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Process Chapter3 Part2

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Process Chapter3 Part2

Uploaded by

Yaren Erel
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© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Example: Stirred tank blending process

 Assumptions:
 V and ρ are constants
 w1, w2 , and w are constants

 With these assumptions:


 x is output variable
 x1, x2 are input variables
Development of transfer functions
Careful! : Be careful
in writing variables and parameters

Dynamic model

Steady state model

Substituting the st.st. balance from the dynamic model,


introducing deviation variables, and taking Laplace
transform of terms, we get:

By rearranging and defining transfer functions, we get:


Development of transfer functions

By defining gain and time constant terms

where
Development of transfer functions

Consider the stirred-tank blending process for which we have derived a


transfer function model. The nominal steady-state conditions are :

w1 = 600 kg/min
w2 = 2 kg/min
x1 = 0.050
x2 = 1 (for pure solute).
V = 2 m3 and = 900 kg/m3, respectively.

(a) Calculate the nominal exit concentration, x.


(b) Derive an expression for the response, x(t), to a sudden change in
x1 from 0.050 to 0.075 that occurs at time, t = 0. Assume that the
process is initially at the nominal steady state.
Development of transfer functions

To determine x(t) for a sudden change in x1, we calculate


gain and time constant and then define expressions for
deviation variables.
Development of transfer functions

Using Entry 13 in Table A.1, we can get the Inverse


Laplace transform to obtain the solution.
t
−
2.99
t
−
2.99
Important aspects of Transfer functions

Conclusions about TFs


1. The effects of the individual input variables on the output
variable are additive. This result is a consequence of the
Principle of Superposition for linear models.

2. The TF model enables us to determine the output response to


any change in an input.
3. Use deviation variables to eliminate initial conditions for TF
models.
Properties of Transfer Function Models

1. Steady-State Gain
The steady-state of a TF can be used to calculate the steady-
state change in an output due to a steady-state change in the
input. For example, suppose we know two steady states for an
input, u, and an output, y. Then we can calculate the steady-
state gain, K, from:

y2  y1
K (4-38)
u2  u1

For a linear system, K is a constant. But for a nonlinear


system, K will depend on the operating condition  u , y  .
Properties of Transfer Function Models

Calculation of K from the TF Model:


If a TF model has a steady-state gain, then:

K  lim G  s  (14)
s 0
Properties of Transfer Function Models

2. Order of a TF Model = Order of the denominator


Consider a general n-th order, linear ODE:
dny d y n 1 dy d mu
an  a n 1   a1  a 0 y  bm 
dt n
d t n 1 dt dt m

d m 1u du
b m 1 m 1
   b1  b0 u (4-39)
dt dt

Take L, assuming the initial conditions are all zero. Rearranging


m
gives the TF: b si
Y s 
 i
G s    i0
(4-4 0)
U s  n
 ai s i
i0
Properties of Transfer Function Models

Physical Realizability:
For any physical system, n  m in (4-38). Otherwise, the system
response to a step input will be an instant change in output. This is
impossible to achieve for any real system.
Properties of Transfer Function Models

A. Multiplicative Rule

B. Additive Rule
Additive rule

For the stirred tank heating process, assume that the value of
steady-state heat input (Q) is 1500 cal/sec and Ti =20 oC.

How does the output temperature (T) change as a function of


time when Q is suddenly increased to 2000 cal/sec (indefinitely)
and T is decreased to 10 oC ?

Use transfer function model of the system with:

K= 0.05 ,   2.0
Additive rule

Step change in Q: 1500 cal/sec to 2000cal/sec


Step change in Ti : 20 oC to 10 oC

Take the Inverse Laplace Transform


Additive rule

Take the Inverse Laplace Transform

Careful!

To find , make a steady state energy balance


Procedure for developing TF models
Examples of nonlinear processes

 Exponential dependence of reaction rate on


temperature

 Nonlinear behaviour of pH with flow rate of acid or


base

 Asymmetric responses of distillate and bottoms


compositions in a distillation column to changes in
feed flow
Why does linearization work?

 Classical process control theory has been developed for


linear processes, and its use, therefore, is restricted to
linear approximations of the actual nonlinear processes.
 A linear approximation of a nonlinear steady-state model
is most accurate near the point of linearization. The
same is true for dynamic process models. Large changes
in operating conditions for a nonlinear process cannot be
approximated satisfactorily by linear expressions.
 In many instances, however, nonlinear processes remain
in the vicinity of a specified operating state. For such
conditions, a linearized model of the process may be
sufficiently accurate.
Linearization of Nonlinear Models

• Required to derive transfer function.


• Good approximation near a given operating point.
• Use 1st order Taylor series.

dy
 f ( y, u ) (4-60)
dt

f f
f ( y, u )  f ( y, u )  ( y  y)  (u  u ) (4-61)
y y ,u
u y ,u

dy f f
 y  u (4-62)
dt y s u s
Linearity of the model ?

 A linear model cannot contain any nonlinear


combinations of variables (for example, a product of two
variables) or any variable raised to a power other than
one.
Example: Stirred tank blending system

 Assume:
 V and ρ constant
 x2 = 1 (constant)
 x1 , w1, and w2 can vary

Derive transfer functions that relate the exit composition


(x) to the three input variables (x1 , w1, and w2 )
Example: Stirred tank blending system

Step 1

Step 2

Step 3
Example: Stirred tank blending system

Step 4
Example: Stirred tank blending system

Step 5

Steps 6 & 7
Conclusions from the linearization example


Learning objectives for Chapter3

• Define Laplace transform (LT) and list the LT of simple functions

• Demonstrate when and how to use partial fraction expansion

• Outline basic properties of Laplace transform

• Use Laplace transform to obtain solutions to Dynamic models

 Combine LT with deviation (perturbation) variables to derive transfer


functions models

 Develop and solve transfer function models for linear processes.

 Outline properties of transfer function models.

 Linearize non-linear transfer function models by Taylor series expansion.

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