (unmarked)

Material is included on mid-term (CLO1)

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Module 2 (Wks 2-6)

Modeling and Analyzing Process Dynamics

Heat and material balance equations, constitutive relationships

Deciding on assumptions, and assessing their impact while modeling

Degrees of freedom analysis Linearization and deviation variables –

for single equations and systems of equations

Linear and nonlinear state space representation - states, inputs, outputs

Review of Laplace transforms, their use and important properties

Interpreting transfer functions – stability, gains, poles, zeros, damping coefficient

Standard forms for transfer functions – e.g., gain-time constant form

Types of dynamic responses and characterization

Introduction to multi-input multi-output models and control

Obtaining transfer functions from state space representations

Dynamic structure of processes and systems – series interacting/non-interacting, parallel

Frequency response analysis for open-loop processes

Worked examples, based on lecture material

A set of practice problems is also posted (unmarked)

Computer-based tutorials

Material is included on mid-term (CLO1)

Design assignment 1 (10%, CLO1, CLO4)

Quiz 1 Covers Modules 1 and 2 Quiz 1: 2-3 questions will target CLO1, CLO2 and CLO3, worth 20% of course grade

Module 3 (Wks 7-10)

Feedback Control and Controller Design

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Control-loop elements – impact on dynamics, basis for selection – accuracy versus range, reproducibility

Failure modes for actuators Elements of a feedback loop Closed-loop transfer functions and

assessing stability and performance Disturbance rejection (load ) problem Setpoint tracking (servo) problem Design considerations – pairing

manipulated and controlled variables PID control Frequency response analysis for

assessing closed-loop stability – Bode and Nyquist approaches

Performance criteria for controlled and manipulated variables

Direct Synthesis and Internal Model Control-based designs and tuning

Worked examples, based on lecture material

A set of practice problems is also posted (unmarked)

Computer-based tutorials

Material is included on final (CLO1, CLO2)

Quiz 2 Covers Module 3 Quiz 1: 2-3 questions will target CLO4, CLO5, CLO6 and CLO7, worth 20% of course grade

Module 4 (Wks 11-12)

Controller Enhancements and Extensions

Cascade control – when and how to use – controller components associated with cascade control

Feedforward control – when and how to use, and associated controller components

Multi-loop controllers

Worked examples, based on lecture material

A set of practice problems is also posted (unmarked)

Computer-based tutorials

Material is included on final (CLO1, CLO2)

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EXAM Final exam: One-two questions will target each CLO, worth 60% of course grade