CEE 5403:

PROCESS
CONTROL
NON INTERACTING /INTERACTING TANKS
TRANSFER PROCESS DYNAMICS
FUNCTIONS
G(S)
PROCESS DYNAMICS
PROCESS DYNAMICS
 TODAY QUIZ
1. Below is an ODE of a process model Time: 30 mins
𝒅𝒙
− 𝟒𝒙 = 𝑪𝒐𝒔 𝒕
𝒅𝒕
i. Obtain Laplace Transform (LT) of the ODE.
ii. What is the order of the LT obtained?
iii. State clearly the gain K and the time constant 𝝉 of the LT obtained.
iv. Derive response of ODE in time domain, X(t).
v. Comment on your X(t) response obtained.
 PROCESS DYNAMICS

Dynamics Behaviour of Non Interacting Tank of System in Series

Below in the two non-interacting tank, the outflow of each tank is a function
of the liquid level in that tank.
Assumption of the system

𝐴1 & 𝐴2 = Cross sectional area

𝑅1 & 𝑅2 = Resistance to flow by valves
ℎ1
𝑞1 =
𝑅1
ℎ2
𝑞2 =
𝑅2
𝐴1 𝑑ℎ1
= 𝑞𝑖 − 𝑞1 𝐸𝑞 1
𝑑𝑡

𝐴2 𝑑ℎ2
= 𝑞1 − 𝑞2 𝐸𝑞 2
𝑑𝑡
 PROCESS DYNAMICS

Dynamics Behaviour of Non Interacting Tank of System in Series

𝐴1 𝑑ℎ1 ℎ1
= 𝑞𝑖 − 𝐸𝑞 3
𝑑𝑡 𝑅1

𝐴2 𝑑ℎ2 ℎ2
= 𝑞1 − 𝐸𝑞 4
𝑑𝑡 𝑅2
At steady state….

𝐴1 𝑑ℎ1 𝐴2 𝑑ℎ2
and =0
𝑑𝑡 𝑑𝑡
ℎ1
0 = 𝑞𝑖 − 𝐸𝑞 5
𝑅1

ℎ2
0 = 𝑞1 − 𝐸𝑞 6
𝑅2
Deviation variable introduced.
 PROCESS DYNAMICS

Dynamics Behaviour of Non Interacting Tank of System in Series

𝐻1 (𝑠) 𝑅1
= 𝐸𝑞 7
𝑄𝑖 (𝑠) 𝐴1 𝑅1 𝑠 + 1

𝐻2 (𝑠) 𝑅2
= 𝐸𝑞 8
𝑄1 (𝑠) 𝐴2 𝑅2 𝑠 + 1

Transfer function of the inlet flowrate Qi and outlet flowrate Q2 is required

𝑄𝑖 (𝑠)
=?
𝑄2 (𝑠)
This we lead us to the block diagram
 PROCESS DYNAMICS

Dynamics Behaviour of Non Interacting Tank of System in Series

This we lead us to the block diagram
 PROCESS DYNAMICS

Dynamics Behaviour of Non Interacting Tank of System in Series

Transfer function of the inlet flowrate Qi and outlet flowrate Q2 is required
𝐾
𝑄2 (𝑠) 𝐺(𝑠) =
=? 𝜏𝑠 + 1
𝑄𝑖 (𝑠)
𝐾=1
𝑄2 (𝑠) 𝐻1 (𝑠) 𝑄1 (𝑠) 𝐻2 (𝑠) 𝑄2 (𝑠)
= . . . 𝐸𝑞 9
𝑄𝑖 (𝑠) 𝑄𝑖 (𝑠) 𝐻1 (𝑠) 𝑄1 (𝑠) 𝐻2 (𝑠) 𝜏1 = 𝐴1 𝑅1

𝑄2 (𝑠) 1 𝜏2 = 𝐴2 𝑅2
= 𝐸𝑞 10
𝑄𝑖 (𝑠) (𝐴1 𝑅1 𝑠 + 1)(𝐴2 𝑅2 𝑠 + 1)

𝑄2 (𝑠) 1
= 𝐸𝑞 11
𝑄𝑖 (𝑠) (𝜏1 𝑠 + 1)(𝜏2 𝑠 + 1)
 PROCESS DYNAMICS

Dynamics Behaviour of Interacting Tank of System in Series

Below are two interacting tank, Mass balance for Tank 1 and Tank 2
𝑑ℎ1
𝐴1 = 𝑞 − 𝑞1 𝐸𝑞 1
𝑑𝑡

