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Process Dynamics Control Problems Solutions

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22 views8 pages

Process Dynamics Control Problems Solutions

Uploaded by

grcarjun2020
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

ALAGAPPA COLLEGE OF TECHNOLOGY

ANNA UNIVERSITY
CHENNAI-620025, INDIA

Course Name & Code: Process Dynamics and Control


Course code: CH5603
Faculty name: [Link]

Problems – I order systems

1. A thermometer is at a room temperature of 25℃. It is suddenly put into the


vessel containing water at 100℃, what should be the
𝜏 , so that it indicates 99.9℃ in 1 min.

Solution

For step input

y(t) = A [1- e−t/τ ] + 25

99.9 = 75 [1- e−t/τ ] +25

1- 𝑒 −1/𝜏 = 0.9986.

𝑒 −1/𝜏 = 1.333 × 10−3


1
- = ln (1.333× 10−3 )
τ

𝜏 = 0.151 min 𝑜𝑟 9.06 𝑠𝑒𝑐.

2. A thermometer has a time constant of 15 sec with an initial temperature T


equals 20℃. It is suddenly exposed to a temperature of 100℃. Determine
the time required to attain 90% of the new steady state value.
Solution
𝜏 = 15 sec Tf = 100℃.

Initial temperature Ti = 20℃

Final temperature = 90% of steady state = [(100-20)*0.9] + 20 = 92℃

Y(s) 1
= ⇒ Y (t) = A [1- e−t/τ ]
X(s) τs+1

For the thermometer at the initial temperature of 20℃

y(t) = A [1- e−t/τ ] + 20

92 = 80[1- e−t/15 ] + 20

⇒ 𝑡 = 34.54 sec

3. A tank having area of 10m2 and height of 10 m has its liquid level at 2 m.
Both the inflow and outflow are 10m3 / min . If outflow is changed to
5 m3 / min. How long it will take before the tank starts overflowing.

Solution
Mass flow rate in – Mass flow rate out = Rate of accumulation of mass

𝑑ℎ
𝑞0 − 𝑞1 = A
𝑑𝑡

𝑑ℎ
10 − 5 = 10
𝑑𝑡

𝑑ℎ 10 t
= 0.5 ⇒ ∫2 dh = ∫0 dt
𝑑𝑡

8 = t (0.5)

⇒ t = 16 min.

4. A tank having a cross sectional area of 2 sqft is operating at steady state with
an inlet flow rate of 2 cubic feet/min. The flow head characteristic is as
shown in the figure. Derive the transfer function H(s)/Q(s). The flow to tank
is increased from 2 to 2.2 cubic feet/min according to step change. Calculate
the level h, 2 min after the change occurs.

Solution

Flow head relation


𝟐.𝟒−𝟏
q-1 = (h-0.3)
𝟏−𝟎.𝟑

The flow head relation

q0 = 2h + 0.4
dh
q − qo = A ----------- 1
dt

dhS
qS − q0S = A ----------- 2
dt

dh
q − 2h − 0.4 = A
dt

dhs
qS − 2hS − 0.4 = A
dt
Ad( h−hS )
( q − qS ) − 2(h − hs ) =
dt

dH
Q – 2H = A
dt
Q(s) – 2 H(s) = A[ sH(s) ]

Q(s) = 2 s H(s) + 2 H(s)

= H(s) [2 s + 2]
H(s) 1
⇒ =
Q(s) 2(s+1)

At steady state, from equation 2


dhS
qS − q0S = A =0
dt

⇒ qS = q0S

⇒ 2hS + 0.4 = 2

⇒ hS = 0.8 ft

Step change A = 2.2 − 2 = 0.2 ft 3 m

Q(t) = A u(t) = 0.2 u(t)


0.2
⇒ Q(s) =
s

0.2 1
H(s) = x
s 2( s+1)

1
= 0.1 ×
( s+1)

Using partial fractions


0.1 A B A( s + 1 ) + BS 0.1
= + ⇒ =
s( s + 1) s s+1 s( s + 1) s( s + 1)

Put s = 0 ⇒ A = 0.1 and Put s = −1 ⇒ − B = 0.1 ⇒ B = −0.1.


0.1 0.1 0.1 1 1
= − = 0.1 [ − ]
s( s + 1) s s+1 s s+1
⇒ H(t) = 0.1[1 − e−t ]

h - hs = 0.1[1 − e−t ]

h = hs + 0.1[1 − e−t ]

If hs = 0.8

then h = 0.886 ft.

5. Derive the transfer function H(s) / Q(s), for the liquid level system when (i)
Liquid level is at 1m. (ii) Liquid level is at 3m.
Data given: hs= 1m, qo= 10 m3/ min
A= 1 m2, R= 0.5

Solution

Taking mass balance on tank when h= 1m

dh
q − qo = A ----------- 1
dt

dhS
qS − q0S = A (at steady state) ----------- 2
dt

d(h−hS)
(q − qs ) − (qo − q0S )= A
dt
d(h−hS)
(q − qs ) = A
dt

dH
Q= A
dt

Taking Laplace transform


Q(s) = A [sH(s)]
H(s) 1
=
Q(s) As

Taking mass balance when h=3m,

dhS
q − (qo + qv ) = A ----------- 1
dt

dhS
qS − (qos + qvs ) = A (at steady state) ----------- 2
dt

d(h − hS)
(q − qs ) − (qv − qvS ) = A
dt

dH
Q - QV = A
dt

H
QV =
R

H dH
Q- =A
R dt

Taking Laplace transformation

H(S)
Q(s) – = A[ sH(s) ]
R

H(s) 0.5
=
Q(s) 0.5s(s+1)
6. A liquid level system is operating at steady state and the following
disturbance occurs. At t=0, 1 cubic feet of water is added suddenly to the
tank and at t=1 min, 2 cubic feet of water is added suddenly. What is the
level at t=0.5, t=1 and t=1.5.

