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    CEE 5403 Lecture 6

    Uploaded by

    Emmanuel
    The document discusses the dynamics behavior of interacting and non-interacting tank systems. It provides equations to model the behavior of two tanks connected in series, both for interacting and non-interacting cases. The transfer function between the inlet and outlet flowrates is derived.

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    © All Rights Reserved
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    CEE 5403 Lecture 6

    Uploaded by

    Emmanuel
    12 views18 pages
    The document discusses the dynamics behavior of interacting and non-interacting tank systems. It provides equations to model the behavior of two tanks connected in series, both for interacting and non-interacting cases. The transfer function between the inlet and outlet flowrates is derived.

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    Biochemical engineering lecture notes

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    The document discusses the dynamics behavior of interacting and non-interacting tank systems. It provides equations to model the behavior of two tanks connected in series, both for interacting and non-interacting cases. The transfer function between the inlet and outlet flowrates is derived.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    12 views18 pages

    CEE 5403 Lecture 6

    Uploaded by

    Emmanuel
    The document discusses the dynamics behavior of interacting and non-interacting tank systems. It provides equations to model the behavior of two tanks connected in series, both for interacting and non-interacting cases. The transfer function between the inlet and outlet flowrates is derived.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
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    CEE 5403:

    PROCESS
    CONTROL
    NON INTERACTING /INTERACTING TANKS
    TRANSFER PROCESS DYNAMICS
    FUNCTIONS
    G(S)
    PROCESS DYNAMICS
    PROCESS DYNAMICS
    TODAY QUIZ
    1. Below is an ODE of a process model Time: 30 mins
    𝒅𝒙
    − 𝟒𝒙 = 𝑪𝒐𝒔 𝒕
    𝒅𝒕
    i. Obtain Laplace Transform (LT) of the ODE.
    ii. What is the order of the LT obtained?
    iii. State clearly the gain K and the time constant 𝝉 of the LT obtained.
    iv. Derive response of ODE in time domain, X(t).
    v. Comment on your X(t) response obtained.
    PROCESS DYNAMICS

    Dynamics Behaviour of Non Interacting Tank of System in Series


    Below in the two non-interacting tank, the outflow of each tank is a function
    of the liquid level in that tank.
    Assumption of the system

    𝐴1 & 𝐴2 = Cross sectional area


    𝑅1 & 𝑅2 = Resistance to flow by valves
    ℎ1
    𝑞1 =
    𝑅1
    ℎ2
    𝑞2 =
    𝑅2
    𝐴1 𝑑ℎ1
    = 𝑞𝑖 − 𝑞1 𝐸𝑞 1
    𝑑𝑡

    𝐴2 𝑑ℎ2
    = 𝑞1 − 𝑞2 𝐸𝑞 2
    𝑑𝑡
    PROCESS DYNAMICS

    Dynamics Behaviour of Non Interacting Tank of System in Series

    𝐴1 𝑑ℎ1 ℎ1
    = 𝑞𝑖 − 𝐸𝑞 3
    𝑑𝑡 𝑅1

    𝐴2 𝑑ℎ2 ℎ2
    = 𝑞1 − 𝐸𝑞 4
    𝑑𝑡 𝑅2
    At steady state….

    𝐴1 𝑑ℎ1 𝐴2 𝑑ℎ2
    and =0
    𝑑𝑡 𝑑𝑡
    ℎ1
    0 = 𝑞𝑖 − 𝐸𝑞 5
    𝑅1

    ℎ2
    0 = 𝑞1 − 𝐸𝑞 6
    𝑅2
    Deviation variable introduced.
    PROCESS DYNAMICS

    Dynamics Behaviour of Non Interacting Tank of System in Series


    𝐻1 (𝑠) 𝑅1
    = 𝐸𝑞 7
    𝑄𝑖 (𝑠) 𝐴1 𝑅1 𝑠 + 1

    𝐻2 (𝑠) 𝑅2
    = 𝐸𝑞 8
    𝑄1 (𝑠) 𝐴2 𝑅2 𝑠 + 1

    Transfer function of the inlet flowrate Qi and outlet flowrate Q2 is required

    𝑄𝑖 (𝑠)
    =?
    𝑄2 (𝑠)
    This we lead us to the block diagram
    PROCESS DYNAMICS

    Dynamics Behaviour of Non Interacting Tank of System in Series


    This we lead us to the block diagram
    PROCESS DYNAMICS

    Dynamics Behaviour of Non Interacting Tank of System in Series


    Transfer function of the inlet flowrate Qi and outlet flowrate Q2 is required
    𝐾
    𝑄2 (𝑠) 𝐺(𝑠) =
    =? 𝜏𝑠 + 1
    𝑄𝑖 (𝑠)
    𝐾=1
    𝑄2 (𝑠) 𝐻1 (𝑠) 𝑄1 (𝑠) 𝐻2 (𝑠) 𝑄2 (𝑠)
    = . . . 𝐸𝑞 9
    𝑄𝑖 (𝑠) 𝑄𝑖 (𝑠) 𝐻1 (𝑠) 𝑄1 (𝑠) 𝐻2 (𝑠) 𝜏1 = 𝐴1 𝑅1

