Lect 6 Extra Examples PDF
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Zaidoon MohsinLect 6 Extra Examples PDF
Uploaded by
Zaidoon MohsinExtra Examples (Process Dynamics)
Example 1: A thermometer having a time constant of 1 min is initially at 50oC. It is
immersed in a bath maintained at 100oC at t = 0. Determine the temperature reading
at t =1.2 min.
Solution
Thermometer with τ=1 min
Let x = bath temperature, y = indicated temperature Thermocouple
T(t=0) = 50oC
ys = 50oC
Y = y(t) – ys = y(t) – 50
X = x(t) – xs = x(t) – 50
Y (s) 1
= = 1 100oC
X (s) s 1 s 1 Bath
50 1
X(t) = 50u(t) X(s) = 50/s Y(s) = Y(t) = 50(1 – e-t)
s s 1
Y(1.2) = 50(1 – e-1.2) = 34.9oC y(1.2) = Y(1.2) + 50 = 34.9 + 50 = 84.9oC
The thermometer reading is 84.9oC at t = 1.2 min
Example 2: Derive the transfer functions Hl(s)/Q(s) and H2(s)/Q(s) for the liquid
level system shown in Fig.(1). The resistances are linear and R1 = R2 = 1. Note that
two streams are flowing from tank 1, one of which flows into tank 2.
Fig.(1). Liquid Level tanks
Solution:
Material balance on 1st tank
dh1
q - q a - q1 = A1
dt
h1 h1 dh1
q- - = A1
R1 Ra dt
1 1 dh1
q - h1 ( + ) = A1
R1 Ra dt
1 dh1 1 1 1
q - h1 ( ) = A1 where = +
R dt R R1 Ra
Process Dynamics 57 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Steady state
1 dh1s
q s - h1s ( ) = A1
R dt
By substracting both equations
h1 - h1s d ( h1 - h1s )
( q - qs ) - = A1
R dt
H1 dH 1
Q= + A1 ×R
R dt
dH 1
QR = H 1 + A1 R
dt
dH 1
QR = H 1 + τ 1 where τ 1 = A1 R
dt
( τ 1 s + 1 )H 1 ( s ) = RQ( s )
H1( s ) R
=
Q( s ) ( τ 1 s + 1 )
H1( s ) Q1 ( s )R1 R Q1 ( s ) R / R1
Q1 ( s ) = ⇒ = ⇒ =
R1 Q( s ) ( τ1s + 1 ) Q( s ) ( τ 1 s + 1 )
H1( s ) Qa ( s )R a R Qa ( s ) R / Ra
Qa ( s ) = ⇒ = ⇒ =
Ra Q( s ) ( τ1s + 1 ) Q( s ) ( τ 1 s + 1 )
Similarity for tank 2
Q2 ( s ) 1
=
Q1 ( s ) ( τ 2 s + 1 )
H2( s ) R2
=
Q1 ( s ) ( τ 2 s + 1 )
By substitute Q1(s)
H 2 ( s ) H 2 ( s ) Q1 ( s ) R / R1 R2
= =
Q( s ) Q1 ( s ) Q( s ) ( τ 1 s + 1 ) ( τ 2 s + 1 )
Process Dynamics 58 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Example 3: Consider the nonlinear differential equation
dy
(1 y ) y u 2
dt
a) Derive the linearized differential equation using deviation variables.
b) Derive the transfer function between input u and output y.
Solution
dy
a) (1 y ) y u 2
dt
dy
= y + y2 + u + 2
dt
By linearization the term of y2
y 2 = y s2 + 2 y s ( y - y s )
dy
= y + y s2 + 2 y s ( y - y s ) + u + 2
dt
b) Re-write the equation at steady state
dy s
= y s + y s2 + u s + 2
dt
By subtracting equations
d ( y - ys )
= ( y - y s ) + 2 y s ( y - y s ) + ( u - us )
dt
dY
= Y + 2 y sY + U
dt
Where
Y=y-ys
U=u-us
Taking laplace
sY ( s ) = ( 1 + 2 ys )Y ( s ) + U ( s )
sY ( s ) - ( 1 + 2 ys )Y ( s ) = U ( s )
[ s - ( 1 + 2 ys )]Y ( s ) = U ( s )
Y( s ) 1
=
U ( s ) [ s - ( 1 + 2 y s )]
Process Dynamics 59 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Example 4: Interacting systems.
For a mercury thermometer with the a thick glass
bulb as shown in figure (1), the thermal
conductivity of glass must be taken into
consideration in heat balance and hence in
deriving the transfer function of the mercury
temperature. Derive a transfer function to describe
the mercury temperature as a function of ambient
temperature Tm(s)/Ta(s).
Where:- A2 , h2
p density, Cp specific heat capacity, V volume.
A1 , h1
A1 and A2 are inside and outside surface areas of
the spherical bulb.
h1 and h2 are inside and outside heat transfer Ta Tg Tm
coefficient ρm , Cpm , Vm
Figure (1): Mercury thermometer with the a thick
glass bulb
Solution: ρg , Cpg , Vg
Heat balance on mercury
dTm
h1 A1 (Tg Tm ) Vm m Cp m
dt
Vm m Cp m dTm
Tg Tm
h1 A1 dt
dTm
Tg Tm 1
dt
dTm ,ss
At Steady state Tg ,ss Tm,ss 1
dt
dT m
T g T m 1
dt
By taking laplace
T g ( s ) T m ( s ) 1 sT m ( s )
T m (s) 1
T g ( s) 1s 1
(1)
Heat balance on glass
dTg
h2 A2 (Ta Tg ) h1 A1 (Tg Tm ) V g g Cp g
dt
h1 A1 V g g Cp g dTg
(Ta Tg ) (Tg Tm )
h2 A2 h2 A2 dt
Process Dynamics 60 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
h1 A1 V Cp dTg
Ta (Tg Tm ) Tg g g g
h2 A2 h2 A2 dt
h1 A1 dTg
Ta (Tg Tm ) Tg 2
h2 A2 dt
h1 A1 dTg , s
At steady state Ta ,s (Tg , s Tm, s ) Tg , s 2
h2 A2 dt
By subtracting both equations
h1 A1 dT g
Ta (T g T m ) T g 2
h2 A2 dt
h1 A1
T a (s) (T g ( s) T m ( s )) T g ( s ) 2 sT g ( s ) (2)
h2 A2
By subtracting eq. (1) in eq. (2)
h1 A1 T g ( s)
T a ( s) (T g ( s) ) ( 2 s 1)T g ( s) ( 1s 1)
h2 A2 1s 1
h1 A1
T a ( s)( 1s 1) (( 1s 1)T g ( s ) T g ( s )) ( 1s 1)( 2 s 1)T g ( s)
h2 A2
h1 A1
T a ( s)( 1s 1) 1sT g ( s)) ( 1s 1)( 2 s 1)T g ( s)
h2 A2
h1 A1 h A V Cp V Cp
Let 1 1 1 m m m m m m 12
h2 A2 h2 A2 h1 A1 h2 A2
T a ( s )( 1s 1) 12 sT g ( s )) ( 1s 1)( 2 s 1)T g ( s )
( 1 2 s 2 ( 1 2 12 ) s 1)T g ( s ) T a ( s )( 1s 1)
T g (s) ( 1s 1)
T a ( s) 1 2 s ( 1 2 12 ) s 1
2
T g ( s)
By substituting equation (1) T m ( s)
1s 1
T m ( s) 1
T a ( s) 1 2 s ( 1 2 12 ) s 1
2
Process Dynamics 61 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali