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Systems:
Higher Order
Processes
Prof. Shi-Shang Jang
National Tsing-Hua University
Chemical Engineering Dept.
Hsin Chu, Taiwan
May, 2013
Tank 1
f A h1 t f A h2 t V1
du2
dt
Let h C pT ; u CvT
f A C pT1 t f A C pT2 t V1 Cv
dT2
dt
Tank 2
f A C pT2 t f B C pT3 t f A f B C pT4 t V2 Cv
dT4
dt
Tank 1
V1 Cv d 2
2 t 1 t
f A C p dt
1s 1 2 s 1 s
Tank 2
f A C p
f B C p
V2 Cv
d 4
4
2 t
t
f A f B C p dt
f A f B C p
f A f B C p 3
2 s 1 4 s K1 2 s K 23 s
Subtract
1
sqrt
Math
Function
1
s
0.1
Constant 1
Subtract 1
Gain 1
Integrator
0.1
Subtract 2
Gain 2
1
s
Integrator 1
Scope
1.5
simout
Gain
To Workspace
sqrt
Math
Function 1
dh1
dH1
k
A1
f i k1 h1 f o Fi aH1 Fo ; a 1
dt
dt
2 h1
&
dh2
dH 2
k
A2
A2
f1 k 2 h2 F1 bH 2 aH1 bH 2 ; b 2
dt
dt
2 h2
&
A1
1.5
Gain 3
H1 1
K1 Fi Fo H1 1s 1 H1 s K1 Fi Fo
a dt
a
dt
A2 dH 2 a
dH 2
H1 H 2 2
K 2 H1 H 2 2 s 1 H 2 s K 2 H1 s
b dt
b
dt
Numerical Example
A1 A2 10m 2 ; h1 h2 4m
fi 4m3 / min; f o 1m3 / min
k1
4 1 m3 / min
m3 / min
1.5
k
m1/ 2
4m1/ 2
k
1.5
a 1
0.375 b
2 h1 2 2
1
4
Constant
Constant 2
1
2.667
a
b
K2 1
a
A
10
1 2 1
26.667 min
a 0.375
K1
Constant 1
Subtract
2.667
26 .667 s+1
26 .667 s+1
Transfer Fcn
Transfer Fcn 1
Add
Scope
Kp
y s
K1
K2
2 2
m s s 2s 1 1s 1 2 s 1
Kp
y s
2 2
m s s 2s 1
such that
1 2
1 2 ;
;
2 1 2
1
2 1
; 2
2 1
K2
2s 1
K1
1s 1
dT2
dt
V1 Cv
d 2
fA
fR
2 t
1 t
4 t
f A f R C p dt
f A fR
f A fR
1s 1 2 s K11 s K 2 4 s
Tank 2
dT4
dt
f B C p
fC C p
V2 Cv
d 4
4
2 t
3 t
fC f B C p dt
fC f B C p
fC f B C p
2 s 1 4 s K3 2 s K 43 s
m s 2 s 2 2s 1 1 s 1 2 s 1
y t K p A
KpA
1 2
e
1
t / 2
2 e t / 1
m(s)=A/s
1
0.9
=1
0.8
1
Constant
s+1
3s+1
Transfer Fcn
Transfer Fcn1
0.7
=3
0.6
Scope
0.5
=2
0.4
simout
0.3
To Workspace
0.2
Inflection point
0.1
0
10
V1
fo
h1
Crosssectional=A1
A1
f1
V2
h2
Crosssectional=A2
f2
dh1
dH1
k1
A1
f i f 0 k1 h1 h2 Fi F0 aH1 aH 2 ; a
dt
dt
2 h1 h2
dh2
dH 2
A2
k1 h1 h2 k2 h2 aH1 aH 2 eH 2 fH1 gH 2 ;
dt
dt
k
e 2 ; f a; g a e
2 h2
A2
H1 H 2 1
K1 Fi F0 H1 H 2
a dt
a
a
dt
1s 1 H1 s K1 Fi F0 H 2 s
A2 dH 2 f
dH 2
H1 H 2 2
K 2 H1 H 2 2 s 1 H 2 s K 2 H1 s
g dt
g
dt
1
1s 1
Fi(s)
F0(s)
K1
1s 1
Fi(s
+
)
F0(s)
+
+
H2(s)
K2
2s 1
H1(s)
K 1 K 2 / 1 K 2
1 2 2 1 2
s
s 1
1 K2
1 K2
H2(s)
Numerical Example
A1 A2 10m 2 ; h1 8m; h2 4m
f i 4m3 / min; f o 1m3 / min
k1
4 1 m3 / min
m3 / min
1.5
k
m1/ 2
8 4m1/ 2
k1
1.5
a
0.375
2 h1 h2 2 2
e
k2
2 h2
0.375
H 2 s
K1 K 2 / 1 K 2
2.667 0.5 / 1 0.5
1 2 2 1 2
26.667 13.333 2 26.667 13.333
Fi ( s)
s
s 1
s
s 1
1 K2
1 K2
1 0.5
1 0.5
g a e 0.75
1
K1 2.667
2.667
a
2
711s
80 s 1
f
K 2 0.5
g
A
10
1 1
26.667 min
a 0.375
A
10
2 2
13.333min
g 0.75
Kp
Y s
X s as 2 bs 1
Another form:
Kp
Y s
X s 2 s 2 2 s 1
Kp is called process gain, is called time constant, is called
damping factor. The roots of the denominator are the poles of
the system.
