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CHAPTER 8
Dynamic Response Characteristics of
More Complicated Processes
Miss Anis Atikah binti Ahmad
Chapter
Chapter 66
OUTLINE
Chapter
Chapter 66
G s
i
b
s
i
i 0
n
i
a
s
i
bm s m bm 1s m 1 ... b0
(4-40)
n
an s an 1s n 1 ... a0
(6-2)
i 0
G s
bm s z1 s z2 K s zm
an s p1 s p2 K s pn
(6-7)
where {zi} are the zeros and {pi} are the poles.
3
Chapter
Chapter 66
K
, where 0 < 1.
G(s)
2
s ( 1s 1)( 2 s 2 2 2 s 1)
The roots of these factors are
s1 0
1
s2
1
1 2
s3
j
2
2
1 2
s4
j
2
2
The values of s
that are the
denominator
polynomial-refer
as poles
(6-1)
s1 0
s2
1
1
Chapter 6
1 2
s3 j
2
2
1 2
s4 j
2
2
Chapter66
Chapter
Imaginary axis
x
x
x
x = unstable pole
Real axis
(grows with
time)
2. Zeros
Note: Zeros have no effect on system stability.
Chapter
Chapter 66
Real
axis
inverse
response
Transportatio
n lag/
transport
delay/ dead
time
Chapter 6
= Time taken to
transport fluid from
point 1 to point 2
Mathematical description:
A time delay, between an input u and an output y results in the
0
following expression:
fort
y t
u t fort
Transfer Function Representation:
Y s
U s
e s
(6-27)
(6-28)
Chapter 6
3. Approximation of Higher-Order
Transfer Functions
Two widely used approximations are:
Chapter 6
2 s 2 3 s 3 4 s 4
1 s
K
2!
3!
4!
(6-34)
e s
10
1 s
2
1 s
2
(6-35)
Chapter 6
e s
s 2 s 2
1
2
12
G2 ( s )
s 2 s 2
1
2
12
(6.37)
Note:
Please refer page 138 and 139 for more explanations.
11
Example 6.5
Chapter 6
12
4.
Chapter
Chapter 66
Question:
'
'
C
(
s
)
/
C
i ( s ).
1. Derive an expression for the transfer function 1
2. Using the following information, calculate ci' (t ) for a step change
'
3
in ci (t ) 2000 kg/m .
Parameter Values:
V = 5 m3
= 12
q = 0.05 m3/min 1 = 0.9 min
k = 0.04 min-1
2 = 1.1 min
13
Solution
(a) Equation 2.66 is applicable only to an isothermal stirred-tank reactor
without recycle. Hence, we make component balance around the
reactor.
(6.39)
dc
Chapter
Chapter 66
dt
14
dc '
qci 'qc2 '(1 ) qc'Vkc'
dt
(6.40)
Additional relations are needed for c2'(t) and c1'(t). They can be
obtained from assumption (iii), which states that the exit and recycle
lines can be modeled as time delays:
(6.41)
c1 ' (t ) c ' (t 1 )
(6.42)
c2 ' (t ) c1 ' (t 2 )
Equations 6-40 through 6.42 provide the process model for the
isothermal reactor with recycle. Taking the Laplace transform of each
equation yields
sVC ' ( s ) qCi ' ( s ) qC2 ' ( s ) (1 )qC ' ( s ) VkC ' ( s )
(6.44)
C1 ' ( s ) e 1s C ' ( s )
Chapter
Chapter 66
(6.43)
C2 ' ( s ) e 2 s C1 ' ( s )
e (1 2 ) s C ' ( s )
(6.45)
e 3 s C ' ( s )
where 3 = 1+ 2. Substitute (6.45) into (6.43) and solve for the output
C'(s):
C ' ( s)
15
sV qe 3 s
q
Ci ' ( s )
(1 ) q Vk
(6.46)
K
Ci ' ( s )
3 s
s 1 K (1 e
)
(6.47)
where
q
q Vk
V
q Vk
(6.48)
Chapter
Chapter 66
(6.49)
C ' ( s)
K
Ci ' ( s )
s 1
(6.50)
hence K and can be interpreted as the process gain and time constant,
respectively, of a recycle reactor with no time delay in the recycle line,
which is equivalent to a stirred isothermal reactor with no recycle.
16
Chapter
Chapter 66
C1 ' ( s )
Ke 1s
Ci ' ( s ) s 1 K (1 e 3 s )
(6.51)
(b) To find c1'(t) when ci'(t) = 2000 kg/m3, we multiply (6.51) by 2000/s
2000 Ke 1s
C1 ' ( s )
s[s 1 K (1 e 3 s )
(6.52)
and take the Laplace transform. From (6.52), it is clear that the numerator time
delay can be inverted directly; however, there is no transform in Table 3.1 that
contains a time-delay term in the denominator.
