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UNIVERSIDAD NACIONAL MAYOR DE SAN MARCOS FACULTAD DE QUIMICA, ING. QUIMICA E ING. AGROINDUSTRIAL
Curso: Control de Procesos Profesor: Ing. Eder Vicua Galindo Alumna: Joyssy Ticona Vilca Lima, 2011
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Title: Temperature control at the bottom of an aquarium by the variation of heat entering, ambient temperature and the partial pressure of water
One aquarium can be modeled by two perfectly mixed pools. Be want derive an equations that represent the response of the temperature in bottom of an aquarium for the changes in heat input, in the surrounding temperature, and in the surrounding water partial pressure.
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OBJECTIVE:
Variable temperature control since this affects the stability of operation of a tank which aims to maintain the life of the fish that inhabit it.
process scheme
VARIABLES: * Input variable: T1(t) * Disturbance variable: ps(t) * Manipulation variable: I(t) * State variable: T2(t) PARAMETROS: f [m3/s]
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f2 f 1
f1 f2
Assumptions:
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Transfer of heat and mass to the surroundings is only from the free surface of the water . V1 = V2 = v p[T2(t)] The physical properties of water (Cp, Cv, and ) are constant. Cp = Cv 1 = 2 The rate of vaporization is so small that the total mass of water in the tank, M, kg, maybe assumed constant.
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1*f1*h1(t)- 2*f2*h2(t) - W(t)* = d[V**U(t)] dt *f*Cp[T1(t)- T2(t)] - W(t)* = V**Cv*d[T2(t)] (1) dt One equation with three unknows, T1, T2 and w
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Energy balance at the bottom 2*f2*h2(t)- 1*f1*h1(t) + Fem = d[V**U(t)] dt *f*Cp[T2(t)- T1(t)] + R*I(t)= V**Cv*d[T1(t)] dt Two equations with four unknows, I
(2)
The rate of vaporization of water w(t)= Ky*A*[p(T2(t))-p(t)] Three equations with five unknows, p(T2) (3)
Establishing steady state equations *f*Cp[T1 T2] W* = 0 (6) Linearizing and subtracting the aquations corresponding to (1) and (2) *f*Cp[T1(t)- T2(t)] - W(t)* = V**Cv*d[T2(t)] (7) dt *f*Cp[T2(t)- T1(t)] + R*I(t)= V**Cv*d[T1(t)] (8) dt Where: T2(t) = T2(t) T2 T1(t) = T1(t) T1 I(t) = I(t) - I W(t)= w(t) w = Ky*A*[p(T2(t))-ps(t)] *f*Cp[T2 - T1] + Fem*I =0 (5)
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*Replacing (9) in (7) *f*Cp[T1(t)- T2(t)] - Ky*A*[a(T2(t))-ps(t)] * = v**cv*d[T2(t)] (10) dt Using Laplace Transform and rearranging for equation (8) and (10) T1 (s) = 1 T2(s) + K1 I(s) (11) s1+1 s1+1 T2(s) = K2 (12) s2+1 Then: T1s) + s2+1 K3 Ps(s)
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where 1= *V*Cv, = 20 segundos = 0.98 K *f*Cp 2= * V * Cv, = 60 segundos K2 = *f*Cp = 0.08 ,adimensional Ky*A**a+fCp Ky*A**a+fCp K1 = Fem *f*Cp
, = 0.005 K/Pa
K3=
Ky*A*
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K1 T1( s)
1 1s+ 1
TT Sensor transmitter
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Dynamic characteristics
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Transfer function of the sensortransmitter H(s) = Kt . ts+1 The transmitter can be represented by the following linear relationship. Gain: Kt = 20 4 mA = 0.267 50 (-10) C
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CONTROLLER
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m( t)
Kvq
K=
mA Kv= K*Kvq = 1 * 27.4 16 Transfer function of the Kv= 1.712 controller: Gv (s)= 1.712 10s + 1
1 - 0 20 4
Kvq= 27.4
block diagram
Tsp( Ks s) p E(s Kc M( 1.71 I(t) 2 ) s) 10s +1 Ps( t)
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+ +
T1(s)
Tm( s)
0.26 7 2s+ 1
characteristic equation
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Stability analysis
1) ROUTH- HURWITZ TEST 20 1.8196 0.0078+4.96Kc 13.34 0.0764+29.7849Kc b1 b2 c1 0 d1 For b1>0 : b1= 1.896 44.65Kc >0 0.04>Kc Kcu= 0.04 For b2>0 : b2 = 0.00078 + 0.496Kc >0 Kc>-1.57*10^(-3) 0
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Is obtained:
Then:
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0.159 18.06
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PROPORTIONAL CONTROLLER
Kc= 0.1749
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Response time
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Kc = 0.175 rlocus(FTCA)
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Kc = 0.175 Bode(FTCA)
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Kc = 0.175 nyquist(FTCA)
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RESPONSE TIME
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rlocus(FTCA)
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bode(FT CA)
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nyquist(FTCA)
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RESPONSE TIME
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rlocus(FTCA)
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bode(FT CA)
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nyquist( FTCA)
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An increase of Kc in 10%
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A decrease of Kc in 10%
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ANALYSIS
* Shows that the three response time graphs for stability, but at the beginning introduces instability. We conclude a change in the controller (Kc) does not influence the search process stability *The Kc Increase by 10% the amplitude decreases and the same percentage decrease in the amplitude increases, conclude that Kc varies the amplitude and increasing its value the process will be closer to stability