Dynamic Models: Part E: Fluid-& Heat-Flow Systems

MCEN 467 Control Systems
Chapter 2:
Dynamic Models
Part E: Fluid- & Heat-Flow Systems

Material covered in the PRESENT LECTURE
is shown in yellow
I. DYNAMIC MODELING
Deriving a dynamic model for mechanical, electrical,
electromechanical, fluid- & heat-flow systems
Linearization the dynamic model if necessary

II. DESIGN OF A CONTROLLER: Several design methods exist
1. Classical control or Root Locus Design:
Define the transfer function; Apply root locus, loop shaping,
2. Modern control or State-Space Design:
Convert ODE to state equation; Apply Pole Placement, Robust control,
3. Nonlinear control: Apply Lyapunovs stability criterion
Fluid-Flow Systems
Pressure Force Exerted by Fluid on Rigid Surface
Mass Flow Rate; Continuity Equation
Fluid Flow in Restricted Closed Systems

Learning examples:
Hydraulic Piston, Water Tank Height,
Hydraulic Actuator with Valve,
Pressure Force exerted by a Fluid
pA F
p
=
By definition, the pressure force
exerted by a fluid on a rigid surface
of area A is given by:

If the pressure of the fluid, p, is
uniform along the surface.

}}
=
A
p
dA n p F

}}
=
=
A
p P
p
F d F
dA n p F d


Example 1: Modeling a Hydraulic Piston
Given:
There is a force F
D
acting
on the piston of mass M
The fluid pressure in the
chamber is uniform and
denoted by p.

Required:
Determine the dynamic
model for the piston

Ex 1: Modeling a Hydraulic Piston (contd)
Dynamic Model:

where

Therefore

FBD
x M x b F F
D p

=
4
2
D
p F
p
t
=
D
F p
D
x b x M = +
4
2
t

Mass Flow Rate
A v m =
Given a fluid flowing at velocity v,

the mass flow rate through a
surface of area A is defined by:

If the fluid is incompressible ( = C)
and is the averaged velocity
through the surface

}}
=
A
dA n . v m

v
}}
=
=
A
m m
dA n . v m

o
o
( )
out in
m m
m
V
dt
d

=
=
in
m
out
m
Continuity Equation: Statement of

Conservation of Matter
where:
is the fluid density, V is the volume of fluid thus, m is the
mass of fluid
is the mass flow rate into the prescribed portion of the
system; is the mass flow rate out the prescribed portion.

Example 2: Modeling Water Tank Height
Required:
Determine the differential
equation describing the height
of the water in the tank.

( )
out in
m
m m V
dt
d

=
=
( )
out in
m m
A
h

out in
m m h A

=
? Input
Continuity Equation: Statement of
Conservation of Matter (contd)
( )
out in
m m
m
V
dt
d

=
=

If the fluid is incompressible, and the system is closed
(and entirely filled):

( )
=
=
0
m
V
dt
d

out in
m m

=
out in
m m

=
The general form of the
resistance is given by:

where:
pressures at end of the
path is occurring
R, o = constants whose values
depend on the type of
restriction, and the fluid

Mass Flow Rate Out Restricted Systems
( )
o 1
2 1
1
p p
R
m
out
=
In many cases, the

flow is resisted either
by a constriction in the
path or by friction.
=
2 1
p , p
Recall Ex 2: Modeling Water Tank Height
Required:
Determine the differential
equation describing the height
of the water in the tank.

Given:
Assume there is a relatively
short restriction at the outlet
and that o = 2.

Ex 2: Modeling Water Tank Height (contd)
Known:

where

since

( )
out in
m m
A
h
( ) 0
1 1
~ + = v gh p p
amb

( )
2 1
1
1
amb out
p p
R
m =
|
.
|
\
|
= gh
R
m
A
h
in

1 1

Example 3: Modeling a Hydraulic Actuator
Given: The fluid is assumed
to be incompressible. The
friction between the piston
and the large chamber are
characterized by b.
Given: Both restrictions at the
bottom of the small chamber
are characterized by o = 2
and R(x), where x is the
input displacement of the
valve.
Required: Write the dynamic
model relating the movement
of the control surface, u, to
the input displacement x of
the valve, via the parameter
R(x).
u u u u
u u
u
sin l cos l y
cos l y
sin l y
2

=
=
=
Ex 3: Modeling a Hydraulic Actuator (contd)

Newtons law applied to piston:

Newtons law applied to control surface:

Relationship between y and u:
u u u u
u u
sin l cos l y
cos l y
2

=
=
u u

I d F cos Fl
a
=
y m y b F A p A p

=
2 1

Newtons law applied to piston:

Newtons law applied to control surface:

Relationship between y and u:
u u u u
u u
sin l cos l y
cos l y
2

=
=
u u

I d F cos Fl
a
=
y m y b F A p A p

=
2 1
( ) u u u u u u
u
u
sin ml cos ml cos bl
cos l
d F I
A p p
a
2
2 1

=
+

?

