1.

Modelling Process Dynamics (3)

Orest Shardt
Part 1. Modelling Process Dynamics (3)
• Conservation equations
• Energy balance
• Experimental data
• Higher order systems
• Two reasons:
• higher order processes
• process + controller

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Energy balance example: Heated room

• Heater in a closed room (6 m × 8 m × 2.4 m)

• Low heat setting: 175 W
• Steady temperature: 18 °C
• Outside temperature: 5 °C
• Switch to medium heat setting: 250 W
• Determine how the temperature changes over
time

• air density is 𝜌 = 1.2 kg/m3

kJ
• heat capacity of air is 𝑐𝑣 = 0.718
kg⋅K
• heat loss only through side walls not
floor/ceiling

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Model assumptions
𝑄ሶ 𝑜𝑢𝑡
• Heat loss model
• 𝑄ሶ 𝑜𝑢𝑡 = 𝐴ℎ(𝑇 − 𝑇𝑠 )
• 𝐴 = 2 6 + 8 2.4 m2 = 67.2 m2

• Perfectly sealed: no air flow in or out 𝑄ሶ 𝑜𝑢𝑡 𝑄ሶ 𝑜𝑢𝑡

• Room is well-mixed
• Volume: 115 m3 𝑄ሶ 𝑜𝑢𝑡
𝑄ሶ 𝑖𝑛

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Variables

• Input variables
• Heating rate 𝑄ሶ 𝑖𝑛
• Room dimensions (determine area and volume)
• Temperature of the surroundings 𝑇𝑠
• Heat transfer coefficient ℎ
• Air 𝜌, 𝑐𝑣

• Output variable
• Room temperature 𝑇

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Energy balance

𝑑𝐸
= ෍ 𝑚ሶ 𝑖𝑛 ℎ𝑖𝑛 − ෍ 𝑚ሶ 𝑜𝑢𝑡 ℎ𝑜𝑢𝑡 + 𝑄ሶ 𝑖𝑛 − 𝑄ሶ 𝑜𝑢𝑡 + 𝑊
ตሶ 𝑖𝑛 − 𝑊
ถሶ 𝑜𝑢𝑡
𝑑𝑡
inlets outlets 0 0
0 0
𝑑𝐸
= 𝑄ሶ 𝑖𝑛 − 𝑄ሶ 𝑜𝑢𝑡
𝑑𝑡
𝑑
𝑚𝑢 = 𝑄ሶ 𝑖𝑛 − 𝐴ℎ 𝑇 − 𝑇𝑠
𝑑𝑡
𝑚𝑢 = 𝜌𝑉𝑐𝑣 𝑇
𝑑𝑇
𝜌𝑉𝑐𝑣 = 𝑄ሶ 𝑖𝑛 − 𝐴ℎ 𝑇 − 𝑇𝑠
𝑑𝑡

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Steady state

𝑑𝑇
0 = 𝜌𝑉𝑐𝑣 = 𝑄ሶ 𝑖𝑛
∗
− 𝐴ℎ 𝑇 ∗ − 𝑇𝑠
𝑑𝑡
𝑄ሶ 𝑖𝑛
∗
= 𝐴ℎ 𝑇 ∗ − 𝑇𝑠
𝑄ሶ 𝑖𝑛
∗
175 W W
ℎ= ∗
= 2 ∘
= 0.2 2
𝐴 𝑇 − 𝑇𝑠 67.2 m 18 − 5 C m ⋅K

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Deviation variables

Define the deviation variables:

𝑄ሶ 𝑖𝑛
′
= 𝑄ሶ 𝑖𝑛 − 𝑄ሶ 𝑖𝑛
∗
, 𝑇′ = 𝑇 − 𝑇∗
Then
𝑑 𝑇′ + 𝑇∗
𝜌𝑉𝑐𝑣 = 𝑄ሶ 𝑖𝑛
′
+ 𝑄ሶ 𝑖𝑛
∗
− 𝐴ℎ 𝑇 ′ + 𝑇 ∗ − 𝑇𝑠
𝑑𝑡
𝑑𝑇 ′
𝜌𝑉𝑐𝑣 = 𝑄ሶ 𝑖𝑛
′
− 𝐴ℎ𝑇 ′ + 𝑄ሶ 𝑖𝑛 ∗
− 𝐴ℎ 𝑇 ∗ − 𝑇𝑠
𝑑𝑡
0
𝑑𝑇 ′
𝜌𝑉𝑐𝑣 = 𝑄ሶ 𝑖𝑛
′
− 𝐴ℎ𝑇 ′
𝑑𝑡

