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Chap 04 Marlin 2002
Chap 04 Marlin 2002
Chap 04 Marlin 2002
= =
0
dt e t f s f t f L
st
) ( ) ( )) ( (
s
C
e
s
C
dt Ce C L
t
t
st st
= = =
=
=
0
0
) ( : Constant
Step Change at t=0: Same as constant for t=0 to t=
t=0
f(t)=0
THE FIRST STEP: LAPLACE TRANSFORM
= =
0
dt e t f s f t f L
st
) ( ) ( )) ( (
+ = =
0 0 0
1 1 dt e e dt e dt e ) e ( )) e (( L
st / t st st / t / t
s / 1 =
/ s
e
/ s
dt e
t ) s / ( t ) s / (
1
0
1
1
0
1
1 1
+
=
+
= =
+
) s ( s s s / s s 1
1 1 1 1
1 1 +
=
+
=
+
=
We have seen
this term
often! Its the
step response to
a first order
dynamic system.
THE FIRST STEP: LAPLACE TRANSFORM
Lets consider plug flow through a pipe. Plug flow has no
backmixing; we can think of this a a hockey puck
traveling in a pipe.
What is the dynamic response of the outlet fluid property
(e.g., concentration) to a step change in the inlet fluid
property?
Lets learn a new
dynamic response
& its Laplace
Transform
THE FIRST STEP: LAPLACE TRANSFORM
Lets learn a new
dynamic response
& its Laplace
Transform
time
X
in
X
out
= dead time
= =
Our plants have
pipes. We will
use this a lot!
THE FIRST STEP: LAPLACE TRANSFORM
We need the Laplace transform of
derivatives for solving dynamic models.
First
derivative:
General:
0 =
=
(
t
) t ( f ) s ( sf
dt
) t ( df
L
constant
|
|
.
|
\
|
+ + + =
(
(
0
1
1
0
1
0
1
t
n
n
t
n
t
n n
n
n
dt
) t ( f d
....
dt
) t ( df
s ) t ( f s ) s ( f s
dt
) t ( f d
L
constant
I am in desperate
need of examples!
SOLVING MODELS USING THE LAPLACE
TRANSFORM
Textbook Example 3.1: The CSTR (or mixing tank)
experiences a step in feed composition with all other
variables are constant. Determine the dynamic response.
(Well solve this in class.)
F
C
A0
V
C
A
A A A
A
VkC' ) C' F(C'
dt
dC'
V =
0
A A
kC r
B A
=
kV F
F
K and
kV F
V
with
' '
'
+
=
+
= = +
0 A A
A
KC C
dt
dC
I hope we get the same
answer as with the
integrating factor!
SOLVING MODELS USING THE LAPLACE
TRANSFORM
A A
kC r
B A
=
F
C
A0
V1
C
A1
V2
C
A2
Two isothermal CSTRs are initially at steady state and
experience a step change to the feed composition to the
first tank. Formulate the model for C
A2
.
(Well solve this in class.)
2 2 2 2 1
2
2
1 1 1 1 0
1
1
A A A
A
A A A
A
C' k V ) C' F(C'
dt
dC'
V
C' k V ) C' F(C'
dt
dC'
V
=
=
' '
'
' '
'
1 2 2
2
2
0 1 1
1
1
A A
A
A A
A
C K C
dt
dC
C K C
dt
dC
= +
= +
= =
s s F
s T
s G
/s m
K
3
tank1
1 300
0 1
1
2
+
= =
s
K K
s T
s T
s G
/ .
) (
) (
) (
tank2
1 10
0 1
2
+
=
=
s
K K
s T
s T
s G
measured
sensor
/ .
) (
) (
) (
(Time in seconds)
Lets see how to
combine models
TRANSFER FUNCTIONS: MODELS VALID
FOR ANY INPUT FUNCTION
The BLOCK DIAGRAM
G
valve
(s)
G
tank2
(s) G
tank1
(s) G
sensor
(s)
v(s) F
0
(s) T
1
(s) T
2
(s) T
meas
(s)
Its a picture of the model equations!
