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h 2 t 3r h t
V t VT
4r 3
P1 = 65 psig
1
P2 = 50
psig
h(t)
P
P3 = 45 psig
2
Donde:
= radio de la esfera,
= volumen del lquido en el tanque,
= volumen total del tanque,
= 28
Solucin:
Tenemos que la Ecuacin General del Balance dinmico del Sistema es:
q i (t ) q o (t )
dm(t )
dt
q i (t ) q o (t )
d
lV (t )
dt
qi (t ) q o (t ) l
d
V (t )
dt
Donde p1 P1 (t ) 50 psig
q iLineal (t ) q i
qi (t )
Vp1 (t )
Vp (t ) Vp qP ((tt ))
P (t ) P
Vp1 , P1
qiLineal (t ) q i 500Cv1 G f p1
Vp1 , P1
Vp1 , P1
Vp (t ) Vp
1
1
1 2
G f Cv1Vp1 (t ) G f p1
P (t ) P
1
Vp1 , P1
Dado que los coeficientes de las variables evaluados en los puntos de operacin son constantes, por
simplificacin, tenemos lo siguiente:
C1 500Cv1
C2
G f p1
Vp1 , P1
1
1 2
G f Cv1Vp1 (t ) G f p1
2
Vp1 , P1
En estado estable
qiLineal (t ) qi C1 Vp1 (t ) Vp1 C 2 P1 (t ) P1
Q i (t ) C1 Vp1 (t ) C 2 1 (t )
( 2)
Donde p 2 P (t ) P3 (t )
P (t ) P2 l gh(t ) P (t ) 50 psig l gh(t )
p 2 50 psig l gh(t ) P3 (t )
q oLineal (t ) q o
q oLineal (t ) q o
q o (t )
Vp 2 (t )
q o (t )
Vp 2 (t )
Vp
(t ) Vp 2
Vp2 , h , P 3
Vp
Vp2 , h , P 3
(t ) Vp 2
q o (t )
h(t )
q o (t )
h(t )
h(t ) h qP ((tt))
P (t ) P
Vp 2 , h , P 3
h(t ) h qP ((tt))
P (t ) P
Vp2 , h , P 3
Vp 2 , h , P 3
Vp2 , h , P 3
Del mismo modo que para el caso de qi por simplificacin llamaremos a los coeficientes como
sigue:
C3
C4
C5
q o (t )
Vp 2 (t )
Vp 2 , h , P 3
q o (t )
h(t )
Vp2 , h , P 3
q o (t )
P3 (t )
Vp 2 , h , P 3
q oLineal (t ) q o C 3 Vp 2 (t ) Vp 2 C 4 h(t ) h C 5 P3 (t ) P3
En estado estable:
q oLineal (t ) q o C 3 Vp 2 (t ) Vp 2 C 4 h(t ) h C 5 P3 (t ) P3
Q o (t ) C 3 Vp 2 (t ) C 4 H(t) C 5 P3 (t)
(3)
Linealizando V(t):
h 2 (t ) 3r h(t )
4r 3
V (t ) VT
V Lineal (t ) V
C6
V (t )
h(t )
V (t )
h(t )
h(t ) h
h
V Lineal (t ) V C 6 h(t ) h
En estado estable:
V Lineal (t ) V C 6 h(t ) h
V (t ) C 6 H (t )
( 4)
Sustituyendo las ecuaciones (2), (3) y (4) en (1) se obtiene la ecuacin Linealizada en Estado
Estable del Sistema:
qi (t ) q o (t ) l
d
V (t )
dt
Q i (t ) C1 Vp1 (t ) C 2 1 (t )
1
( 2)
5
Q o (t ) C 3 Vp 2 (t ) C 4 H(t) C 5 P3 (t)
V (t ) C 6 H (t )
(3)
( 4)
d
H (t )
dt
d
H (t )
dt
Estable
C Vp
1
(t ) C 2 1 (t ) C 3 Vp 2 (t ) C 4 H(t) C 5 P3 (t) l C 6
H (t )
dt
Vp1 ( s) l C 6 s C 4
Vp1 ( s) l C 6 C 4 s 1
Q ( s ) s 1
Entonces:
K1
C1
C
; l 6
C4
C4
