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Understanding Transfer Functions in Process Control

Chapter 4 discusses transfer functions as algebraic expressions that describe the dynamic relationship between inputs and outputs in process models, independent of initial conditions and forcing functions. The chapter details the development of transfer functions through a blending system example, leading to the derivation of transfer functions G1(s) and G2(s) that depend solely on operating conditions. It emphasizes that these transfer functions facilitate analysis without the need for repeated solving of ordinary differential equations for varying initial conditions.

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17 views4 pages

Understanding Transfer Functions in Process Control

Chapter 4 discusses transfer functions as algebraic expressions that describe the dynamic relationship between inputs and outputs in process models, independent of initial conditions and forcing functions. The chapter details the development of transfer functions through a blending system example, leading to the derivation of transfer functions G1(s) and G2(s) that depend solely on operating conditions. It emphasizes that these transfer functions facilitate analysis without the need for repeated solving of ordinary differential equations for varying initial conditions.

Uploaded by

amjad nasser
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Process Control: Chapter 4 – Transfer Functions

4.0 Introduction:

- In chapter 3 we discussed how Laplace transform techniques could be used to determine the
response from different ODEs.
- However, the full solving procedure should be repeated for every model, even when changing
only the initial conditions or the type of forcing function.
- Transfer function: Algebraic expression for the dynamic relation between a selected input and
output for the process model.
- It’s independent on the: initial condition and type of forcing function.
- The properties of the dynamic system become apparent when the transfer function is written in
its standard form.
- TFs are derived only from linear ODEs; therefore, the non-linear ODEs have to be linearized first.

4.1 Development of Transfer Functions:

The following model describes a simple blending system, that blends two streams, one with pure A
(𝑥𝐴,2 = 1), and the other is diluted (𝑥𝐴,1 << 1), with a stream that leaves the tank with a small
concentration of A (𝑥𝐴 << 1).
𝑑𝑥 𝑤1 𝑤2
= (𝑥1 − 𝑥) + (𝑥 − 𝑥) (4.1)
𝑑𝑡 𝑉𝜌 𝑉𝜌 2
Assuming a constant flow for the first inlet stream: 𝑤1 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 𝑤
̅1

Assuming that the process at the beginning was at steady-state:


𝑤
̅1 𝑤
̅2
0= (𝑥̅1 − 𝑥̅ ) + (𝑥̅ − 𝑥̅ ) (4.2)
𝑉𝜌 𝑉𝜌 2
Simplifying and applying assumptions:

0=𝑤
̅1 𝑥̅1 − 𝑤
̅1 𝑥̅ + 𝑤
̅ 2 𝑥̅2 − 𝑤
̅ 2 𝑥̅ = 𝑤
̅1 𝑥̅1 − 𝒘 ̅−𝒘
̅ 𝟏𝒙 ̅+𝑤
̅ 𝟐𝒙 ̅2
0=𝑤 ̅̅
̅1 𝑥̅1 − 𝒘 𝒙+𝑤
̅2 (4.3)
Since 𝑥1 and 𝑥 are very small, and 𝑤2 is pure A, we would need small amount of mass flow rate of 𝑤2 ;
therefore, 𝑤
̅2 ≪ 𝑤̅, hence:

𝑤
̅ ≈𝑤
̅1 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 (4.4)
Therefore, for unsteady-state process:
𝑑𝑥
𝑉𝜌 =𝑤
̅𝑥1 + 𝑤2 − 𝑤
̅𝑥 (4.5)
𝑑𝑡
To get rid of the dependence of the process model on the first steady-state, subtract the steady-state
model from the unsteady-state model (4.5) - (4.3):
𝑑(𝑥 − 𝑥̅ )
𝑉𝜌 ̅(𝑥1 − 𝑥̅1 ) + (𝑤2 − 𝑤
=𝑤 ̅2 ) − 𝑤
̅(𝑥 − 𝑥̅ ) (4.6)
𝑑𝑡
Divide by 𝑤
̅ on both sides:
𝑉𝜌 𝑑(𝑥 − 𝑥̅ ) (𝑤2 − 𝑤
̅2 )
= (𝑥1 − 𝑥̅1 ) + − (𝑥 − 𝑥̅ ) (4.7)
𝑤̅ 𝑑𝑡 𝑤
̅
𝑉𝜌
Since, ̅
is a constant value, assume that:
𝑤

𝑉𝜌
𝜏= (4.8)
𝑤̅
And:
1
𝐾= (4.9)
𝑤
̅
And introducing new concept called deviation variable:

𝑥 ′ = 𝑥 − 𝑥̅
𝑥1′ = 𝑥1 − 𝑥̅1
Etc.