Individual models can be replaced easily
Helpful visualization
Cause-effect by arrows
TRANSFER FUNCTIONS: MODELS VALID
FOR ANY INPUT FUNCTION
Combine using BLOCK DIAGRAM ALGEBRA
G
valve
(s)
G
tank2
(s) G
tank1
(s) G
sensor
(s)
v(s) F
0
(s) T
1
(s) T
2
(s) T
meas
(s)
) ( ) ( ) ( ) (
) (
) (
) (
) (
) (
) (
) (
) (
) (
) (
) (
s G s G s G s G
s v
s F
s F
s T
s T
s T
s T
s T
s G
s v
s T
v T T s
meas meas
1 2
0
0
1
1
2
2
=
(
= =
G(s)
v(s) T
meas
(s)
TRANSFER FUNCTIONS: MODELS VALID
FOR ANY INPUT FUNCTION
Key rules for BLOCK DIAGRAM ALGEBRA
QUALITATIVE FEATURES W/O SOLVING
FINAL VALUE THEOREM: Evaluate the final valve of
the output of a dynamic model without solving for the
entire transient response.
sY(s)
lim
) (
=
s
t
t Y
Example for first order system
p A
p A
s
t A
K C
s s
K C
s t C
0
0
0
) 1 (
lim | ) ( =
+
2 1
2
2 1 0 2 1 0
2 1
What about dynamics
can we determine
without solving?
QUALITATIVE FEATURES W/O SOLVING
We can use partial fraction
expansion to prove the following
key result.
Y(s) = G(s)X(s) = [N(s)/D(s)]X(s) = C
1
/(s-
1
) + C
2
/(s-
2
) + ...
With
i
the solution to the denominator of the transfer
function being zero, D(s) = 0.
... )] sin( ) cos( [ ...
..) ( ... ) (
+ + +
+ + + + + + + + =
t
t
t t
q
p
e t C t C
e t B t B B e A e A A t Y
2 1
2
2 1 0 2 1 0
2 1
... )] sin( ) cos( [ ...
..) ( ... ) (
+ + +
+ + + + + + + + =
t
t
t t
q
p
e t C t C
e t B t B B e A e A A t Y
2 1
2
2 1 0 2 1 0
2 1
Real, distinct
i
Real, repeated
i
Complex
i
q
is Re(
i
)
QUALITATIVE FEATURES W/O SOLVING
With
i
the solutions to D(s) = 0, which is a polynomial.
... )] sin( ) cos( [ ...
..) ( ... ) (
+ + +
+ + + + + + + + =
t
t
t t
q
p
e t C t C
e t B t B B e A e A A t Y
2 1
2
2 1 0 2 1 0
2 1
1. If all
i
are ???, Y(t) is stable
If any one
i
is ???, Y(t) is unstable
2. If all
i
are ???, Y(t) is overdamped
(does not oscillate)
If one pair of
i
are ???, Y(t) is
underdamped
Complete statements
based on equation.
QUALITATIVE FEATURES W/O SOLVING
With
i
the solutions to D(s) = 0, which is a polynomial.
... )] sin( ) cos( [ ...
..) ( ... ) (
+ + +
+ + + + + + + + =
t
t
t t
q
p
e t C t C
e t B t B B e A e A A t Y
2 1
2
2 1 0 2 1 0
2 1
1. If all real [
i
] are < 0, Y(t) is stable
If any one real [
i
] is 0, Y(t) is unstable
2. If all
i
are real, Y(t) is overdamped (does not
oscillate)
If one pair of
i
are complex, Y(t) is underdamped
A A
kC r
B A
=
F
C
A0
V1
C
A1
V2
C
A2
(Well solve this in class.)
' '
'
' '
'
1 2 2
2
2
0 1 1
1
1
A A
A
A A
A
C K C
dt
dC
C K C
dt
dC
= +
= +
\
|
= = =
+ = = =
)) ( Re(
)) ( Im(
tan ) ( angle Phase
)) ( Im( )) ( Re( ) ( Ratio Amp.
j G
j G
j G
j G j G j G AR
1
2 2
These calculations are tedious by hand but easily performed in
standard programming languages.
QUALITATIVE FEATURES W/O SOLVING
Example 4.15 Frequency response of mixing tank.
Time-domain
behavior.
Bode Plot - Shows
frequency response for
a range of frequencies
Log (AR) vs log()
Phase angle vs log()
QUALITATIVE FEATURES W/O SOLVING
F
C
A0
V1
C
A1
V2
C
A2 Sine disturbance with
amplitude = 1 mol/m
3
frequency = 0.20 rad/min
Must have
fluctuations
< 0.050 mol/m
3
C
A2
Using equations for the frequency response amplitude ratio
050 0 12 0 12 0 0 1
1
1
2
2 2
0 2
2 2
0
2
. . ) . )( . ( | |
) (
| | | |
) (
| ) ( |
| |
| |
> = =
+
=
+
= =
A
p
A A
p
A
A
C
K
C C
K
j G
C
C