𝑑ℎ2
𝐴2 = 𝑞1 − 𝑞2 𝐸𝑞 2
𝑑𝑡
ℎ
R, resistance to flow 𝑅 =
𝑞

1
𝑞1 = (ℎ − ℎ2 )
𝑅1 1

ℎ2
𝑞2 =
𝑅2
 PROCESS DYNAMICS

Dynamics Behaviour of Interacting Tank of System in Series

𝑑ℎ
For Tank 1 At steady state =0
𝑑𝑡
𝑑ℎ1
𝐴1 = 𝑞 𝑡 − 𝑞1 For Tank 1
𝑑𝑡 0 = 𝑞 𝑡 − 𝑞1𝑠 𝐸𝑞 5
𝑑ℎ1 1
𝐴1 =𝑞 𝑡 − ℎ − ℎ2 𝐸𝑞 3 For Tank 2
𝑑𝑡 𝑅1 1
1 ℎ2𝑠
For Tank 2 0= ℎ1𝑠 − ℎ2𝑠 − 𝐸𝑞 6
𝑅1 𝑅2
𝑑ℎ2
𝐴2 = 𝑞1 − 𝑞2
𝑑𝑡 Deviation variable introduced for Tank 2.
𝑑ℎ2 1 ℎ2 𝐻1 = ℎ1 − ℎ1𝑠 ; 𝐻2 = ℎ2 − ℎ2𝑠
𝐴2 = ℎ1 − ℎ2 − 𝐸𝑞 4
𝑑𝑡 𝑅1 𝑅2 𝑑 1 1 (ℎ2 − ℎ2𝑠 )
𝐴2 (ℎ2 − ℎ2𝑠 ) = ℎ − ℎ1𝑠 − ℎ − ℎ2𝑠 − 𝐸𝑞 7
𝑑𝑡 𝑅1 1 𝑅1 2 𝑅2
 PROCESS DYNAMICS

Dynamics Behaviour of Interacting Tank of System in Series

Deviation variable introduced for Tank 2.

𝐻1 = ℎ1 − ℎ1𝑠 ; 𝐻2 = ℎ2 − ℎ2𝑠

𝑑 1 1 ℎ2 − ℎ2𝑠
𝐴2 ℎ2 − ℎ2𝑠 = ℎ1 − ℎ1𝑠 − ℎ2 − ℎ2𝑠 − 𝐸𝑞 7
𝑑𝑡 𝑅1 𝑅1 𝑅2

𝑑 1 1 𝐻2
𝐴2 𝐻2 = 𝐻1 − 𝐻2 − 𝐸𝑞 8
𝑑𝑡 𝑅1 𝑅1 𝑅2

1 1 1
𝐴2 𝑠𝐻2 𝑠 = 𝐻1 𝑠 − 𝐻2 𝑠 − 𝐻 𝑠 𝐸𝑞 9
𝑅1 𝑅1 𝑅2 2
1 1 1
𝐻2 𝑠 𝐴2 𝑠 + + = 𝐻1 𝑠 𝐸𝑞 𝐸𝑞 10
𝑅1 𝑅2 𝑅1
 PROCESS DYNAMICS

Dynamics Behaviour of Interacting Tank of System in Series

𝑑ℎ
At steady state =0
𝑑𝑡
For Tank 1
1
0 = 𝑞 𝑡 − (ℎ1 − ℎ2 )
𝑅1
Deviation variable introduced for Tank 1.
𝐻1 = ℎ1 − ℎ1𝑠 ; 𝐻2 = ℎ2 − ℎ2𝑠 ; 𝑄𝑡 = 𝑞𝑡 − 𝑞𝑡𝑠