d X 2 a21
dt
X N aN1
a12
a22
a1N
a2 N
X1
X
2
b11
b
21
a N 2 a NN X N
b12
b22
bN 1 bN 2
b1K M 1
b2 K M 2
AN N X N 1 BN K M K 1
bNK M K
where X is termed the state vector and M is the input vector. The following
observation equation is available:
Y1 c11 c12
Y c
c22
Y 2 21
YP cP1 cP 2
c1N X 1 d11
c2 N X 2 d 21
cPN X N d P1
d12
d 22
dP2
d1K
d 2 K
d PK
M1
M
2 C X D M
P N
N 1
P K
K 1
M
K
sX s AX s BM s
sI A X s BM s
X s sI A BM s
1
Y s C sI A BM s DM s
1
C sI A B D M s
G s P K M s
1
dH 2
0.375 H 1 0.75 H 2
dt
0.0375 H 1
0.0375
0.1
d H1
Fi
H
H
0.075
dt
2
0.0375
2
0
0.0375 H 1 ( s )
H1 ( s )
0.0375
0.1
s
0.0375
H ( s )
0 F (s)
H
(
s
)
0
.
075
2
2
0.0375 H 1 ( s )
1 0 H 1 ( s )
0.0375
0.1
s
H ( s )
0.0375
H ( s )
0 F (s)
0
1
0
.
075
2
2
s 0.0375 0.0375 H 1 ( s )
0.1
0.0375
H ( s)
0 F ( s)
s
0
.
075
10
H1 ( s )
s 0.0375
H ( s)
0.0375
2
0.0375
s 0.075
0.1
0 F ( s)
Cont.
H1 ( s)
H ( s)
2
s 0.075
s 0.0375 s 0.75 0.03752
0.0375
0.1 s 0.075
F ( s)
0
.
0375
0.0375
2
s 0.0375 s 0.75 0.0375 0.1
F (s)
s 0.0375
0
Y ( s ) H 2 ( s ) CX ( s) DM ( s )
H s
0 1 1 0 F ( s )
H 2 ( s)
0.1 s 0.075
2
s 0.0375 s 0.075 0.0375
0 1
0 F ( s )
0
.
00375
F (s)
2
s 0.0375 s 0.075 0.0375
711s 2 80s 1
0.0375
0.0375 -0.0750
>> B=[1;0];C=[0 1];D=0;
>> [num,den]=ss2tf(A,B,C,D,1)
num =
0 -0.0000
0.0375
den =
1.0000
0.1125
0.0014
>> ss=den(3)
ss =
0.0014
>> num=num/ss
num =
0 -0.0000 26.6667
>> den=den/ss
den =
711.1111 80.0000
>> tf(num,den)
Transfer function:
-9.869e-015 s + 26.67
--------------------711.1 s^2 + 80 s + 1
1.0000
KpA
1 2
e t / sin 1 2 t /
B
1. Overshoot=
e /
A
1 2
Response
y t K p A
3. Rise time=tr=
tan
1 2
4. Period of oscillation=T=
T
Rise time
Settling
time
2
2. Decay Ratio= C e 2 / 1
1 2
time
1 2
Example: Temperature
Regulated Reactor
t=1000s
103
t=3060s
Feed flow rate
0.40.5kg/s
at t=0.