Solution

𝐇(𝐬) 𝐑
The transfer function is =
𝐐(𝐬) 𝛕 𝐬+𝟏

Q(t) = δ(t) + 2 δ (t-1) L[δ (t-a)] = 𝐞−𝐚𝐬

Q(s) = 1+ 2 𝐞−𝐬 . 1 = 1+ 2 𝐞−𝐬


R
H(s) = (1+ 2𝐞−𝐬 ).
τ s+1

𝐑 2 𝐞−𝐬 𝐑
⇒ +
𝛕 𝐬+𝟏 𝛕 𝐬+𝟏

R/𝜏 2 𝐞−𝐬 /𝜏 𝑅
⇒ H(s) = 𝟏 + 𝟏
𝐬+𝛕 𝐬+𝛕

−t −t
𝑅 1
H(t) = e 𝜏 + 2R ∙ 𝐞−𝟏 ∙ e𝜏
𝜏 𝜏

−t −(𝐭−𝟏)
𝑅 2R
H(t) = e𝜏 + 𝐞 𝛕 for t > 1 ----------- 1
𝜏 τ
Time constant 𝜏 = 𝐴𝑅 = 1 min

Now, Substitute t = 0.5 min in equation 1


0.5
0.5
= e− 1
1

= 0.30326

Substitute t = 1 in equation 1

H (t) = 0.5 e−1 = 0.1839 ft

Substitute t = 1.5 in equation 1

H(t) = 0.5 𝐞−𝟏.𝟓 + 0.5 × 2 e−0.5

= 0.718 ft

Common questions

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Sudden disturbances in a liquid level system are analyzed using differential equations and Laplace transforms to model system response. When 1 cubic foot of water is added at t=0 and 2 cubic feet at t=1 minute, the response is calculated using H(s) = [R/τ(s+1) + 2e^(-s)R/τ(s+1)] for the disturbances expressed as impulse functions (δ-functions). The level at any time, such as t=0.5 (0.303 ft), t=1 (0.1839 ft), and t=1.5 minutes (0.718 ft), is derived by evaluating this transfer function with appropriate substitutions .

For step changes in liquid inflow, system modeling uses differential equations expressed in the Laplace domain. Inflows cause step changes modeled as: Q(t)=A u(t), leading to Q(s)=0.2/s for a specific step increment. The transfer function H(s)/Q(s)=1/[2(s+1)] is derived for steady-state analysis, resulting in time-based solutions like h=hs+0.1[1−e^−t] for a dynamic response applicable to post-step changes .

In process control systems, the concept of steady state is critical as it defines the condition where input and output mass flow rates are equal, leading to no net change in the system. This affects the time response by determining the initial conditions and final values for calculations. For instance, in a system where the inflow equals outflow, the transfer function indicates no change in liquid level as qS = q0S. Changes post-disturbance are interpreted with respect to the new steady state conditions .

A step change in inflow rate affects the steady state liquid level by altering the inflow-outflow equilibrium. For instance, with an initial inflow rate of 2 cubic feet/min and a step increase to 2.2 cubic feet/min, the steady state level will eventually rise. Using a transfer function H(s)/Q(s) = 1/(2(s+1)), the level h at steady state becomes 0.886 ft, calculated from step change model and solving corresponding differential equations after two minutes .

To derive the transfer function H(s)/Q(s) for a liquid level system with a cross-sectional area A and resistance R, the mass balance and Laplace transformation are used. When liquid level is at 1m with given parameters (A=1 m², R=0.5), it results in H(s)/Q(s) = 1/(0.5s(s+1)). Likewise, for a 3m level, with additional terms for outflow resistance, the function becomes H(s)/Q(s) = 0.5/[0.5s(s+1)] showing how changes in liquid level, due to continuous changes in inflow or outflow, modify the system dynamics as reflected in the transfer function .

The Laplace transform is essential in analyzing process control systems as it simplifies differential equations into algebraic equations, making it easier to handle initial conditions and analyze system response in the frequency domain. For first-order systems like thermometer response or liquid level dynamics, it helps derive transfer functions, like H(s)/Q(s) = 1/(2(s+1)) for liquid level systems, facilitating quicker analysis and design of control strategies .

The accuracy of a thermometer's response time in a first-order system is influenced by its time constant (𝜏) and the initial temperature differential. In a case where the thermometer with an initial temperature of 20℃ has a time constant of 15 sec and is exposed to 100℃, 34.54 sec are required to reach 90% of the final temperature, showing the practical impact of these factors on response and stable readings .

The time constant (𝜏) of a first-order thermometer determines how quickly the thermometer responds to a change in temperature. A smaller time constant indicates a faster response to reach a significant portion of the new steady-state temperature. For example, to reach 99.9% of a new temperature, a thermometer with a time constant of 15 sec would reach 90% in approximately 34.54 seconds .

The rate at which a tank reaches maximum capacity is directly influenced by the difference between inflow and outflow rates. For a tank with 10 m² area and 10 m inflow, reducing the outflow from 10 to 5 m³/min increases the filling rate to 0.5 m/min, leading to an overflow after 16 minutes from an initial level of 2 m. This process can be modeled mathematically to predict the time to maximum capacity .

If the outflow in a tank is reduced from 10 m³/min to 5 m³/min while the inflow remains constant at 10 m³/min, the difference between inflow and outflow will accumulate in the tank, leading to the level rising. The time it takes before the tank starts overflowing, when starting at a height of 2 m in a 10 m tall tank, is 16 minutes. This is based on a net accumulation rate of 0.5 m/min .

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