𝑑 1 1
𝐴1 ℎ − ℎ1𝑠 = 𝑞 𝑡 − ℎ − ℎ1𝑠 − ℎ − ℎ2𝑠
𝑑𝑡 1 𝑅1 1 𝑅1 2

𝑑 1 1
𝐴1 𝐻1 = 𝑞 𝑡 − 𝐻1 − 𝐻2
𝑑𝑡 𝑅1 𝑅1
1 1
𝐴1 𝑠𝐻1 (𝑠) = 𝑄 𝑡 (𝑠) − 𝐻1 (𝑠) − 𝐻2 (𝑠)
𝑅1 𝑅1
𝐻1 𝑠 − 𝐻2 𝑠 𝐻1 𝑠 − 𝐻2 𝑠
𝐴1 𝑠𝐻1 𝑠 = 𝑄 𝑡 𝑠 − 𝑜𝑟 𝑄 𝑡 𝑠 = 𝐴1 𝑠𝐻1 𝑠 + 𝐸𝑞 11
𝑅1 𝑅1
 PROCESS DYNAMICS

Dynamics Behaviour of Interacting Tank of System in Series

1 1
𝐴1 𝑠𝐻1 (𝑠) = 𝑄 𝑡 (𝑠) − 𝐻1 (𝑠) − 𝐻2 (𝑠)
𝑅1 𝑅1
𝐻1 𝑠 − 𝐻2 (𝑠)
𝐴1 𝑠𝐻1 (𝑠) = 𝑄 𝑡 (𝑠) −
𝑅1

𝐴1 𝑅1 𝑠𝐻1 𝑠 = 𝑅1 𝑄 𝑡 𝑠 − 𝐻1 𝑠 − 𝐻2 𝑠 𝐸𝑞 12

From Tank 2 we can obtain:

𝑅1
𝐻1 𝑠 − 𝐻2 𝑠 = 𝐴 𝑅 𝑠 + 1 𝐻2 𝑠 𝐸𝑞 13
𝑅2 2 2

𝑅1
𝐻1 𝑠 = 𝐴 𝑅 𝑠 + 1 𝐻2 𝑠 + 𝐻2 𝑠 𝐸𝑞 14
𝑅2 2 2
 PROCESS DYNAMICS

Dynamics Behaviour of Interacting Tank of System in Series

𝐴2 𝑅2 𝑠 + 1 𝑅1
𝑄 𝑡 𝑠 = 𝐻2 𝑠 + 𝐴 𝑅 𝑠 + 1 𝐴1 𝑠 + 𝐴1 𝑠
𝑅2 𝑅2 2 2

𝐴2 𝑅2 𝑠 + 1 + 𝑅1 𝐴1 𝑠 𝐴2 𝑅2 𝑠 + 1 + 𝐴1 𝑅2 𝑠
𝑄 𝑡 𝑠 = 𝐻2 𝑠
𝑅2

𝐻2 𝑠 𝑅2
= 𝑙𝑒𝑡 𝜏1 = 𝐴1 𝑅1 𝑎𝑛𝑑 𝜏2 = 𝐴2 𝑅2
𝑄 𝑡 𝑠 𝐴2 𝑅2 𝑠 + 1 + 𝐴1 𝑅1 𝑠 𝐴2 𝑅2 𝑠 + 1 + 𝐴1 𝑅2 𝑠

𝐻2 𝑠 𝑅2
=
𝑄 𝑡 𝑠 𝜏2 𝑠 + 1 + 𝜏1 𝑠 𝜏2 𝑠 + 1 + 𝐴1 𝑅2 𝑠
 PROCESS DYNAMICS

Dynamics Behaviour of Interacting Tank of System in Series

𝐻2 𝑠 𝑅2
=
𝑄 𝑡 𝑠 𝜏2 𝑠 + 1 + 𝜏1 𝑠 𝜏2 𝑠 + 1 + 𝐴1 𝑅2 𝑠 𝐾
𝐺(𝑠) =
𝜏𝑠 + 1
𝐻2 𝑠 𝑅2
= 𝐾 = 𝑅2
𝑄 𝑡 𝑠 𝜏2 𝑠 + 1 + 𝜏1 𝜏2 𝑠 2 + 𝜏1 𝑠 + 𝐴1 𝑅2 𝑠

𝐻2 𝑠 𝑅2
𝜏1 = 𝐴1 𝑅1
=
𝑄 𝑡 𝑠 𝜏1 𝜏2 𝑠 2 + 𝑠(𝜏1 + 𝜏2 +𝐴1 𝑅2 ) + 1
𝜏2 = 𝐴2 𝑅2
𝐻2 𝑠 𝑅2
𝐺 𝑠 = =
𝑄 𝑡 𝑠 𝜏1 𝜏2 𝑠 2 + 𝑠(𝜏1 + 𝜏2 +𝐴1 𝑅2 ) + 1