    𝑄2 (𝑠) 1 𝜏2 = 𝐴2 𝑅2
    = 𝐸𝑞 10
    𝑄𝑖 (𝑠) (𝐴1 𝑅1 𝑠 + 1)(𝐴2 𝑅2 𝑠 + 1)

    𝑄2 (𝑠) 1
    = 𝐸𝑞 11
    𝑄𝑖 (𝑠) (𝜏1 𝑠 + 1)(𝜏2 𝑠 + 1)
    PROCESS DYNAMICS

    Dynamics Behaviour of Interacting Tank of System in Series


    Below are two interacting tank, Mass balance for Tank 1 and Tank 2
    𝑑ℎ1
    𝐴1 = 𝑞 − 𝑞1 𝐸𝑞 1
    𝑑𝑡

    𝑑ℎ2
    𝐴2 = 𝑞1 − 𝑞2 𝐸𝑞 2
    𝑑𝑡
    ℎ
    R, resistance to flow 𝑅 =
    𝑞

    1
    𝑞1 = (ℎ − ℎ2 )
    𝑅1 1

    ℎ2
    𝑞2 =
    𝑅2
    PROCESS DYNAMICS

    Dynamics Behaviour of Interacting Tank of System in Series


    𝑑ℎ
    For Tank 1 At steady state =0
    𝑑𝑡
    𝑑ℎ1
    𝐴1 = 𝑞 𝑡 − 𝑞1 For Tank 1
    𝑑𝑡 0 = 𝑞 𝑡 − 𝑞1𝑠 𝐸𝑞 5
    𝑑ℎ1 1
    𝐴1 =𝑞 𝑡 − ℎ − ℎ2 𝐸𝑞 3 For Tank 2
    𝑑𝑡 𝑅1 1
    1 ℎ2𝑠
    For Tank 2 0= ℎ1𝑠 − ℎ2𝑠 − 𝐸𝑞 6
    𝑅1 𝑅2
    𝑑ℎ2
    𝐴2 = 𝑞1 − 𝑞2
    𝑑𝑡 Deviation variable introduced for Tank 2.
    𝑑ℎ2 1 ℎ2 𝐻1 = ℎ1 − ℎ1𝑠 ; 𝐻2 = ℎ2 − ℎ2𝑠
    𝐴2 = ℎ1 − ℎ2 − 𝐸𝑞 4
    𝑑𝑡 𝑅1 𝑅2 𝑑 1 1 (ℎ2 − ℎ2𝑠 )
    𝐴2 (ℎ2 − ℎ2𝑠 ) = ℎ − ℎ1𝑠 − ℎ − ℎ2𝑠 − 𝐸𝑞 7
    𝑑𝑡 𝑅1 1 𝑅1 2 𝑅2
    PROCESS DYNAMICS

    Dynamics Behaviour of Interacting Tank of System in Series

    Deviation variable introduced for Tank 2.

    𝐻1 = ℎ1 − ℎ1𝑠 ; 𝐻2 = ℎ2 − ℎ2𝑠

    𝑑 1 1 ℎ2 − ℎ2𝑠
    𝐴2 ℎ2 − ℎ2𝑠 = ℎ1 − ℎ1𝑠 − ℎ2 − ℎ2𝑠 − 𝐸𝑞 7
    𝑑𝑡 𝑅1 𝑅1 𝑅2

    𝑑 1 1 𝐻2
    𝐴2 𝐻2 = 𝐻1 − 𝐻2 − 𝐸𝑞 8
    𝑑𝑡 𝑅1 𝑅1 𝑅2

    1 1 1
    𝐴2 𝑠𝐻2 𝑠 = 𝐻1 𝑠 − 𝐻2 𝑠 − 𝐻 𝑠 𝐸𝑞 9
    𝑅1 𝑅1 𝑅2 2
    1 1 1
    𝐻2 𝑠 𝐴2 𝑠 + + = 𝐻1 𝑠 𝐸𝑞 𝐸𝑞 10
    𝑅1 𝑅2 𝑅1
    PROCESS DYNAMICS

    Dynamics Behaviour of Interacting Tank of System in Series


    𝑑ℎ
    At steady state =0
    𝑑𝑡
    For Tank 1
    1
    0 = 𝑞 𝑡 − (ℎ1 − ℎ2 )
    𝑅1
    Deviation variable introduced for Tank 1.
    𝐻1 = ℎ1 − ℎ1𝑠 ; 𝐻2 = ℎ2 − ℎ2𝑠 ; 𝑄𝑡 = 𝑞𝑡 − 𝑞𝑡𝑠

