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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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Anbarwita
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Download as PDF, TXT or read online on Scribd
105 views

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
Available Formats
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)
ℎ
• 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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