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Lecture Note Chapter 5 First Order and Second Order Processes 2017
Lecture Note Chapter 5 First Order and Second Order Processes 2017
1. Transfer functions
2. Properties of Transfer functions
3. Linearization of nonlinear model
4. Application of transfer functions
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
Chapter 5
two reasons:
1. They are representative of the types of changes that occur
in plants.
Types of Input:
-Inputs that can be manipulated to control process
-Inputs that cannot be manipulated, known as disturbance or load
1
Stirred Heating Tank Transfer Function
Chapter 5
1. Step Input
0 t<0
Us = (5-4)
M t 0
Chapter 5
2
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,
Q ( t ) = 8000 + 2000 S ( t ) , S (t ) = unit step
Chapter 5
and
Q ( t ) = Q Q = 2000 S ( t ) , Q = 8000 kcal/hr
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.
0 t < 0
U R (t ) = (5-7)
at t 0
Examples of ramp changes:
Chapter 5
3. Rectangular Pulse
3
0 for t < 0
U RP ( t ) = h for 0 t < tw (5-9)
0 for t tw
XRP
Chapter 5
0 Tw Time, t
Examples:
7
Chapter 5
4
4. Sinusoidal Input
Chapter 5
4. Sinusoidal Input
0 for t < 0
Chapter 5
U sin ( t ) = (5-14)
A sin (t ) for t 0
Examples:
10
5
5. Impulse Input
Here, U I ( t ) = ( t ) .
It represents a short, transient disturbance.
Examples:
Chapter 5
11
First-Order System
The standard form for a first-order TF is:
Y (s) K
= (5-16)
U (s) s + 1
where:
Chapter 5
K = steady-state gain
= time constant
Consider the response of this system to a step of magnitude, M:
M
U ( t ) = M for t 0 U (s) =
s
Substitute into (5-16) and rearrange,
KM
Y (s) = (5-17)
s ( s + 1)
12
6
Take L-1 (cf. Table 3.1),
(
y ( t ) = KM 1 e t / ) (5-18)
1.0
y
t y
___
y 0 0
0.5
y 0.632
2 0.865
0 3 0.950
0 1 2 3 4 5
t 4 0.982
5 0.993
Example 5.1
Chapter 5
14
7
Chapter 5 Chapter 5
16
15
8
For Ramp Response and Sinusoidal
Chapter 5
17
Integrating Process
Not all processes have a steady-state gain. For example, an
integrating process or integrator has the transfer function:
Y (s) K
= ( K = constant )
Chapter 5
U (s) s
KM L-1
Y (s) = y ( t ) = KMt
s2
Thus, y (t) is unbounded and a new steady-state value does not
exist.
18
9
Common Physical Example:
Consider a liquid storage tank with a pump on the exit line:
qi
Chapter 5
h
- Assume: q
1. Constant cross-sectional area, A.
2. q f ( h )
dh
- Mass balance: A = qi q (1) 0 = qi q (2)
dt
- Eq. (1) Eq. (2), take L, assume steady state initially,
1
H (s) = Qi ( s ) Q ( s )
As H ( s ) 1
=
- For Q ( s ) = 0 (constant q), Qi ( s ) As
19
Second-Order Systems
Standard form:
Y (s) K
= (5-40)
U (s) 2 2
s + 2s + 1
Chapter 5
K = steady-state gain
= "time constant" [=] time
= damping coefficient (dimensionless)
1
Equivalent form: n = natural frequency =
Y (s) K n2
=
U (s) s 2 + 2n s + n2
20
10
Common Understanding
21
11
How to find and
Chapter 5
23
Step Response
24
12
Chapter 5 Chapter 5
26
25
13
Several general remarks can be made concerning the
responses show in Figs. 5.8 and 5.9:
27
Chapter 5
28
14
1. Rise Time: tr is the time the process output takes to first
reach the new steady-state value.
2. Time to First Peak: tp is the time required for the output to
reach its first maximum value.
3. Settling Time: ts is defined as the time required for the
Chapter 5
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