    𝑑 1 1
    𝐴1 ℎ − ℎ1𝑠 = 𝑞 𝑡 − ℎ − ℎ1𝑠 − ℎ − ℎ2𝑠
    𝑑𝑡 1 𝑅1 1 𝑅1 2

    𝑑 1 1
    𝐴1 𝐻1 = 𝑞 𝑡 − 𝐻1 − 𝐻2
    𝑑𝑡 𝑅1 𝑅1
    1 1
    𝐴1 𝑠𝐻1 (𝑠) = 𝑄 𝑡 (𝑠) − 𝐻1 (𝑠) − 𝐻2 (𝑠)
    𝑅1 𝑅1
    𝐻1 𝑠 − 𝐻2 𝑠 𝐻1 𝑠 − 𝐻2 𝑠
    𝐴1 𝑠𝐻1 𝑠 = 𝑄 𝑡 𝑠 − 𝑜𝑟 𝑄 𝑡 𝑠 = 𝐴1 𝑠𝐻1 𝑠 + 𝐸𝑞 11
    𝑅1 𝑅1
    PROCESS DYNAMICS

    Dynamics Behaviour of Interacting Tank of System in Series


    1 1
    𝐴1 𝑠𝐻1 (𝑠) = 𝑄 𝑡 (𝑠) − 𝐻1 (𝑠) − 𝐻2 (𝑠)
    𝑅1 𝑅1
    𝐻1 𝑠 − 𝐻2 (𝑠)
    𝐴1 𝑠𝐻1 (𝑠) = 𝑄 𝑡 (𝑠) −
    𝑅1

    𝐴1 𝑅1 𝑠𝐻1 𝑠 = 𝑅1 𝑄 𝑡 𝑠 − 𝐻1 𝑠 − 𝐻2 𝑠 𝐸𝑞 12

    From Tank 2 we can obtain:


    𝑅1
    𝐻1 𝑠 − 𝐻2 𝑠 = 𝐴 𝑅 𝑠 + 1 𝐻2 𝑠 𝐸𝑞 13
    𝑅2 2 2

    𝑅1
    𝐻1 𝑠 = 𝐴 𝑅 𝑠 + 1 𝐻2 𝑠 + 𝐻2 𝑠 𝐸𝑞 14
    𝑅2 2 2
    PROCESS DYNAMICS

    Dynamics Behaviour of Interacting Tank of System in Series

    𝐴2 𝑅2 𝑠 + 1 𝑅1
    𝑄 𝑡 𝑠 = 𝐻2 𝑠 + 𝐴 𝑅 𝑠 + 1 𝐴1 𝑠 + 𝐴1 𝑠
    𝑅2 𝑅2 2 2

    𝐴2 𝑅2 𝑠 + 1 + 𝑅1 𝐴1 𝑠 𝐴2 𝑅2 𝑠 + 1 + 𝐴1 𝑅2 𝑠
    𝑄 𝑡 𝑠 = 𝐻2 𝑠
    𝑅2

    𝐻2 𝑠 𝑅2
    = 𝑙𝑒𝑡 𝜏1 = 𝐴1 𝑅1 𝑎𝑛𝑑 𝜏2 = 𝐴2 𝑅2
    𝑄 𝑡 𝑠 𝐴2 𝑅2 𝑠 + 1 + 𝐴1 𝑅1 𝑠 𝐴2 𝑅2 𝑠 + 1 + 𝐴1 𝑅2 𝑠

    𝐻2 𝑠 𝑅2
    =
    𝑄 𝑡 𝑠 𝜏2 𝑠 + 1 + 𝜏1 𝑠 𝜏2 𝑠 + 1 + 𝐴1 𝑅2 𝑠
    PROCESS DYNAMICS

    Dynamics Behaviour of Interacting Tank of System in Series


    𝐻2 𝑠 𝑅2
    =
    𝑄 𝑡 𝑠 𝜏2 𝑠 + 1 + 𝜏1 𝑠 𝜏2 𝑠 + 1 + 𝐴1 𝑅2 𝑠 𝐾
    𝐺(𝑠) =
    𝜏𝑠 + 1
    𝐻2 𝑠 𝑅2
    = 𝐾 = 𝑅2
    𝑄 𝑡 𝑠 𝜏2 𝑠 + 1 + 𝜏1 𝜏2 𝑠 2 + 𝜏1 𝑠 + 𝐴1 𝑅2 𝑠

    𝐻2 𝑠 𝑅2
    𝜏1 = 𝐴1 𝑅1
    =
    𝑄 𝑡 𝑠 𝜏1 𝜏2 𝑠 2 + 𝑠(𝜏1 + 𝜏2 +𝐴1 𝑅2 ) + 1
    𝜏2 = 𝐴2 𝑅2
    𝐻2 𝑠 𝑅2
    𝐺 𝑠 = =
    𝑄 𝑡 𝑠 𝜏1 𝜏2 𝑠 2 + 𝑠(𝜏1 + 𝜏2 +𝐴1 𝑅2 ) + 1

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