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Process Simulation Using MATLAB

This document discusses numerical simulation of nonlinear process models using MATLAB. It provides an example of simulating two interacting tanks in series. The document derives the state-space model representation and discusses simulating state-space models using MATLAB functions like lsim and ode45 or Simulink. It also provides an example state-space model and asks to find the responses for different inputs using MATLAB functions and Simulink.

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সুনীত ভট্টাচার্য
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© © All Rights Reserved
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287 views

Process Simulation Using MATLAB

This document discusses numerical simulation of nonlinear process models using MATLAB. It provides an example of simulating two interacting tanks in series. The document derives the state-space model representation and discusses simulating state-space models using MATLAB functions like lsim and ode45 or Simulink. It also provides an example state-space model and asks to find the responses for different inputs using MATLAB functions and Simulink.

Uploaded by

সুনীত ভট্টাচার্য
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Process Simulation using

MATLAB
Most chemical process models are nonlinear and
rarely have analytical solutions. However, numerical
solutions ca be easily obtained using MATLAB

Simulation of Nonlinear Models


Example: Two interacting tank in series with outlet flowrate
being function of the square root of tank height.
F

F2

F1

F1 = R1 h1 - h2

F2 = R2 h2

Parameter values

ft 2.5
R1 = 2.5
min

5 ft 2.5
R2 =
6 min

Input variable F = 5 ft3/min

A1 = 5ft 2

A2 = 10 ft 2

Modeling equations : material balance


d ( r A1h1 )
= r F - r F1
dt

d ( r A2 h2 )
= r F1 - r F2
dt

dh1 F - R1 h - h
2
f (h , h , F )
dt A1 A1 1
= 1 1 2

f
h
h
F
,
,
dh
R
R

(
)
2
1
2
2 1 2

h
h
h
1
2
2

dt A2
A2

Steady-state height values : solve algebraic equations


F R1
A1 A1
R1
A2

h1 - h2 = 0

h1 - h2 -

R2
A2

h2 = 0

Using MATLAB fsolve routine


h1s = 10, h2s = 6

Question
What are the responses of tank height if the initial heights are
h1(0)=12 ft and h2(0)=7 ft ?
Assume the system is at steady-state initially. What are the
responses of tank height if
F changes from 5 to 7 ft3/min at t = 0
F has periodic oscillation of F = 5 + sin(0.2t)
F changes from 5 to 4 ft3/min at t = 20

Solve differential equations using MATLAB ode45 routine or


Simulink dee

h1(0)=12 ft and h2(0)=7 ft

12

F = 5 + sin(0.2t)
12

h1
h2

11

11

10

height

height

10

h1

h2

8
7
7

10

20

30

40

50

60

70

80

90

100

50

100

time

150

time

F changes from 5 to 7 ft3/min at t = 0

F changes from 5 to 4 ft3/min at t = 20

20

11

18

10

h1

h2

16

height

height

8
14

12

7
6

10

20

40

60

80

100

time

120

140

160

180

200

20

40

60

80

time

100

120

140 150

Linear State-Space Model


General dynamic models consist of a set of ODEs

x& = f ( x, u )
A linear model is a subset of the general modeling equation.
The form of linear model is called as a state-space model.

x& = A x + Bu
x : state vector (its elements are referred to as state variables)
u : input vector of manipulated variables
Matrices A and B are constant matrices

Example: Consider two tanks in series where the flow out of the
first tank enters the second tank. Assume the flow out of each
tank is a linear function of the tank height
F

F1 = R1 h1

Objective: develop a model to


describe how h2 change with
time, given the input flowrate F

F1

F2 = R2 h2
F2

Material balance

dh1 F R1
=
- h1
dt
A1 A1
dh2 R1
R
=
h1 - 2 h2
dt
A2
A2

Write the modeling equations in matrix form


R1

&
A1
h1

=
&
h2 R1
A
2

0
1
h
1 + A1 F
R2 h2
-
0
A2

x& = A x + B u
Additional equation associated with a state-space model

y = C x + Du
y : vector of output variables
Output variables are typically a subset of x. They are variables
that can be measured or are of particular interest in a
simulation study
Ex: Both tank height are outputs

1 0 h1
y=
= Cx

0 1 h2

( D = 0)

General form of State-Space Model

General form
dx1
= a11 x1 + a12 x2 + L + a1n xn + b11u1 + L + b1m u m
dt
M
M
dxn
= an1 x1 + an 2 x2 + L + ann xn + bn1u1 + L + bnm um
dt
y1 = c11 x1 + c12 x2 + L + c1n xn + d11u1 + L + d1m u m
M

n state variables (x)


m input variables (u)
r output variables (y)

yr = cr1 x1 + cr 2 x2 + L + crn xn + d r1u1 + L + d rm um

Matrix form
x&1 a11 a12
M = M
M

x&n an1 an 2
y1 c11 c12
M = M
M

yr cr1 cr 2

L a1n x1 b11 b12


O M M + M
M

L ann xn bn1 bn 2
L c1n x1 d11 d12
O M M + M
M

L crn xn d r1 d r 2

L b1m u1
O M M

L bnm um
L d1m u1
O M M

L d rm um

x& = A x + Bu
y = Cx + Du

Simulation of State-Space Models


ODE(ode45)MATLAB

Step 1: sys = ss(A, B, C, D)


Step 2: (the following functions assume a deviation variable form)
[y,t,x] = initial(sys,x0)
sys ()
x0

[y,t,x] = step(sys)
sys

[y,t,x] = impulse(sys)
sys

dimension of y : T x r x m
T = length of t
r = number of outputs
m = number of inputs

[y,t,x] = lsim(sys,u,t,x0)
sys t u
x0

Simulation Using Simulink

Simulation of state-space models using Simulink


(assume a deviation variable form)

State-Space
(Continuous)

A, B, C, D

Mux ()
Demux () (Signal Routing)

Mux:

Demux:

Exercise

State-space model, zero initial condition

x&1 -0.5 -0.8 x1 1 -1 u1


+
x& = 0.8

u
x
0
0
2
2
2
2
y1 2 6 x1
y = 1 -1 x
2
2
Find the responses for
unit step input of u1
unit step input of u2
u1 = sin(t)

Using
MATLAB functions
Simulink

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