Vp1 ( s ) s 1
Vp 2 ( s) l C 6 s C 4
Vp 2 ( s) l C 6 C 4 s 1
K2
C3
C
; l 6
C4
C4
H(s)
K2
Vp 2 ( s ) s 1
C1
C4
C1 500Cv1
G f p1
Vp1 , P1
p1 P1 (t ) 50 psig
Gf
l
70 lbm ft 3
1,121
62,45 lbm ft 3
C4
C4
q o (t )
h(t )
q o (t )
h(t )
gpm
psi 1 2
p 2 50 psig l gh(t ) P3 (t )
C4
q o (t )
1
1 2
500Cv 2 V p 2 G f l g G f * p 2
h(t ) Vp2 , h , P 3
2
C 4 500Cv 2 V p 2 (t )
lbm
hr
Vp2 , h , P 3
Vp2 , h , P 3
1
G f l g G f * 50 psig l g h P 3
2
1 2
l g h 70
lbm
ft
lbm lbf
1
ft
lbf
ft 2
*
32
,
2
*
5
ft
70
*
*
*
32
,
2
*
5
ft
350
*
ft 3
seg 2
ft 3 lbm 32,2 ft seg 2
seg 2
ft 2 12in 2
l g h 2,431 psi
V p2
lbm
gpm
500 * 28
V p 1,121 * 7,431 psi
hr
psi 1 2 2
30.000 lbm hr
0,742
gpm
500 * 28
1
,
121
*
7
,
431
psi
psi 1 2
lbm hr lbf
ft 2
lbm
*
980,656
2
psi ft ft
hr * ft
144in 2
lbm
hr
K1
lbm
980,656
hr * ft
41.416,158
K 1 42,233 ft
8
Calculando :
C6
C4
C6
V (t )
h(t )
h 2 (t ) 3r h(t )
VT
h(t )
4r 3
C6
2
VT
6r h 3h
3
4r
VT
4 r 3
3
C6
4 r 3
1
* 3 6 * 4 ft * 5 ft 3 * 25 ft 2 C 6
120 ft 2 75 ft 2 C 6 15 ft 2
3
3
4 r
70
15 ft 2
lbm
ft 3 980,656 lbm hr * ft
3,364hr
Clculo de K2:
K2
C3
C3
C4
q o (t )
Vp 2 (t )
Vp 2 , h , P 3
q o (t ) 500Cv 2Vp 2 (t ) G f p 2
p2 50 psig l gh(t ) P3 (t )
l g h 2,431 psi
C3
q o (t )
Vp 2 (t ) Vp
h, P3
C 3 500 * 28
K2
gpm
psi 1 2
40.405,593 lbm hr
lbm
980,656
hr * ft
C 3 40.405,593
lbm
hr
K 2 41,201 ft
Vp1 ( s ) 3,364 hr *s 1
41,201 ft
H(s)
Vp 2 ( s ) 3,364 hr *s 1
10
Graficando las ganancias y las constantes de tiempo contra los diferentes niveles de operacin
cuando se mantiene constante la posicin de las vlvulas.
K1 (ft)
h (ft)
C1
-30,4197151
1,34877333
41416,1581
0,48611111
1141,3215
34718,6749
21,9912
37,8614716
-33,1151328
2,41244741
41416,1581
0,97222222
1093,88664
36224,2015
37,6992
39,3722051
-35,8105506
3,13588492
41416,1581
1,45833333
1051,9136
37669,6053
47,124
40,8270748
-38,5059684
3,46854526
41416,1581
1,94444444
1014,42874
39061,5611
50,2656
42,2318545
-41,2013862
3,36364792
41416,1581
2,43055556
980,68528
40405,593
47,124
43,5913872
-43,896804
2,77754468
41416,1581
2,91666667
950,099566
41706,3345
37,6992
44,9097822
-46,5922218
1,6692374
41416,1581
3,40277778
922,207947
42967,7172
21,9912
46,1905623
-49,2876396
41416,1581
3,88888889
896,636803
44193,1116
46,3166924
-49,5571814
-0,19920566
8,1
41416,1581
3,9375
894,195072
44313,7874
-2,544696
36,2878978
K2 (ft)
(hr)
gh
C4
C3
C6