102.5
temperature(C)
102
1.
2.
3.
101.5
101
100.5
100
500
1000
1500
3500
4000
4500
5000
Chapter 2, p41-49
Homework p58, 2-9, 2-15, 2-16
Due June 8th
Non-isothermal CSTR
Non-isothermal CSTRCont.
M.B. for component A
f t c Ai t f t c A t VrA t V
dc A
dt
where
rA t k0e
RT
c A2
dT
V Cv
dt
dTc
dt
Non-isothermal CSTRCont.
Process Information
V 13.26 ft 3 ; k0 8.33 108 ft 3 /(lbmole min)
E 27820 Btu / lbmole; R 1.987 Btu /(lbmole F )
1.3364
From10
f(t)
[energy_in]
55*0.88
Product
635
thou*cp
From11
Goto4
[reaction_rate]
T i(t)
[energy_out]
55*0.88
[Temp]
Product3
Goto5
thou*
cp
From1
From12
Product1
cAi(t)
Goto3
From13
[mass_in]
Product2
From9
[jacket_energy_in]
T c(602.7)
[jacket_energy_out]
From16
[jacket_energy_in]
62.4*1
Product4
[heat_transfer_out]
[cA]
From3
62.4*1
Product5
thou*cp2
Scope2
1/(Vc*thouc*Cv)1
Add2
[Tc]
Goto9
thou*cp1
1
s
1/(1.56*55*1)
From15
fc(t)
From14
[cA]
Goto1
13.26
540
Tci
Scope1
1/V
From8
[reaction_rate]
[Tc]
cA(0.2068)
Add
[mass_out]
Goto2
1
s
1/13.26
From7
0.8
[Temp]
dH
[mass_out]
From
Scope
1/(V*thou*Cv)
V1
Goto
[cA]
Add1
12000
13.26
Temp (678.9)
[heat_transfer_out]
[mass_in]
0.5975
1
s
1/(13.26*55*0.88)
[energy_out]
Goto6
From17
[jacket_energy_out]
[cA]
Goto10
eu
[T emp]
From2
[Temp]
From4
-27820
Divide
Math
Function
[reaction_rate]
8.33e8
k0
Divide1
Goto7
From5
[Tc]
From6
75/60*36
Subtract
UA
[heat_transfer_out]
Goto8
1.987
R
Rate Constant
g1 c A,T , f , c Ai 1 C A 1 1 F 1 C Ai
dt
dt
c A
T
f
c Ai
a11C A a12 b11C Ai b12 F
dT d
g
g
g
g
g
g 2 c A,T , Tc , f , Ti 2 C A 2 2 c 2 F 2 i
dt
dt
c A
T
Tc
f
Ti
a21C A a22 a23c b22 F b23i
dTc dc
g
g
g
g 3 T , Tc , f c 3 3 c 3 Fc
dt
dt
T
Tc
f c
a32 a33c b34 Fc
CA
a11
dX
d
a21
dt
dt
c
0
a12
a22
a32
0
a23
C A b11
0
a33 c 0
b12
b 22
0
C
0 Ai
F
b23 0
AX BU
i
0 b34
Fc
0
C Ai
CA
F
CX DU
y 0 1 0 0 0 0 0
i
c
Fc
E
27820
g1 g1
1.987678.9
x1 c A
[num, den]=ss2tf(A,B,C,D,4)
num =
0 1.33226762955019e-015
-2.81748023
-1.356898478768
den =
1
1.3804
0.3849816
0.038454805392
>> ss=den(4)
>> den=den/ss
den =
26.0045523519419
35.8966840666205
10.0112741717343
1
>> num=num/ss
num =
0 3.46450233194353e-014
-73.2673121415962
-35.2855375273927
678 .9
Constant 1
-0.0771
Constant
-35 .77
2.07 s+1
26 .27 s3 +36 .31 s2 +10 .14 s+1
Add
Scope
Gain
Transfer Fcn
simout
To Workspace
Tank temperature
681.5
681
680.5
680
679.5
679
678.5
0
10
15
20
25
30
Time (min)
35
40
45
50
Non-isothermal
CSTR- Cont.
