System Modeling Coursework

Class 10: Modeling of liquid level systems

P.R. VENKATESWARAN
Faculty, Instrumentation and Control Engineering,
Manipal Institute of Technology, Manipal
Karnataka 576 104 INDIA
Ph: 0820 2925154, 2925152
Fax: 0820 2571071
Email: pr.venkat@manipal.edu, prv_i@yahoo.com
Blog: www.godsfavouritechild.wordpress.com
Web address: http://www.esnips.com/web/SystemModelingClassNotes
 WARNING!

• I claim no originality in all these notes. These are the

compilation from various sources for the purpose of
delivering lectures. I humbly acknowledge the
wonderful help provided by the original sources in
this compilation.
• For best results, it is always suggested you read the
source material.

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 Contents

• Model of the liquid level system

• Some questions.

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 Liquid level system

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 System equations

• At steady state Qi = Q0
• Let Q0 = ∆H/R
• The system dynamics is described by the liquid
flow rate balance equation is given by:
1. Rate of liquid storage in the tank= rate of liquid
inflow – rate of liquid outflow.
2. Rate of liquid storage in the tank = A dH/dt.
Where A = Cross sectional area of the tank.
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 Dynamics of the level system

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 Transfer function of the level system

• Therefore the transfer function is

ΔH ( s) ⎡ R ⎤
= ⎢ ⎥
ΔQi ( s) ⎣ 1 + RCs ⎦
• We see that the dynamics of the level system can be
simply represented by a first order equation. The
resistance and capacitance are to be defined in terms
of the system dimensions.

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 Some Questions

• Where do we use this type of systems in industries.

List some examples
• Can you derive the transfer function relation
between input flow and output flow?

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 Try this!

• A closed-loop negative feedback system for the control of

the height of liquid in a tank by pumping liquid from a
reservoir tank can be considered to be a system with a
differential amplifier having a transfer function of 5, its
output operating a pump with a transfer function 5/(s + 1).
The coupled system of tanks has a transfer function, relating
height in the tank to the output from the pump, of 3/(s +
1)(s + 2). The feedback sensor of the height level in the tank
has a transfer function of 0.1. Determine the overall transfer
function of the system, relating the input voltage signal to
the system to the height of liquid in the tank. (Bolton)

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 References

• Modern Control Engineering - Ogata

amongst others…

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 And, before we break…

• Hindsight is an exact science

– Guy Bellary

Thanks for listening…

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