Therefore, equation 4.7 becomes:


𝑑𝑥′
𝜏 = 𝑥1′ + 𝐾𝑤2′ − 𝑥 ′ (4.10)
𝑑𝑡
Small 𝜏 → Faster response

Large 𝜏 → Slower response

K is process gain.

In case of steady-state, (4.10) becomes:

𝑥 ′ = 𝑥1′ + 𝐾𝑤2′ (4.11)


Therefore, if 𝑥1 was constant and has a value that is similar to the 𝑥1 at the first steady-state (𝑥1′ = 0),
(4.11) will be as follows:

𝑥 ′ = 𝐾𝑤2′ (4.12)
Therefore, any deviation of 𝑤2 from steady-state will lead to a deviation in 𝑥 K times larger than the
deviation in 𝑤2 .

However, since the process gain of 𝑥1 is 1; therefore, any deviation of 𝑥1 will cause 𝑥 to deviate with
same factor.

4.1.1 Transfer Functions

Apply Laplace on transform on (4.10) knowing that 𝑥 ′ ,𝑥1′ , and 𝑤2′ are functions of time:

𝑑𝑥 ′
ℒ (𝜏 ) = ℒ(𝑥1′ ) + ℒ(𝐾𝑤2′ ) − ℒ(𝑥 ′ )
𝑑𝑡
𝜏𝑠𝑋 ′ (𝑠) − 𝑥 ′ (0) = 𝑋1′ (𝑠) + 𝐾𝑊2′ (𝑠) − 𝑋 ′ (𝑠) (4.13)

Since the system was initially at its first steady-state; therefore, 𝑥 ′ (0) = 𝑥̅ − 𝑥̅ = 0:

𝜏𝑠𝑋 ′ (𝑠) = 𝑋1′ (𝑠) + 𝐾𝑊2′ (𝑠) − 𝑋 ′ (𝑠) (4.14)

Rearranging,

(𝜏𝑠 + 1)𝑋 ′ (𝑠) = 𝑋1′ (𝑠) + 𝐾𝑊2′ (𝑠)


1 𝐾
𝑋 ′ (𝑠) = ( ) 𝑋1′ (𝑠) + ( ) 𝑊 ′ (𝑠)
𝜏𝑠 + 1 𝜏𝑠 + 1 2
𝑋 ′ (𝑠) = 𝐺1 (𝑠)𝑋1′ (𝑠) + 𝐺2 (𝑠)𝑊2′ (𝑠) (4.15)
Therefore, the transfer functions are:
1 𝐾
𝐺1 (𝑠) = , 𝐺2 (𝑠) =
𝜏𝑠 + 1 𝜏𝑠 + 1
Hence, in the following cases:
𝑋 ′ (𝑠) 1
𝐺1 (𝑠) = ′ (𝑠) = , 𝑖𝑓 𝑎𝑛𝑑 𝑜𝑛𝑙𝑦 𝑖𝑓 𝑊2′ (𝑠) = 0
𝑋1 𝜏𝑠 + 1

Similarly,
𝑋 ′ (𝑠) 𝐾
𝐺2 (𝑠) = ′ (𝑠) = , 𝑖𝑓 𝑎𝑛𝑑 𝑜𝑛𝑙𝑦 𝑖𝑓 𝑋1′ (𝑠) = 0
𝑊2 𝜏𝑠 + 1

Notice that the transfer functions 𝐺1 (𝑠) and 𝐺2 (𝑠) do NOT depend on the initial conditions. They’re only
dependent on the operating conditions.

How to use equation 4.15?

Assume a process where 𝑥1 is not changing and it is kept as its initial steady-state value; therefore,
𝑥 ′ (𝑡) = 0. While the mass flow rate of pure A changed from 𝑤 ̅ 2 + 𝑀; therefore, 𝑤2′ (𝑡) = 𝑀:
̅ 2 to 𝑤

Hence,
𝑀
ℒ(𝑤2′ (𝑡)) =
𝑠
Substituting in equation 4.15:
𝐾𝑀
𝑋 ′ (𝑠) =
𝜏𝑠 2 + 𝑠

𝐾𝑀 𝐾𝑀 𝜏𝐾𝑀 1 𝜏 1 1
= − = 𝐾𝑀 ( − ) = 𝐾𝑀 ( − ) = 𝐾𝑀(1 − 𝑒 −𝑡/𝜏 )
𝑠(𝜏𝑠 + 1) 𝑠 𝜏𝑠 + 1 𝑠 𝜏𝑠 + 1 𝑠 𝑠+1
𝜏
𝑡
𝑥 ′ (𝑡) = 𝐾𝑀 (1 − 𝑒 −𝜏 ) (4.16)
*it’s mentioned that transfer functions do not depend on initial conditions, however, G1(s) contains w (bar) and G2(s) contains w2(bar) which
are the flow rates of the initial steady-state conditions.