s
35.77 2.07 s 1
Linearized
Model
F s 26.27
s 36.31s 10.14s 1
(page 127)
3
682
681.5
TankTemperature
681
680.5
680
679.5
679
678.5
0
10
15
20
25
30
Time(min)
35
40
45
50
The problem of
nonlinearity
X(s)=A/s
i s 1
i 1
Responses
n
in 1e t / i
Y (t ) K 1 n
i 1
i j
j 1
j i
n=2
n=3
n=5
Ke s
Ke s
or
s 1 a s 1 b s 1
n=10
time
1
e 2.3 s
5
s 1 4.1s 1
inflection point
time
Approximate
time
X s s 1 2 s 1 3s 1
Y2 s
0.5s 1
X s s 1 2 s 1 3s 1
As
Kp
Fo s
M s
ps 1
H s
Kp
1
H s
Fi s
M s
As
As p s 1
G s
1 2
K
s 1s 1 22 s 2 2 2s 1
1
s1 0
s2 1 / 1
1 2
s3 , s4 j
2
2
0
1
1
1
Real
part
1 2
2
Im
Exponential Decay
with oscillation
Purdy oscillatory
Exponential growth
with oscillation
Fast Exponential
growth
Exponential Decay
Fast Decay
Slow
Decay
Slow growth
Purdy oscillatory
Stable (LHP)
Unstable (RHP)
Re
lim y (t )
t
Definition
y ( s)
1
G3 ( s ) 3 2
m( s )
s s s 1
y(s)
1
G4 s
3s 1 s 2 s 1
m( s )
m(s)=1
Response
y ( s)
1
G2 s
s 1 0.1s 1 0.05s 1
m( s )
G4
G2
G1
time
G3
dt
where
rA t k0e
RT
cA
dT
dt
;
i s 9.75s 1 6.6s 1
CA s
K 2 K3
i s 9.75s 1 6.6 s 1
At T 620 R
s
K 3 7.47 s 1
;
i s 11.3s 1 11.47 s 1
CA s
K 2 K3
i s 11.3s 1 11.47 s 1
Homework
Text
p148
4-4, 4-5, 4-7, 4-8, 4-10, 4-11,4-12
Due April
Supplemental Material
Development of Empirical
Models from Process Data
S-1 Introduction
An
m( s ) s 1
A
m( s )
s
KA
y( s)
ss 1
y (t ) KA 1 e t /
m( s ) s 1
A
m( s )
s
KAe s
y(s)
s s 1
y (t ) KA 1 e t /
Example: A Typical
Experiment
Time
(second)
Y(temperature,oC,70100oC)
Y(temperature,mA,4-20mA)
Y (temperature, %)
0.
ln(1-Y)
70
71.74
4.928
0.058
-0.0598
76.51
7.472
0.217
-0.2446
80.8
9.76
0.360
-0.4463
84.64
11.808
0.488
-0.6694
88
13.6
0.600
-0.9163
90.76
15.072
0.692
-1.1777
93.16
16.352
0.772
-1.4784
94.99
17.328
0.833
-1.7898
96.64
18.208
0.888
-2.1893
10
97.75
18.8
0.925
-2.5903
Example: An Experiment
Plot
Fit 1
G1(s)
1
5.5s 1
Fit 2
G 2 s
0 .5 s
6 .8 s 1
y (t ) KA(1 e ( t ) / )
y (t )
1
e (t ) /
KA
y y (t )
t
ln
slope ; intercept
Fit 3
tau 1 / 0.290 3.443
0 / 463 * 3.443 1.5969
e 1.5969 s
G(s)
3.443s 1
Fit 3
0.7
real
0.6
0.5
0.4
Fit 1
0.3
Fit 2
0.2
0.1
0
10
A
s
1e t /1 2e t / 2
y (t ) KA 1
1 2
If 0
1e t /1 2 e t / 2
y (t ) KA 1
1 2
1 2
t /
cosh
KA 1 e
t
sinh
1 2
1 2
Example
t60=5
t20/t60=0.38
From the figure
t60/=2.4 =5/2.4
=2.1
=1.2
2=4.32, 2 =5.04
t20=1.9
1
0.9
0.8
0.7
G (s)
0.6
0.5
0.4
0.3
0.2
0.1
0
10
1
4.32 s 2 5.04 s 1