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First Order Transfer Function

The document discusses first order transfer functions and their application to modeling dynamic systems. It contains: 1) An introduction to transfer functions as relating the input and output of a system using Laplace transforms. 2) Details on modeling first order systems using differential equations and their solution for step inputs. 3) An example of applying a first order transfer function to model the concentration in a mixing tank given a step change in inlet concentration.

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0% found this document useful (0 votes)
147 views10 pages

First Order Transfer Function

The document discusses first order transfer functions and their application to modeling dynamic systems. It contains: 1) An introduction to transfer functions as relating the input and output of a system using Laplace transforms. 2) Details on modeling first order systems using differential equations and their solution for step inputs. 3) An example of applying a first order transfer function to model the concentration in a mixing tank given a step change in inlet concentration.

Uploaded by

Anbarwita
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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FIRST ORDER TRANSFER

FUNCTION
Christyfani Sindhuwati, ST., MT
Transfer Function

𝑌(𝑠)
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = 𝐺 𝑠 =
𝑋(𝑠) Describes the dynamic
Where: G(s) = symbol for transfer function Relates two variables characteristics of the system
(the cause, the effect)
Y(s) = transform of response
(OUTPUT)
X(s) = transform of forcing
function (INPUT) Learn about the
behaviour of a process
by changing the inputs
and seeing how the
outputs respond
Disturbance

SP + MV
C FCE Proses PV
-

Sensor

Disturbance

MV G(s) PV

INPUT 𝑲𝒑 OUTPUT
X(s) 𝝉𝒔 + 𝟏 Y(s)
PROSES
First Order Systems

Response of first order system:


𝑑𝑦
𝜏 +𝑦 =𝑘𝑥
𝑑𝑡
Parameters : τ and k Variables : y and x

Where:
τ = time constants (unit of time)
k = process gain (unit of output/input)
y = output variable
x = input variable
𝑑𝑦
𝜏 +𝑦 =𝑘𝑥
𝑑𝑡
Laplace:
𝜏 𝑠𝑦 𝑠 −𝑦 0 +𝑦 𝑠 =𝑘𝑥 𝑠
Jika y(0)=0, maka
𝜏𝑠 𝑦 𝑠 + 𝑦 𝑠 = 𝑘 𝑥 𝑠
𝑦 𝑠 𝜏𝑠 + 1 = 𝑘 𝑥 𝑠
𝑘
𝑦 𝑠 = 𝑥 𝑠
𝜏𝑠 + 1
𝑦(𝑠) 𝑘
=
𝑥(𝑠) (𝜏𝑠 + 1)
𝑘
Jika : 𝐺 𝑠 = (𝜏𝑠+1), maka:
𝑦 𝑠 =𝐺 𝑠 𝑥 𝑠
𝑦(𝑠)
= 𝐺(𝑠)
𝑥(𝑠)
STEP INPUT
To solve dynamic problems
The most common input forcing
where a sudden change in an
function
input variable

Assume a step input : ∆x


∆𝑥
𝐿 ∆𝑥 =
𝑠
First order: 1
𝑘 𝑦 𝑠 = 𝑘∆𝑥
𝑦 𝑠 = 𝑥 𝑠 𝑠(𝜏𝑠 + 1)
𝜏𝑠 + 1 −𝑡
𝐿−1 𝑦 𝑠 = 𝑘∆𝑥 1 − 𝑒 ൗ𝜏
𝑘 ∆𝑥 𝑘∆𝑥
𝑦 𝑠 = = −𝑡
𝑦 𝑡 = 𝑘∆𝑥 1 − 𝑒 ൗ𝜏
𝜏𝑠 + 1 𝑠 𝑠(𝜏𝑠 + 1)
1 𝑦(𝑡) −𝑡ൗ
𝑦 𝑠 = 𝑘∆𝑥 = [1 − 𝑒 𝜏 ]
𝑠(𝜏𝑠 + 1) 𝑘∆𝑥
A mixing tank
Assume that a chemical compound, A, is in a feed stream entering a mixing tank. Assume
that there is no reaction, and that the concentration of A has no effect on the density of
the fluid, also assume that the flowrate is constant and the volume in the tank is constant-
this implies that the outlet flowrate is qual to the inlet flowrate. The process is operating as
steady state, then the inlet concentration is suddenly changed to a new value. Find the tank
outlet concentration as a function of time.
Suatu tangki mula – mula ketinggian 0 ft, dengan laju alir masuk awal 0 ft3/menit.
Tiba – tiba laju alir diubah menjadi 5 ft3/menit. Tentukan respon perubahan
ketinggian terhada perubahan laju alir masuk!
Assumptions :
• Inlet flow rate is q
• Outlet flow rate is qo q
• Liquid density ρ remains constant
• Cross-sectional area of the tank is A (A=1)

