Professional Documents
Culture Documents
Chap 04 Marlin 2013
Chap 04 Marlin 2013
Laplace transform
Solve linear dynamic models
Transfer function model structure
Qualitative features directly from model
Frequency response
Workshop
I would like to
model elements
individually
combine as needed
determine key
dynamic features
w/o solving
T
A
T
A
T
A
st
L( f (t )) f ( s ) f (t )e dt
0
Constant : L(C ) Ce
0
st
C st
dt e
s
t
t 0
We have seen
this term
often! Its the
step response to
a first order
dynamic system.
st
L( f (t )) f ( s ) f (t )e dt
0
1
e (1/ s )t dt
e (1/ s )t
s 1/
L((1 e t / )) (1 e t / )e st dt e st dt e t / e st dt
1/ s
1
1
1
s s 1 / s s 1 s( s 1)
1
s 1/
Xout
= dead time
Xin
time
0.5
What is the
value?
-0.5
0
5
time
10
5
time
10
0.5
-0.5
0
X out (t ) X in (t )
The Laplace transform for a variable after dead time is
L( X out (t )) L( X in (t )) e
X in ( s )
constant
df (t )
L
sf (s ) f (t ) t 0
dt
First
derivative:
General:
d n f (t )
dt n
constant
s f (s ) s
n 1
f (t ) t 0 s
n 1 df ( t )
dt
....
t 0
d n 1f (t )
dt n 1
t 0
dC' A
V
F(C' A0 C' A ) VkC' A
dt
dC A'
V
F
'
'
C A KC A0 with
and K
dt
F kV
F kV
I hope we get the same
answer as with the
integrating factor!
F
CA0
CA
A B
rA kC A
F
CA0
dC A' 1
1
C A' 1 K1C A' 0
dt
dC A' 2
2
C A' 2 K 2C A' 1
dt
CA1
V1
CA2
V2
A B
rA kC A
A B
rA
2
kC A
CA
X(s)
G(s)
Y(s)
X(s)
G(s)
Y(s)
X(s)
Some examples:
C A (s)
Mixing tank :
G( s ) ?
C A0 ( s )
C A2 ( s )
Two CSTRs :
G( s ) ?
C A0 ( s )
G(s)
Y(s)
X(s)
G(s)
Y(s)
I chose the
first answer!
3
F0 ( s )
m
/s
Gvalve ( s )
.10
% open
v( s)
T ( s)
G tank1 ( s ) 1
F0 ( s )
1.2 K
m 3 /s
250 s 1
Tmeasured ( s )
Gsensor ( s )
T2 ( s )
Gtank2 ( s )
T2 ( s ) 1.0 K / K
T1 ( s )
300 s 1
1 .0 K / K
10 s 1
(Time in seconds)
F0(s)
Gvalve(s)
T1(s)
Gtank1(s)
T2(s)
Gtank2(s)
Tmeas(s)
Gsensor(s)
F0(s)
Gvalve(s)
T1(s)
T2(s)
Gtank1(s)
v(s)
Gtank2(s)
G(s)
Tmeas(s)
Gsensor(s)
Tmeas(s)
T1 ( s ) F0 ( s )
F0 ( s ) v( s )
Gs ( s )GT 2 ( s )GT 1 ( s )Gv ( s )
Tmeas ( s )
Tmeas ( s )
G( s )
v( s )
T2 ( s )
T2 ( s )
T1 ( s )
Y (t ) t lim sY(s)
s
C A (t ) |t lim s
s 0
C A0 K p
s( s 1)
C A0 K p
Y (t ) A0 A1e
2t
A2 e
pt
Complex i
q is Re( i)
...
Real, repeated i
Y (t ) A0 A1e
2t
A2 e
pt
...
Complete statements
based on equation.
Y (t ) A0 A1e
2t
A2 e
pt
...
dC A' 1
dt
dC A' 2
2
C A' 2 K 2C A' 1
dt
A B
rA kC A
F
CA0
CA1
V1
CA2
V2
Without
solving!
output
0.4
0.2
0
-0.2
-0.4
X, inlet to system
3
time
3
time
input
0.5
0
-0.5
-1
Re(G ( j ))
F
CA0
CA1
V1
CA2
V2
Must have
fluctuations
amplitude = 1 mol/m3
frequency = 0.20 rad/min
Kp
(1 2 2 )
1. System order
2. Final Value
3. Stability
4. Damping
5. Frequency response
We can determine
these features without
solving for the
entire transient!!
Assumptions:
Data:
Combining Chapters 3
and 4
DOF = 0
Is model linear?
Yes
Check
D.O.F.
No
DOF 0
-Fundament al balance
-Constitutive equations
Group param eter s to evalua te [ga ins (K), time-constants (), dead-times()]
Take Laplace transform
Substitute specific input, e.g.,
step, and solve for output
We can use a
standard modelling
procedure to
focus our
creativity!
T
A
1. System order
2. Final Value
3. Stability
4. Damping
5. Frequency response
T (s)
( 6.07 s 45.83)
2
Fc ( s ) ( s 1.79 s 35.80)
Determine the features
in the table for this
system.
F
CA0
CA1
V1
CA2
V2
T6
Feed
T1
T2
T5
F1
T4
T3
F2
P1
L1
F3
Process Steam
fluid
Vapor
product
A1
L. Key
Liquid
product
LEARNING RESOURCES
Software Laboratory
- S_LOOP program
a. A 3% increase in the
fuel flow rate.
b. A 2% change in the
feed flow rate.
c. Start up from ambient
temperature.
d. Emergency stoppage
of fuel flow to 0.0.
feed
AT
1
FT
1
PI
4
TI
1
PI
5
TI
5
TI
2
TI
6
PT
1
TI
3
TI
7
TI
4
TI
9
TI
8
FT
2
PI
2
air
TI
10
FI
3
PI
3
TI
11
PI
6
fuel