From equation 4.16:


0
𝑥 ′ (𝑡 = 0) = 𝐾𝑀 (1 − 𝑒 −𝜏 ) = 𝐾𝑀(1 − 1) = 0

And,
𝑡
lim (𝑥 ′ (𝑡)) = lim (𝐾𝑀 (1 − 𝑒 −𝜏 )) = 𝐾𝑀(1 − 0) = 𝐾𝑀
𝑡→∞ 𝑛→∞

Approximate plot:

x'(t) vs. t
1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12

Common questions

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In the blending system, any deviation in the mass flow rate of pure component A (expressed as 𝑤2') results in a concentration deviation (𝑥') that is 𝑲 times larger, where 𝑲 represents the process gain. This implies that the system is highly sensitive to changes in 𝑤2, amplifying these input deviations proportionally in its output response . This relationship highlights the importance of accurately controlling flow rates in maintaining desired output levels .

In the context of transfer functions and system analysis, steady-state conditions relate to the long-term behavior of a system under constant inputs, while initial conditions pertain to its state at the onset of observation. Transfer functions primarily focus on the response of systems from steady-state conditions without dependency on initial conditions, allowing for a more concise depiction of dynamic behaviors independent of initial state specifics . Therefore, while steady-state provides a baseline performance metric, the initial condition does not constrain transfer function applicability .

Laplace transforms are applied in deriving transfer functions from ODEs because they convert complex differential equations into simpler algebraic equations in the Laplace domain. This conversion facilitates the analysis and manipulation of dynamic systems by transforming time-domain operations into frequency-domain computations, making it easier to handle various control system analyses . The primary benefit is the simplification of solving and connecting diverse system behaviors under a unified mathematical framework .

Deviation variables are used to represent the changes in system variables from their steady-state values. By focusing on these deviations rather than absolute values, they simplify the mathematical analysis of dynamic systems, particularly when applying Laplace transforms to derive transfer functions . This approach aids in isolating and studying the dynamic behavior and control responses of the system distinct from its steady-state conditions .

Linearizing non-linear ODEs is crucial in the development of transfer functions because transfer functions are derived only from linear ODEs. The linearization process involves approximating non-linear behavior around an operating point to create a linear model that is valid within a small region around this point . This transformation helps translate complex dynamic systems into manageable mathematical forms that simplify the analysis and design of control systems .

In a blending system with constant flow rates, transfer functions allow us to model the dynamic changes in system output (such as concentration) in response to changes in input conditions, without being affected by their initial states. The model separates the steady-state from the dynamic part, providing clearer insights into the system behavior under varied operating conditions . This helps predict how deviations in flow rates or inputs translate to changes in outputs, facilitating control and optimization .

The time constant 'τ' in dynamic systems is interpreted as a measure of the speed of the system's response to changes. A small 'τ' implies a faster response to input changes, whereas a large 'τ' indicates a slower response . It reflects how quickly a system can adjust to shifts in operating conditions, thus influencing transient behavior and control strategy effectiveness .

Standard forms of transfer functions play an essential role in understanding the properties of dynamic systems by presenting their characteristics in a specific canonical form that is well-documented and easier to analyze. This standardization helps identify system stability, response behavior, and control potential, as it simplifies comparing different systems and using established analytical techniques . It aids in gleaning insights into dynamic properties such as time constants and gains quickly .

Linearization around an operating point can influence the accuracy of transfer functions by providing an approximation of non-linear system behavior in the vicinity of that point. While this approach simplifies the mathematical complexity, making it feasible to derive transfer functions, the accuracy is confined to small perturbations around the operating point. This means that as the system deviates further from the operating point, the linear model may significantly diverge from actual system behavior . Thus, while highly useful, linearization has its limits regarding broad-scale applicability .

Transfer functions are significant in dynamic process control as they provide an algebraic expression that describes the dynamic relationship between input and output for a process model. The key advantage is that they are independent of initial conditions and the type of forcing function . This independence allows for a more standardized analysis of system dynamics without repeating the solving procedure for different conditions, thus making the analysis more efficient and generalizable .

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