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Solution

• New steady state: 𝑄ሶ 𝑖𝑛

∗
= 𝐴ℎ 𝑇 ∗ − 𝑇𝑠
𝑄ሶ 𝑖𝑛
∗
∗
𝑄ሶ 𝑖𝑛 = 250 W ⇒ 𝑇 ∗ = 𝑇𝑠 + = 23.6 ∘ C
𝐴ℎ
𝑄ሶ 𝑖𝑛 = 𝑄ሶ 𝑖𝑛 − 𝑄ሶ 𝑖𝑛 = 0
′ ∗

𝑑𝑇 ′
𝜌𝑉𝑐𝑣 = −𝐴ℎ𝑇 ′
𝑑𝑡
′ ′
𝐴ℎ
𝑇 𝑡 = 𝑇 0 exp − 𝑡
𝜌𝑉𝑐𝑣
∗ ∗
𝐴ℎ
𝑇 𝑡 = 𝑇 + (𝑇 0 − 𝑇 ) exp − 𝑡
𝜌𝑉𝑐𝑣
1
𝑇 𝑡 = 23.6 − 5.6 exp − 𝑡 (°C)
7372 s

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Gain and time constant

• Time constant
𝜌𝑉𝑐𝑣
𝜏= = 7372 s ≈ 2 hours
𝐴ℎ
• Gain
𝑄ሶ 𝑖𝑛
∗
𝑄ሶ 𝑖𝑛 (0)
𝑇𝑠 + − 𝑇𝑠 +
∗
𝑇 − 𝑇(0) 𝐴ℎ 𝐴ℎ
=
𝑄ሶ 𝑖𝑛 − 𝑄ሶ 𝑖𝑛 (0)
∗
𝑄ሶ 𝑖𝑛
∗
− 𝑄ሶ 𝑖𝑛 (0)
1 1
= = = 0.0744 K/W
𝐴ℎ W
67.2 m2 0.2 2
m ⋅K
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Estimation of model parameters from experimental data
• 2 important quantities: process gain and time constant
• Process gain
Δoutput
• For two steady states, what is ?
Δinput
• In tank level example:
• Output (height) changed from ℎ 0 = 2 m to ℎ∗ = 2.25 m
• Due to change in input (𝑉ሶ𝑖𝑛 ) from 400 to 450 L/s
2.25 m
ℎ 𝑡

2m
Δ𝑡 = 𝜏 = 25 s 11
Estimation of model parameters from experimental data

• Time constant
• Apply a step change in the input and record the output
• Draw tangent at 𝑡 = 0; determine time to reach steady value with
initial slope
or
• Determine time when 63% of change occurs

2.25 m
2 + 0.63 2.25 − 2 = 2.16 ℎ 𝑡

2m
Δ𝑡 = 𝜏 = 25 s 12
Higher order systems

• Consider two tanks in series

Same equation for each tank:

𝑑ℎ1 𝜌𝑔
𝐴1 ሶ
= 𝑉𝑖𝑛,1 − ℎ1
𝑑𝑡 𝑅𝑣,1
𝑑ℎ2 𝜌𝑔
𝐴2 ሶ
= 𝑉𝑖𝑛,2 − ℎ2
𝑑𝑡 𝑅𝑣,2

𝜌𝑔
Coupled together: 𝑉ሶ𝑖𝑛,2 = 𝑉ሶ𝑜𝑢𝑡,1 = ℎ
𝑅𝑣,1 1

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Higher order systems

• Coupled system of equations:

𝑑ℎ1 𝑉ሶ𝑖𝑛,1 1 𝑑ℎ2 𝐴1 1 1
= − ℎ1 , = ℎ1 − ℎ2
𝑑𝑡 𝐴1 𝜏1 𝑑𝑡 𝐴2 𝜏1 𝜏2
𝐴1 𝑅𝑣,1 𝐴2 𝑅𝑣,2
where 𝜏1 = and 𝜏2 = .
𝜌𝑔 𝜌𝑔
• Differentiate the equation for ℎ2 , substitute equation for ℎ1 , and
suppose 𝐴1 = 𝐴2 ≡ 𝐴.
Then:
𝑑2 ℎ2 1 𝑉ሶ𝑖𝑛,1 𝜏1 + 𝜏2 1
2
= − 2 ℎ1 + 2 ℎ2
𝑑𝑡 𝜏1 𝐴 𝜏1 𝜏2 𝜏2
Conclusion: second order equation for dynamics of ℎ2
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Higher order systems

• Two first order systems in series: a second order system

• Consider response times of sensors and actuators

• Flow rate cannot be changed truly instantaneously
• Pump needs to accelerate
• Sensors’ output signals take time to respond to changes in physical conditions

• 2nd reason: Analysing processes and their controllers

• Full picture: consider dynamics of physical/chemical process, sensors,
controller, and actuators
• We need tools to conveniently handle arbitrarily complex processes with
interconnected sub-systems

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