Continuity equation:

Mass flow rate on the right-side:

Mass flow rate on the left-side:

) x ( R p p w
s 1 1
=
u u cos l y ; w A y w

= = =
2 1
) x ( R p p w
e
=
2 2

Continuity equation:

Mass flow rate on the right-side:

Mass flow rate on the left-side:

) x ( R p p w
s 1 1
=
) x ( R p p w
e
=
2 2
=
=
e s
e s
p p p p
) x ( R
p p
) x ( R
p p
w w
2 1
2 1
2 1
u u cos l y ; w A y w

= = =
2 1
=
2
w y A
) x ( R
p p
cos Al
e
=
2
u u

?
s e
p p p p + =
2 1
Ex 3: Modeling a Hydraulic Actuator (end)
) x ( R
p p
cos Al
e
=
2
u u

s e
p p p p + =
2 1
( ) u u u u u u
u
u
sin ml cos ml cos bl
cos l
d F I
A p p
a
2
2 1

=
+

Heat-Flow Systems
One-Dimensional, Steady-State Conduction:
Heat Transfer Rate: Fouriers Law
Thermal Conductivity & Thermal Resistance

Unsteady-State Conduction: Energy Balance
& Heat Capacity

Learning examples: Modeling Room Temperature
Fundamentals
Heat transfer is thermal energy in transit due to a
temperature difference.

Whenever there exits a temperature difference in a medium
or between media, heat transfer must occur.

Heat transfers are classified with respect to the physical
mechanism which underlies them:
There are 3 heat transfer processes.
Conduction, Convection & Thermal Radiation
Conduction, Convection & Thermal Radiation
Conduction refers to the transport of energy in a medium
due to a temperature gradient.

In contrast, the convection refers to heat transfer that
occurs between a surface and a fluid (at rest or in motion)
when they are at different temperatures.

Thermal radiation refers to the heat transfer that occurs
between two surfaces at different temperatures. It results
from the energy emitted by any surface in the form of
electromagnetic waves.
Physical Mechanism in Conduction
The conduction heat transfer results from diffusion of
energy due to random molecular activity
Fouriers Law Thermal Conductivity
For a plane wall having a temperature
distribution T(x), and a cross section
area A (perpendicular to the x-
direction), the heat transfer rate
by conduction through the wall in
the x-direction is given by:

dx
) x ( dT
kA q
x
=
k is the thermal conductivity (W.m
-1
.
o
K
-1
). It is a transport
property of the wall material.
Thermal Resistance: Analogy between the
conduction of heat and electric charge
Just as an electrical charge
is associated with the
conduction of electricity,

a thermal resistance
may be associated with the
conduction of heat:

o
K.W
-1
i
v v
R
2 1

=
q
T T
R
2 1

=
Conduction Heat Transfer Rate versus
Thermal Resistance
By definition:

Therefore:

q
T T
R
2 1

=
( )
2 1
1
T T
R
q =

Relationship between R
conv
and k
By definition, the heat conduction is:

Therefore:

q
T T
R
L
T T
kA q
dx
dT
kA q
x
2 1
2 1
= =
L
kA
R
=
1
Thermal Resistance
For heat conduction, we saw that:

From Newtons law of cooling that governs the heat
convection: q
conv
= hA (T
s
-T
), it is easy to show that:

( )
kA
L
R ; T T
R
q
cond
cond
cond
= =
2 1
1
( )
hA
R ; T T
R
q
conv s
conv
conv
1 1
= =

Example 1: Steady Heat transfer Rate through
Composite Wall
The total heat transfer is
such as:

where
( )
2
1
4 1
1
, conv C B
B A , conv
i eq
, ,
eq
tot
R R R
R R R
R R
T T
R
q
+ + +
+ + =
=
=

Relevant Properties of a Substance in
Heat Transfer Analysis
Transport properties:

Diffusion rate
coefficients

Such as:
k, the thermal conductivity
(for heat transfer)
v, the kinematic viscosity
(for momentum transfer)
Thermodynamic properties:

Equilibrium state of a
system

Such as:
, the density,
c
v
, the specific heat,
c
v
, termed volumetric heat
capacity (J.m
-3
.
o
K
-1
)
Heat Capacity into a Substance
Just as the conservation
of matter is governed by:
The conservation of energy in
a solid substance of
temperature T is governed by:

Defining the heat capacity, C
(in J/
o
K) as C = c
p
V yields:
( )
out in
m
m m V
dt
d

=
=
( )
out in
stored
v
q q
q
T V c
dt
d
=
=

out in
q q T C =

Thermal Capacity: Analogy between the
storage of heat and electric energy
Just as a capacitor is able
of storing energy in its
electric field when a
voltage varies across the
element:

Coulombs per volt
a substance may store
heat when the temperature
varies in it:

W.s.
o
K
-1 (=
J.
o
K
-1)
dt
dv
C i
stored
=
dt
dT
C q
stored
=
Example 2: Modeling Room Temperature
Given:
A room has all but two sides
isolated (1/R = 0). Assume
that the room temperature,
T, is uniform throughout the
room.

Required:
Find the differential
equation that determine the
temperature of the room.
Ex 2: Modeling Room Temperature (contd)
Defining the heat capacity of the
room as C, the energy equation
is given by:

where

therefore

2 1
q q T C =
( ) ( )
0
2
2 0
1
1
1 1
T T
R
q ; T T
R
q = =
( ) 0
1 1
0
2 1
=
|
|
.
|
\
|
+ + T T
R R dt
dT
C

Dynamic Models: Part E: Fluid-& Heat-Flow Systems

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Dynamic Models: Part E: Fluid-& Heat-Flow Systems

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MCEN 467 Control Systems

MCEN 467 Control Systems

Given a fluid flowing at velocity v,

Continuity Equation: Statement of

In many cases, the

MCEN 467 Control Systems

MCEN 467 Control Systems

), it is easy to show that:

MCEN 467 Control Systems

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