Bits, Pilani - K. K. Birla Goa Campus: Process Control-CHE C441 Chapter #5

9/27/2013
BITS, PILANI K. K. BIRLA GOA CAMPUS

Process Control- CHE C441
Chapter #5
Dynamic behavior of 1
st
and 2
nd
order system

Dr. Saroj Sundar Baral

Department of Chemical Engineering
9/27/2013 BITS, PILANI K. K. BIRLA GOA CAMPUS 2
Dynamic Behavior
In analyzing process dynamic and process
control systems, it is important to know how
the process responds to changes in the
process inputs.
A number of standard types of input changes
are widely used for two reasons:
1. They are representative of the types of
changes that occur in plants.
2. They are easy to analyze mathematically.
1. Step Input
A sudden change in a process variable can be
approximated by a step change of magnitude, M:
The step change occurs at an arbitrary time denoted
as t = 0.
Special Case: If M = 1, we have a unit step change. We
give it the symbol, S(t).
Example of a step change: A reactor feedstock is
suddenly switched from one supply to another, causing
sudden changes in feed concentration, flow, etc.
Example:
The heat input to the stirred-tank heating system in
Chapter 2 is suddenly changed from 8000 to 10,000
kcal/hr by changing the electrical signal to the heater.
Thus,
( ) ( ) ( )
( ) ( )
8000 2000 , unit step
2000 , 8000 kcal/hr
Q t S t S t
Q t Q Q S t Q
= +
'
= = =
2. Ramp Input
Industrial processes often experience drifting
disturbances, that is, relatively slow changes up
or down for some period of time.
The rate of change is approximately constant.
We can approximate a drifting disturbance
by a ramp input:
Examples of ramp changes:
1. Ramp a setpoint to a new value. (Why not make a step
change?)
2. Feed composition, heat exchanger fouling, catalyst activity,
ambient temperature.
Examples:
1. Reactor feed is shut off for one hour.
2. The fuel gas supply to a furnace is briefly
interrupted.
0
h
3. Rectangular Pulse
It represents a brief, sudden change in a
process variable:
Other Inputs
4. Sinusoidal Input
Examples:
1. 24 hour variations in cooling water temperature.
2. 60-Hz electrical noise (in USA!)
Processes are also subject to periodic, or cyclic,
disturbances. They can be approximated by a
sinusoidal disturbance:
( )
( )
sin
0 for 0
(5-14)
sin for 0
t
U t
A t t e
<
>
where: A = amplitude, = angular frequency

sin
2 2
( )
A
U s
s
e
e
=
+
2 2
) (
e
e
+
=
s
s U
2 2
2
2 2
1 0
2 2
p
s s
s
1 s s 1 s
K
) s ( Y
e +
o
+
e +
o
+
+ t
o
=
e +
e
+ t
=
1
K
1
K
1
K
2 2
p
2
2 2
p
1
2 2
2
p
0
+ t e
e
= o
+ t e
t e
= o
+ t e
t e
= o
For a sine input (1st order process)
output is...
By partial fraction decomposition,
9/27/2013 BITS, PILANI K. K. BIRLA GOA
CAMPUS
11
) t sin(
1
K
e
1
K
) t ( y
2 2
p
t
2 2
p
| + e
+ t e
+
+ t e
et
=
t
) arctan(et = |
note: f is not a function of t but of t and w.
For large t, y(t) is also sinusoidal,
output sine is attenuated by
(fast vs. slow w)
Inverting,
this term dies out for large t
1
1
2 2
+ t e
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Examples:
1. Electrical noise spike in a thermo-couple reading.
2. Injection of a tracer dye.
5. Impulse Input

Here,
It represents a short, transient disturbance.
It is the limit of a rectangular pulse for t
w
0 and
h = 1/t
w

( ) ( )
( ) 1
I I
U t t and U s o = =
Here,
( ) ( )
(1) Y s G s =
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note when C
e
0, obtain 1st order equation
(simpler model)
Second order process example, Example 4.2
i
2
e e e e e e
2
e e e e
u=Q-Q T fixed
mm C m C m C 1
wh A h A wC
y T T
d y m dy
y u
dt w dt wC
=
| |
+ + + + =
|
\ .
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1 + )s ( + s
K
= G(s)
2 1
2
2 1
t + t t t
2 1
t t t =
1 s 2 s
K
= G(s)
2 2
+ ,t + t
1 overdamped , >
2 1
2 1
2
=
t t
t + t
,
2nd order ODE model
(overdamped)
Block Notation:
Composed of two first order subsystems (G
1
and G
2
)
roots:
t
, , 1
2

1
1
underdamped
critically damped
,
,
<
=
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Second Order Step Change
a. Overshoot

b. time of first maximum

c. decay ratio (successive maxima not min.)

d. period of oscillation

2
exp
1
a
b
t,
,
| |
| =
|
\ .
2
1
p
t
tt
,
=
2
2
2
2
exp
1
c a
a b
t,
,
| |
| = =
|
\ .
2
2
1
p
tt
,
=

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Example 5.5
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Example: 5.2
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Exampl
e: 5.4
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Exampl
e: 5.6
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A step change of magnitude
4 is introduced into a system
having the transfer function
Determine
(a) % overshoot
(b) Rise time
(c) Max value of Y(t)
(d) Ultimate value of Y(t)
(e) Period of Oscillation.
Example: 8.1
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Example:5.8
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Example: 5.17
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In the two-tank mixing process shown in Fig, x varies from 0
lb salt/ft
3
to 1 lb salt/ft
3
according to a step function. At what
time does the salt concentration in tank 2 reach 0.6 lb
salt/ft
3
? The holdup volume of each tank is 6 ft
3
.
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The tank system operates at steady state. At t = 0, 10 ft
3
of water is
added to tank 1. Determine the maximum deviation in level in both
tanks from the ultimate steady state values, and the time at which
each maximum occurs.
A1 = A2 = 10 ft3 R1 = 0.1ft/cfm R2 = 0.35ft/cfm.
9/27/2013
Thanks
30 BITS, PILANI K. K. BIRLA GOA CAMPUS

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9/27/2013

BITS, PILANI K. K. BIRLA GOA CAMPUS

where: A = amplitude, = angular frequency

9/27/2013 BITS, PILANI K. K. BIRLA GOA

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