Dynamic response of first order

systems in series

1
Two tanks in series

2
Non-interacting System

Density of liquid is constant

Tanks have uniform cross
sectional area
linear Flow head relationship

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4
Transient response of liquid level system

5
Generalization for several Noninteracting systems in
series

Overall transfer function

6
Step Response of non-interacting first order system

Transfer lag is increased as the number of stages increasses 7

Transportation Lag/Dead time/Distance velocity
lag/Pure Delay

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RESPONSE OF TWO INTERACTING TANKS
CONNECTED IN SERIES TO UNIT STEP CHANGE IN
INPUT

9
Effect of interaction on transient response of the
system

If tanks are non interacting

τ1 = τ2 = τ

Unit step response

If tanks are interacting, A1= A2

10
Can be written as

The response of Q2(t) to unit step change

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Effect of interaction on step response of two tank
system

The interacting system is more sluggish than the noninteracting system. 12

Inference

• Interaction slows up the response.

• Interaction changes the ratio of effective time
constants.
• If same size step change is introduced
• Non interacting:-q1 will not be reduced by the increase
in level tank 2.
• Interacting:-q1 will be reduced by the build-up of level in
the tank 2.
• At any time q1 for the interacting will be less than
for the non-interacting.
• Interacting system is more sluggish than the non
interacting system.

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Determine the operational
equation for the overall
system relating q, q1, q2 and
q0 with the time constants τ1
and τ2 of the respective
tanks. Assume the flow
resistances are linear.
The inflow q would be
considered as manipulated
variable and the liquid head
h2 would be considered as
the variable to be controlled.
q1 and q2 are load variables.

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Find the transfer functions H2/Q and H3/Q for the three tank system in
terms of time constants and resistances as shown in Fig 1. where H2, H3
and Q are deviation variables. Tank 1 and Tank 2 are interacting. For a step
change of magnitude 10 sketch H3 (t) vs.t and calculate H3 at time 2 min.

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