Lecture 4

ME 461
Control Engineering
Semester: July 2023
Dr. Sumon Saha

Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Saturday, December 2, 2023
Control Today’s topic
Engineering
Mathematical Modeling
(Hydraulic & Thermal System)
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 2

Control Fluid System Building Blocks
Engineering
➢ Fluid system can be divided into two types: hydraulic and
pneumatic.
➢ Hydraulic describes fluid systems that use liquids (e.g., oil or

water).
➢ Pneumatic applies to those using air or other gases.
➢ Hydraulic systems is used in machine tool applications,

aircraft control systems, where high power to weight ratio,
accuracy and quick response is required.
➢ Industrial processes often involve systems consisting of

liquid-filled tanks connected by pipes having orifices, valves,
and other flow restricting devices.
Control Hydraulic System
Engineering
• Control system Fluid power system

Control Hydraulic Control system
Engineering
Example : Liquid level control system

Control Basic Fluid Elements
Engineering
There are three basic elements in fluid systems:
1. Fluid capacitor (C)

2. Inertor (long pipe) (I)
3. Fluid resistor (R)

Control Fluid Capacitor
Engineering
A fluid capacitor is an energy storage element, analogous to
capacitor in electrical systems.
Changed in stored fluid volume Vc
Fluid capacitance, C = =
Changed in fluid pressure Pc
qc
C=
dPc dt
dPc qc
=
dt C

Control Capacitor: Liquid Tank
Engineering
Flow rate = rate of change of volume
dVc dhc dhc qc
qc = =A  =
dt dt dt A
Equivalently, in terms of pressure
dPc d dhc qc qc
= (  ghc ) =  g = g =
dt dt dt A A g
Fluid capacitance, C = A (head), C = A/g (pressure)
A = cross-sectional area (m2)

Control Fluid Resistor
Engineering
A fluid resistor is a dissipative fluid element representing a valve
or other flow restricting connections.
Hydraulic resistance is the resistance to flow which occurs as a
result of a liquid flowing through valves or changes in a pipe
diameter as shown in Figure below.
Pressure ( Head ) difference P hR

Hydraulic resistance, R = = =
Changein flowrate q qR

Control Liquid level system
Engineering
qin – inflow liquid
qout – outflow
A – cross-sectional area
h – liquid level in the tank
(head)
R – valve resistance
Net flow in the tank Now
qin = q flow + qout
dh
q flow =A  qin − qout = q flow
dt
h dh
h  qin − = A
If R is linear, then R= R dt
qout
dh
 RA + h = Rqin
dt
Control Liquid level system
Engineering
Q. 1: For the liquid level system shown below, write down its
differential equation and the corresponding transfer function,
G(s) = H(s)/Qin(s).
Here, the input qin(t) is the inflow of water to the tank, qout(t) is the
outflow of water from the tank and the output h is the water level
height (head).
Q. 2: Identify the type of control system for the above liquid level
system. Write down the type of the mathematical model obtained
in Question no. 1.
Control Fluid Inertance
Engineering
Inertance is a measure of the pressure difference in a fluid
required to cause a change in flow-rate with time.
Fluid inertance is due to fluid inertia such as that in a long pipe. It

is defined as
Pressure difference P
Hydraulic inertance, I= =
Rate of changein flowrate dq / dt
 = fluid density
A = cross-sectional area
L = pipe length
PI L
For long pipe, I = =
dqI / dt A
Control Fluid Inertance
Engineering
To accelerate a fluid and to increase its velocity a force is
required. Consider a block of liquid of mass m as shown in Figure
below. The net force acting on the liquid is
F1 − F2 = p1 A − p2 A = ( p1 − p2 ) A
This net force causes the mass to accelerate with an acceleration
a, and so
dv dv dq  L dq
( p1 − p2 ) A = ma = m =  LA =  L  p1 − p2 =
dt dt dt A dt
Control System Modelling
Engineering
• Analogy between hydraulic and electrical systems
Building Block Equation
Capacitor q = C ( dp / dt )
Hydraulic Resistor q= p/R
system
Inertor q = (1 I )  pdt
Capacitor i = C ( dv / dt )
Electrical Resistor i =v/R
system
Inductor i = (1 L )  vdt
Analogy approach is also widely used to study system response.

Control Class Practice
Engineering
The hopper, shown in figure, receives an input qi (kg/hr) of
material from the belt conveyor. The screw conveyor removes
material from the hopper at a rate qo (kg/hr). This rate is
adjusted to meet plant needs and is in no way related to the
weight W of material in the hopper. Obtain the differential
equation which relates weight W with rates qi and qo.

Engineering
Weight, W = mg,
where m is the mass of the material (kg)
Volume of the material in the hopper is V = m/ρ = W/ρg,
where ρ is the density of the material (kg/m3)
Now qi = ρQi and qo= ρQo
where Qi and Qo are the inflow and the outflow of the material
(m3/hr)
Engineering
Change of flow rate = rate of change of volume inside the hopper

dV d  W  1 dW
Qi − Qo = =  =
dt dt   g   g dt
1 dW
  ( Qi − Qo ) =
g dt
1 dW
 qi − qo =
g dt
Control Thermal system
Engineering
Consider a thermocouple initially at temperature, T is suddenly
exposed to an environment at T∞.
Heat transfer by convection is
Qin = hA(T − T )
Thermal energy gain by the solid in
a time interval dt is
dT
Qout = mCv
dt
First law: Qin = Qout
dT
 + T = T
=
mCv dT
dt hA (T − T ) = mCv
hA dt
Acknowledgment: http://teacher.buet.ac.bd/zahurul/

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ME 461

Semester: July 2023

Dr. Sumon Saha

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 2

➢ Hydraulic describes fluid systems that use liquids (e.g., oil or

➢ Hydraulic systems is used in machine tool applications,

➢ Industrial processes often involve systems consisting of

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 4

Example : Liquid level control system

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 5

1. Fluid capacitor (C)

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 6

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 7

Equivalently, in terms of pressure

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 8

Pressure ( Head ) difference P hR

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 9

Fluid inertance is due to fluid inertia such as that in a long pipe. It

Analogy approach is also widely used to study system response.

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 15

Change of flow rate = rate of change of volume inside the hopper

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