• It has been known that 𝑞𝑜 = (R=1)
𝑅
R
qo
FIRST ORDER WITH DEAD TIME
𝑑𝑦
𝜏 + 𝑦 = 𝑘𝑢 𝑡 − 𝜃
𝑑𝑡
Where θ = time delay (dead time)
Notice that if the inlet pipe has a significant volume, there will be a delay
between a change in the concentration at the inlet pipe and the concentration
𝑉𝑝
a the outlet of the pipe. The delay can be calculated as : 𝜃 = 𝐹 , Vp is the
volume of the pipe
𝑉 𝑑𝐶
𝐶𝑖 𝑡 = 𝐶𝑖 𝑡 − 𝜃
∗ 𝑈𝑆𝑆: + 𝐶 = 𝐶𝑖 (𝑡 − 𝜃)
𝑑𝐶 𝐹 𝐹 𝐹 𝑑𝑡
= 𝐶𝑖 ∗ 𝑡 − 𝐶 𝑉 𝑑𝐶𝑠
𝑑𝑡 𝑉 𝑉 𝑆𝑆: + 𝐶𝑠 = 𝐶𝑖𝑠 (𝑡 − 𝜃)
𝑑𝐶 𝐹 𝐹 𝐹 𝑑𝑡
= 𝐶𝑖 𝑡 − 𝜃 − 𝐶
𝑑𝑡 𝑉 𝑉
𝑑𝐶 𝐹 𝐹
+ 𝐶 = 𝐶𝑖 𝑡 − 𝜃
𝑑𝑡 𝑉 𝑉
𝑉 𝑑(𝐶 − 𝐶𝑠 )
+ 𝐶 − 𝐶𝑆 = 𝐶𝑖 − 𝐶𝑖𝑠 (𝑡 − 𝜃)
𝐹 𝑑𝑡
∆𝑈
Taking the laplace transform, we find: 𝐿 ∆𝑢 = ,
𝑠
𝑚𝑎𝑘𝑎 𝑝𝑒𝑟𝑠𝑎𝑚𝑎𝑎𝑛 𝑑𝑖 𝑎𝑡𝑎𝑠 𝑚𝑒𝑛𝑗𝑎𝑑𝑖:
𝜏 𝑠𝑦 𝑠 − 𝑦 0 + 𝑦 𝑠 = k𝑒 −𝜃𝑠 𝑢 𝑠
𝑘𝑒 −𝜃𝑠 ∆𝑢
𝜏𝑠𝑦 𝑠 + 𝑦 𝑠 = 𝑘𝑒 −𝜃𝑠 𝑢 𝑠 𝑦 𝑠 =
𝑦 𝑠 𝜏𝑠 + 1 = 𝑘𝑒 −𝜃𝑠 𝑢 𝑠 𝜏𝑠 + 1 𝑠
𝑘∆𝑢𝑒 −𝜃𝑠
𝑘𝑒 −𝜃𝑠 𝑦 𝑠 =
𝑦 𝑠 = 𝑢 𝑠 𝑠(𝜏𝑠 + 1)
𝜏𝑠 + 1 −𝑡−𝜃ൗ
𝑘𝑒 −𝜃𝑠 𝑦 𝑡 = 𝑘∆𝑢[1 − 𝑒 𝜏]
𝑦 𝑠 = 𝐺 𝑠 𝑢 𝑠 , 𝑤ℎ𝑒𝑟𝑒 𝐺 𝑠 =
𝜏𝑠 + 1

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