Universidad del Norte

Departamento de Ingeniería Mecánica

Laboratorio de Instrumentación y Control
Assignment 1: Dynamic Modeling systems
2020-10

1. A Hot-Cold water mixing tank is illustrated:

The controlled variable is the output temperature with a transport delay, while the manipulated
variable is the input cold water flow. Equations ruling the dynamic behavior of this process are a
mass balance, an energy balance and a transport delay. These equations are shown below.

𝑤1 (𝑡) + 𝑤2 (𝑡) − 𝑤(𝑡) = 0 (5)

𝑑𝑇3 (𝑡)
𝑤1 (𝑡)𝑐𝑝 𝑇1 (𝑡) + 𝑤2 (𝑡)𝑐𝑝 𝑇2 (𝑡) − 𝑤(𝑡)𝑐𝑝 𝑇3 (𝑡) = 𝑉𝑐𝑣 𝜌 (6)
𝑑𝑡

𝑇4 (𝑡) = 𝑇3 (𝑡 − 𝑡0 (𝑡)) (7)

𝐿𝐴𝜌
𝑡0 (𝑡) = (8)
𝑤(𝑡)
The steady state output temperature is 𝑇̅4 = 163.3°𝐶. Process information and steady state values are
shown in the following Table.

Variable Symbol/Value
Process Information
Tank
Volume 𝑉 = 0.37𝑓𝑡 3
Downstream Pipe
Length 𝐿 = 125𝑓𝑡
Sectional Area 𝐴𝑐 = 0.2𝑓𝑡 2
Valve (FC-P)
Maximum Flow 𝑓𝑚𝑎𝑥 = 400𝑓𝑡 3 /𝑚𝑖𝑛
Time Constant 𝜏𝑣 = 0.4
Sensor/Transmitter
Zero of the Instrument 𝑃𝑉𝑚𝑖𝑛 = 100°𝐹
Span 𝑠𝑝𝑎𝑛 = 100°𝐹
Time constant τT = 0.5 𝑚𝑖𝑛
Stream
Specific Heat at Constant Pressure 𝑐𝑝 = 0.8 𝐵𝑡𝑢/𝑙𝑏𝑚 °𝐹
Specific Heat at Constant Volume 𝑐𝑣 = 0.9𝐵𝑡𝑢/𝑙𝑏𝑚 °𝐹
Density 𝜌 = 60 𝑙𝑏𝑚/𝑓𝑡 3
Steady state values
Hot Stream Flow 𝑤1 = 250𝑙𝑏𝑚/𝑚𝑖𝑛
Cold Stream flow 𝑤2 = 191.17𝑙𝑏𝑚/𝑚𝑖𝑛
Hot Stream Temperature 𝑇1 = 250°𝐹
Cold Stream Temperature 𝑇2 = 50°𝐹
Tasks:

a) Build a Simulink model with the information stated before.

b) Explain the process behavior.

2. Obtain the solution Y(t), as a deviation from its initial steady-state condition y(0), of the
following ordinary differential equation. Use the method of Laplace transforms and partial
fraction expansion. The forcing function is the unit step function.

𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
9 2
− 12 − 4𝑦(𝑡) = 8𝑥(𝑡) − 4
𝑑𝑡 𝑑𝑡

Tasks:

a) Considering the roots calculated when applying the partial fraction expansion method, how can
be considered the response of the process? Does this result match when the analysis is done
considering the information given by the damping ratio and the characteristic time?
b) Determine the transfer function of the process.
c) Show the transfer function of the process as a function of the effective time constants.
d) Build a Simulink model that represents the response of the system.
 3. The nonisothermal continuous stirred tank reactor (CSRT) shown below, in which a first-order,
irreversible chemical reaction A>B (with a reaction rate constant k) is takin place.

Develop a dynamic model of this system considering the following assumptions:

• Feed and product material have constant volumetric flowrate.

• Feed material contains caf moles/volume.
• Mixing is efficient enough to guarantee homogeneity of the liquid within the reactor.
• Qc is the rate of heat transfer removed from the reactor.
• Density and specific heat capacity of the reacting material are constant.
• Consider the Arrhenius expression for the temperature dependence of the reaction rate
constant.

Tasks:

a) Develop a dynamic model of the CSRT.

b) Is it possible to obtain the transfer function of this process? Justify your answer.

Relevant information:

• 2 students per group.

• Reports done by hand will not be accepted.
• In this assignment, the structure of the report is up to you. Nevertheless, it must cover all
the information required.
• You must send the Simulink models as well.
• Deadline: January 29 2020, until 11:59 pm. If you send the activity after this deadline, I
will discount 1 point from your final grade.