To obtain an analytical solution, the denominator time delay term must be
eliminated by introducing a rational approximation, for example, the 1/1 Pad
approximation in (6.35).
G1 ( s ) G1 ( s )
17
1
1
s
s
(6.35)
s 1 e 1s
2
3 K 3 s 1
2
2000 K
s 3 s2
(6.53)
Chapter
Chapter 66
(6.54)
0.2
q Vk
0.05 (5)(0.04)
V
20 min
q Vk
K
18
400 s 1 e 0.9 s
400 s 1 e 0.9 s
C1 ' ( s )
2
s 20s (20 1 (24)(0.2)(1)) s 1 s (25s 1)(0.8s 1)
(6.55)
Chapter 6
Taking inverse Laplace and introducing the delayed unit step function
S(t - 0.9) gives;
19
3. Approximation of Higher-Order
Transfer Functions
Chapter
Chapter 66
20
0s
2 s 2 3 s 3 4 s 4
1 s
K
2!
3!
4!
(6-57)
(6-34)
Chapter
Chapter 66
0 s
1
e
0 s
1 0 s
(6-58)
Chapter
Chapter 66
0 s
1
e
0 s
1 0 s
(6-58)
Example 6.4
Consider a transfer function:
Chapter
Chapter 66
G s
K 0.1s 1
5s 1 3s 1 0.5s 1
(6-59)
(6-60)
Solution
(a) The dominant time constant (5) is retained. Applying
the approximations in (6-57) and (6-58) gives:
Chapter 6
0.1s 1 e0.1s
(6-61)
and
1
e 3s
3s 1
1
e 0.5 s
0.5s 1
(6-62)
TS s
5s 1
5s 1
24
(6-63)
Chapter
Chapter 66
K 0.1s 1
5s 1 3s 1 0.5s 1
(6-59)
(6-64)
Chapter
Chapter 66
The normalized step responses for G(s) and the two approximate models
are shown in Fig. 6.10. Skogestads method provides better agreement
with the actual response.
26
Example 6.5
Consider the following transfer function:
Chapter
Chapter 66
G s
K 1 s e s
(6-65)
(6-66)
Solution
(a) For the first-order-plus-time-delay model, the dominant time
constant (12) is retained.
Chapter
Chapter 66
Chapter
Chapter 66
Chapter
Chapter 66
30
Chapter
Chapter 66
31
Chapter
Chapter 66
Mass Balance:
Valve Relation:
dh1
A1
qi q1
dt
(4-48)
1
q1 h1
R1
(4-49)
dh1
1
A1
qi h1
dt
R1
(4-50)
Chapter
Chapter 66
A1
qi h1
dt
R1
(4-51)
1
q1 h1
R1
(4-52)
Qi s A1R1s 1 1s1
(4-53)
Q1 s
1
1
H1 s R1 K1
(4-54)
Chapter
Chapter 66
(4-55)
Q2 s A2 R2 s 1 2 s1
Q2 s
1
1
H 2 s R2 K 2
(4-56)
where K 2 @
= R2 and 2 @
= A2 R2. Note that the desired transfer
function relating the outflow from Tank 2 to the inflow to Tank 1
can be derived by forming the product of (4-53) through (4-56).
34
Q2 s Q2 s H 2 s Q1 s H1 s
Qi s H 2 s Q1 s H1 s Qi s
(4-57)
Q2 s
1 K 2 1 K1
Qi s K 2 2 s 1 K1 1s 1
(4-58)
Chapter
Chapter 66
or
Qi s 1s 1 2 s 1
(4-59)
Figure 4.4. Input-output model for two liquid surge tanks in series.
36
Chapter
Chapter 66
(6-70)
H 2 s
R2
2 2
Qi s s 2s 1
(6-74)
Chapter
Chapter 66
Q2 s
1
2 2
Qi s s 2s 1
H1 s
K1 a s 1
2 2
Qi s s 2s 1
(6-72)
where
1 2 R2 A1
= 1 2 , @
, and a =
@R1R2 A2 / R1 R2
=
2 1 2
In Exercise 6.15, the reader can show that > 1 by analyzing the
denominator of (6-71); hence, the transfer function is
overdamped, second order, and has a negative zero.
38
Model Comparison
Noninteracting system
Q2 s
1
Qi s 1s 1 2 s 1
(4-59)
where 1 =
@A1 R1 and 2 =
@A2 R2 .
Interacting system
Q2 s
1
2 2
Qi s
s 2s 1
where 1 and @
= 1
General Conclusions
1. The interacting system has a slower response.
(Example: consider the special case where =
2. Which two-tank system provides the best damping
of inlet flow disturbances?
39
Chapter
Chapter 66
(6-88)
41
Chapter
Chapter 66
Figure 6.14. A multi-input, multi-output thermal mixing process.
42
Chapter
Chapter 66
43
Chapter
Chapter 66
THANK YOU
44