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Ench 617 Assign1 2021

This document describes an assignment for modeling and simulation of a liquid level control system. Students are asked to: 1) Discuss the relative merits of empirical vs. first-principles dynamic models. 2) Derive the dynamic equation for liquid level in a cylindrical tank based on mass balance. Students are asked to build Simulink models to simulate proportional and proportional-integral control of tank level for different inlet flow disturbances. 3) Tune the proportional-integral controller using methods from literature and discuss why this guarantees the tank level is kept within its desired range.

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Mohan kumar
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83 views11 pages

Ench 617 Assign1 2021

This document describes an assignment for modeling and simulation of a liquid level control system. Students are asked to: 1) Discuss the relative merits of empirical vs. first-principles dynamic models. 2) Derive the dynamic equation for liquid level in a cylindrical tank based on mass balance. Students are asked to build Simulink models to simulate proportional and proportional-integral control of tank level for different inlet flow disturbances. 3) Tune the proportional-integral controller using methods from literature and discuss why this guarantees the tank level is kept within its desired range.

Uploaded by

Mohan kumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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ENCH 617 – MODELLING AND IDENTIFICATION FOR

ADVANCED CONTROL

ASSIGNMENT #1 - Due 11:59 PM on Tuesday, November 2/21. To be done in groups


of at most two. Please scan or photograph your written submissions
and upload them to Dropbox. Unfortunately, Dropbox will not
accept MATLAB file extensions and so your MATLAB/Simulink
files must be emailed to [email protected] and
[email protected].

1. [20 marks]

Discuss the relative merits of empirical (or “black-box”) dynamic models and first
principles (or theoretical) dynamic models.

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2. [80 marks]

Liquid level in a vertical 100 m3 cylinder is to be regulated by manipulating the effluent


flow control valve position. Liquid flows into the vessel at volumetric flowrate Fin (t ) and
is pumped out at the rate Fout (t ). The height of liquid in the tank is to be denoted by the
symbol h (t ).

Fin(t)

Y(t)
LT LC Ysp(t)

h(t)
U(t)

Fout(t)

Figure Q2 - Control scheme for regulating liquid level in a cylindrical surge tank.

At steady-state, the inlet and outlet flows are 15 m3/min with accumulated liquid at a level
of 1.5 m. The installed characteristics of the control valve are linear with a range of 0 – 20
m3/min corresponding to 0 – 100% controller output. The height of the tank is 3 m.
Dynamics associated with the control valve and level sensor/transmitter may be neglected.

(a) Show that the vessel level dynamics are described by the differential equation

d h (t )
 K vel ( Fin (t )  Fout (t )) (2.1)
dt

The velocity gain Kvel  1/ A, where A denotes the cross-sectional area of the tank. Be
sure to state any additional assumptions made in your derivation.
[10 marks]

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(b) Provide a physical interpretation of the velocity gain.
[5 marks]

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(c) Specify the action of the control valve (e.g. air-to-open or air-to-close) as well as that
of the controller (reverse or direct). Explain your reasoning.
[10 marks]

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(d) Calculate the steady-state controller output signal U ss .
[5 marks]

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(e) Build a Simulink model named surgep_mdl.slx to simulate 2 hours of proportional-
only level control. Step changes of +2.5 m3/min and -15 m3/min in the inlet flowrate are
to be introduced at times t = 10 and t = 60 minutes, respectively. Create a script file called
surgep.m which executes surgep_mdl and plots the results. The measured variable Y(t) and
setpoint Ysp(t) must be displayed in the upper subplot and the inlet and outlet flowrates in
the lower subplot. Use the following expression to compute the proportional gain:

100 %
KC   (2.2)
Desired Range of the Measured Level

assuming that Operations demands that the tank level be kept in the range 30 – 70%. The
level setpoint is constant at 50% of scale. Why does the liquid level violate the lower limit
following the step decrease in feedrate?
[40 marks]

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(f) Repeat part (e) for the situation where the LC is a proportional-integral controller.
Tune the controller using the method of St. Clair (1993):

100 %
KC   (2.3)
0.5  ( Desired Range of the Measured Level )
4V
I   (2.4)
K C Fmax

where V and Fmax refer to the tank volume and maximum effluent flowrate, respectively.
The new Simulink model should be named surgepi_mdl.slx and the corresponding script
file surgepi.m. Discuss your results and explain why this choice of K C is guaranteed to
keep the tank level in the desired range regardless of the value of the controller bias.

[Hint: For the purpose of justifying this performance guarantee, you may wish to assume
that the control algorithm is P-only with proportional gain calculated according to (2.3).]

[10 marks]

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