Jitender Kumar

10001033

Experiment No-4

Non-Interacting tanks (Second Order dynamics)

Aim:
To find out the step response and compare it with the theoretical values, for second order
critically damped system if unit step is made in the inlet using two non-interacting tanks.

Apparatus:

Two non-interacting tanks.

A constant level overhead tank.
Collection tank to collect the liquid coming out from the second tank outlet.
Pump.
Stopwatch.
Measuring cylinder.

Procedure:

Attach the desired resistance to overhead tank and second tank.

Fill the liquid reservoir with the given liquid.
Start the pump and fill the overhead tank in such a way that it should not overflow.
Fill both the test tanks up to 25 cm.
Let the system be in steady state.
Measure the inlet and outlet flow rates of both the tanks i.e. q, q1, q2 in steady state
condition ensure that for a single tank inlet and outlet flow rate should be
approximately same because they are in steady state.
Measure the initial height of both the tanks in steady state.
At time t=0 block the flow of overhead tank at the same time start the stopwatch
and note down the height readings with 5cm gap.
Repeat the previous step up to 1 cm height.

Theory:
Very often a physical system can be represented by several first order processes connected
in series. Here we are dealing with two non-interacting tank system. The two tank arranged
in such a way that outlet flow from the first tank is the inlet flow to the second tank.
There can be two ways of connecting two tanks
1) The outlet flow from tank 1 discharges directly into the atmosphere before spilling
into tank 2 and the flow through R1 depends only on h1. The variation in h2 in tank 2
does not affect the transient response occurring in tank1.this type of system referred
as non- interacting system.
2) In second type the flow through R1 now depends on the difference between h1 and
h2 called interacting system.

Jitender Kumar
10001033

Experiment No-4

There are some assumptions that we made in this experiment like density is constant,
liquid level is constant, tanks have uniform cross sectional area, the floe resistance to be
linear.

Our problem is to find the transfer function which relates the q to h2.
Now apply the balance on both the tanks we get,
q-q1 = A1*dh1/dt .(1)
q-q2 = A2*dh2/dt..(2)
q1 = h1/R1

&

q2 = h2/R2 (3) ,(4)

Now combining equation (1) and (3) and introducing deviation variables give the transfer
function for tank1
1 ()
()

1
()+1
1

Where Q1 = q1 q1s; Q = q-qs; and 1 =R1A1

Similarly for tank 2

2 ()
()

2
()+1
2

Where H2 = h2-h2s and 2 = R2A2

Having the transfer function for each tank, we can obtain the transfer function for system.
2 ()
1
2
=
()
1 () + 1 2 () + 1
Now for a unit step change in Q, we obtain

Jitender Kumar
10001033

Experiment No-4

2 ()
1
2
1
=
()
(1 () + 1) (2 () + 1)

Inversion by means of partial fraction-function expansion gives

Observations :
Steady state flow rate to the first tank (q1) = 5.98 cc/sec2
Steady state flow rate to the second tank (q2) = 5.914 cc/sec2
Cross sectional area of tanks = 100 cm2
Initial height of tank1 = 24.3 cm
Initial height of tank2 = 24 cm
Resistance to tank1 (R1) = 4.063
Resistance to tank1 (R2) = 4.058
Time constant for tank1 (1) = 406.35
Time constant for tank1 (2) = 405.81

observation Table:

Jitender Kumar
10001033

Experiment No-4

Time (sec)
0
97
150
186
215
245
271
297
321
344
366
389
410
432
451
474
494
516
537
555
579
599
621
643
666
690
713
737
760
785
809
837
865
896
926
960
993
1029
1069
1112
1157
1215
1273
1342
1431
1556
1684

Height observed
Predicted Height (cm)
Error (%)
(cm)
24
24
23.5
23.5441934
23
23.05997681
22.5
22.56806066
22
22.07324882
21.5
21.57752424
21
21.08043199
20.5
20.58268067
20
20.08423256
19.5
19.58529636
19
19.08596466
18.5
18.58633474
18
18.08640847
17.5
17.58624283
17
17.08591949
16.5
16.58532781
16
16.08465359
15.5
15.58375967
15
15.0827744
14.5
14.58183899
14
14.08047728
13.5
13.57925519
13
13.0778322
12.5
12.57633883
12
12.07471466
11.5
11.57296391
11
11.07124357
10.5
10.56941464
10
10.06763855
9.5
9.565691331
9
9.063813762
8.5
8.561622589
8
8.059440061
7.5
7.5570441
7
7.054754899
6.5
6.552205197
6
6.049784249
5.5
5.547211654
5
5.044445102
4.5
4.541586684
4
4.038729935
3.5
3.535257184
3
3.03202268
2.5
2.528482173
2
2.024392581
1.5
1.519494691
1
1.015393183

0
0.187704041
0.260090496
0.301579574
0.331844319
0.35928239
0.381548089
0.401700202
0.419396447
0.435512237
0.450407733
0.464506532
0.477753627
0.490399427
0.502867228
0.514477681
0.526300373
0.537480487
0.548800862
0.561239183
0.571552208
0.583649039
0.595146033
0.607003575
0.618769599
0.630468695
0.643501066
0.656750056
0.671841232
0.686738981
0.704049791
0.719753624
0.737520975
0.754846725
0.776141765
0.796757667
0.822909492
0.851088021
0.881070198
0.915686222
0.958963236
0.997301812
1.056149099
1.12645339
1.204933332
1.282971981
1.515982481

Jitender Kumar
10001033

Experiment No-4

Graph:

Time vs Height Observed and Predicted

25

Height (cm)

20

15

10

0
0

200

400

600

800

1000

1200

1400

1600

1800

Time (sec)

observed

predicted

Result:
The graph is decreasing in nature. It shows that height of tank is decreasing as time is
increasing. Results matches well with the predicted data.
Conclusion: