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8 Lecture Notes-8 BEM2053 EM218

This document provides an overview of modeling fluid systems using system dynamics concepts. It defines key variables and properties of fluid systems including volume, flow rate, pressure, capacitance, and resistance. Capacitance represents the ability of a system to store fluid and is defined as the ratio of change in volume to change in pressure. Resistance models pressure drops as fluid flows. Conservation laws for mass and volume are described. An example mathematical model is developed for the height of liquid in a cylindrical tank based on inflow and outflow rates and the tank's resistance. References for further reading on system dynamics and modeling dynamic systems are also provided.

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Abdirisak Ahmed
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131 views20 pages

8 Lecture Notes-8 BEM2053 EM218

This document provides an overview of modeling fluid systems using system dynamics concepts. It defines key variables and properties of fluid systems including volume, flow rate, pressure, capacitance, and resistance. Capacitance represents the ability of a system to store fluid and is defined as the ratio of change in volume to change in pressure. Resistance models pressure drops as fluid flows. Conservation laws for mass and volume are described. An example mathematical model is developed for the height of liquid in a cylindrical tank based on inflow and outflow rates and the tank's resistance. References for further reading on system dynamics and modeling dynamic systems are also provided.

Uploaded by

Abdirisak Ahmed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Lecture#8

Modeling of Fluid Systems

Ir. Fahri Heltha

SYSTEM DYNAMICS (BEM2053/EM218)


Contents

• What is Fluid System?


• Variable on Fluid System
• Equivalence of Systems
• Conservation of Volume
• Conservation of Mass
• Fluid Capacitance
• Fluid Resistance
• Fluid System Model
• Q/A
• References
What is Fluid System?

• Fluid is a substance that is characterized by


its inability to support a static shear.

• Fluid systems classification:


– Incompressible fluid (Liquid) where its
density [rho] remains constant despite
change in the fluid pressure [p]. 
Hydraulic systems.
– Compressible fluid (Gas/air).  Pneumatic
systems. not discussed in this course.

• Water supply, waste treatment, water tank


systems and other chemical processing
applications are example of fluid systems.
What is Fluid System?
Variables on Fluid System
As fluid systems involve the flow and
accumulation of fluid, the variables
commonly used to described their dynamics
behavior are:
• v, volume in m3
• q, flow rate in m3/s
• h, liquid height in m
• p, pressure in N/m2 or Pa (pascal)

v, h, and p can be used as a measure of the


amount of liquid in a vessel, and can be
selected them as a state-variable.
Equivalences of Systems
System Effort
Flow variable Compliance Inductance Resistance
type variable

Mechanical , F = force spring (k) mass (m) damper (c)


capacitance inductance resistance
Electrical i = current V = voltage
(C) (L) (R)
conduction
∆T =
Qh = heat and
Thermal change in object (C) -
flow rate convection
temperature
(R)
Qm = mass
p=
flow rate, mass (m) or valve or
Fluid pressure, h tank (C)
Qv = volume volume (v) orifice (R)
= height
flow rate

Flow variable: moves through the system


Effort variable: puts the system into action
Compliance: stores energy as potential
Inductance: stores energy as kinetic
Resistance: dissipates or uses energy
Fluid Capacitance
When liquid is stored in an open vessel, there
is an algebraic relationship between the
volume of the liquid (v) and the pressure at
the bottom of the vessel (p). Let h is the height
of the liquid.
Fluid capacitance is the ratio of the change in
stored volume to the change in pressure.
dv
C ( h) 
dp
As indicated, the capacitance depends on the
liquid heights.
Fluid Capacitance

When liquid is stored in an open vessel


(container), the total absolute pressure at the
bottom of the vessel is:
p=rgh+pa

where pa is atmospheric pressure (1.013x105N/m2)

Thus the pressure due only to the stored liquid


is: rgh
Conservation of Volumes

• For a container holding volume of fluid v,


the time rate of change of volume in the
container must equal the total volume
inflow rate minus total volume outflow
rate:

v  qin (t )  qout (t )
Conservation of Mass
• Sometimes the quantity is expressed in
mass (kg) instead of volume.
• For a container holding mass of fluid m, the
time rate of change of mass in the container
must equal the total mass inflow rate (qmi)
minus total mass outflow rate (qmo) :

m  qmi  qmo
V  q  q
mi mo

• The fluid mass m is related the container


volume as
m  V
Fluid Capacitance

Example 1:
Derive the capacitance of the following
container.

CA
g
Fluid Capacitance
Example 2:
Derived the capacitance of the following
container.

C (h)  A( h)
g

h
*Note that volume is the integral of area
from the bottom to the top of the liquid: v   A( x)dx
0
(x is dummy variable)
Fluid Capacitance
Based on the concept of capacitance, the
model of the pressure in a container as
function of volume inflow and outflow rates
can be obtained.
v  qin (t )  qout (t )
1

h qin (t )  qout (t )
A(h)
1
p  qin (t )  qout (t )
C ( h)
where: C (h)  A(h)
g
Example 3
Water is pumped at the mass flow rate
qmo(t) from the tank shown in the
figure. Replacement water is pumped
from a well at the mass flow rate qmi(t).
Determine the water height h(t),
assuming the tank is cylindrical with
cross section A!

Schematic diagram of the system

1 t
h(t )  h(0) 
A 0
[qmi (t ) qmo (t )]dt
Fluid Resistance

As fluid/liquid flows through a pipe, there is a


drop in the pressure of liquid over the length
of pipe. There is likewise a pressure drop if
the liquid flows through a valve or an orifice.

Fluid resistance R is usually expressed in a


nonlinear relationship or in a linearized one.

R is usually determined empirically.


Fluid Resistance

• In some cases, there is a linear relationship


between p and q:
p p
R or  q
q R
• In some other cases, the relationship is non-
linear:
p
 q
R
Fluid System Model
Example 4:
The cylindrical tank
shown in the figure has
bottom cross section A.
The mass inflow rate is
qmi and the outlet
resistance is linear.
Develop a mathematical
model of the liquid height
 gh
Ah(t )  qmi  h as function of qmi. Also
R obtain its unit step
response! Assume h(0)=0
Q/A
Further Reference

W.J. Palm, System Dynamics, 2nd edition (2010) --


Chapter 7, Part I

Close, Frederick and Newell, Modeling and Analysis of


Dynamic Systems 3rd edition (2002) -- Chapter 12

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