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Lect Slides - Dynamic Response Characteristics of More Complicated Processes

This document discusses dynamic response characteristics of more complicated processes. It covers topics like higher order systems, poles and zeros, time delays, and approximations. It describes how processes can have higher order transfer functions or numerators as a function of s, leading to complications. It discusses effects of poles, zeros, and time delays on response. Methods to approximate higher order systems like Taylor series, Pade approximations, and Skogestad's half rule are presented. The document also discusses interacting and non-interacting processes and provides examples of multiple input multiple output systems.

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Ayush Nagar
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108 views31 pages

Lect Slides - Dynamic Response Characteristics of More Complicated Processes

This document discusses dynamic response characteristics of more complicated processes. It covers topics like higher order systems, poles and zeros, time delays, and approximations. It describes how processes can have higher order transfer functions or numerators as a function of s, leading to complications. It discusses effects of poles, zeros, and time delays on response. Methods to approximate higher order systems like Taylor series, Pade approximations, and Skogestad's half rule are presented. The document also discusses interacting and non-interacting processes and provides examples of multiple input multiple output systems.

Uploaded by

Ayush Nagar
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
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BITS Pilani

K K Birla Goa Campus

Dynamic Response Characteristics of More


Complicated Processes
Topics to be covered

• Higher order system representation


• Poles and zeros and their effects on process
response
• Time delay in transfer function
• Approximation of higher order system
• Interacting and Non-interacting process

14/02/2020 AMOL DESHPANDE BITS Pilani, K K Birla Goa Campus


Reasons for complications in
processes
• Processes with Transfer function having
• Higher order denominator
• Numerator as a function of s

14/02/2020 AMOL DESHPANDE BITS Pilani, K K Birla Goa Campus


Transfer function (higher order
denominator)

(where )

• The roots of the characteristic polynomials

Poles of TF G(s)
4

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Poles plotted in s complex plane
• Integrating element

• Real poles

• Complex poles

• Poles away from


imaginary axis
• faster response

• Right-half plane pole


• Unstable system
5

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Transfer function - numerator as a
function of s
• Control system lead – lag element

• System with integral of u included in input term

• Numerator dynamics

• The values of “s” that cause the numerator of G(s) to


become zero  Zeros of TF G(s) 6

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Generalized form of transfer
function

• OR

• Where {zi} are the “zeros” and {pi} are the “poles”.

• For practical control system, n>=m in order to have a


physically realizable system. 7

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Step change to a lead-lag system (First
order process with numerator dynamics)
• Transfer Function and response (in Laplace form)

• Response

• Difference in response due to


the presence of zero for a step
input
• Instantaneous step response
possible because numerator and
denominator has same order
8

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Second order process with numerator
dynamics – step response
• Single zero in an overdamped second – order system

14/02/2020 AMOL DESHPANDE BITS Pilani, K K Birla Goa Campus


Inverse response system
• When initial response to a step input is in one direction
but the final steady state in the opposite direction
• Associated with right – half plane zero
• Examples
• Change in steam boiler pressure in distillation column – level
control
• Effect of feed temperature in tubular catalytic reactors with
exothermic reactions– exit temperature control

• Inverse response or overshoot can be expected


whenever two physical effects act on the process output
10

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Inverse response - two first order
processes in parallel

• Condition for inverse response

• Step response of the process described by


will have negative slope initially (t=0) if
(KM>0; τ1 and τ2 are positive and τa is negative)
11

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Process with time delays
• Time delays occur due to:
1. Fluid flow in a pipe
2. Transport of solid material (e.g., conveyor belt)
3. Chemical analysis
- Sampling line delay
- Time required to do the analysis (e.g., on-line gas chromatograph)

• Mathematical description:
A time delay, θ, between an input u and an output y results in the
following expression:

12

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Process with time delays
• Transfer function for time delay

• Process flow (first order with


time delay) 13

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Polynomial approximation
• Taylor series expansion

• Pade approximation
• Pade 1/1 approximation

• Pade 2/2 approximation

14

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Polynomial approximation
• Step response of time
delay using 1/1 and 2/2
Pade approx.

Step response of a first


order with time delay
using 1/1 and 2/2 Pade
approx. of exp (-θs)
15

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Approximation of Higher Order
Transfer Functions – Taylor Series
• Taylor series expansion of the transfer function for a time delay can
be approximated as

This approximation is a right-half plane (RHP) zero at s = +θ

• An alternative first-order approximation consists of the transfer


function

Time constant has a value of θ

• Above expressions can be reversed to approximate pole or zero


terms by the time delay term 16

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Approximation of Higher Order Transfer
Functions – Skogestad’s “Half Rule”
Skogestad (2003) has proposed an approximation method for
higher-order models that contain multiple time constants
• The largest time constant/constants in the denominator is/are
retained
• The largest neglected time constant is identified
• One-half of the largest neglected time constant is added to the
existing time delay if any
• Other one-half of the largest neglected time constant is added to
the smallest time constant
• Time constant which are smaller than the largest neglected time
approximated as time delay 17

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Example 6.4

18

18/02/2020 AMOL DESHPANDE BITS Pilani, K K Birla Goa Campus


Example 6.4 - Solutions
(a)

(b)

• Skogestad’s method
provides better
agreement with the
actual response
19

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Example 6.5

20

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Example 6.5 - Solutions
(a)

(b)

• Second order model


response shows better
agreement with the
actual response
21

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Problems – 6.2

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Problems – 6.6

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Problems – 6.12

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Interacting and non-interacting
processes
• Systems different than Single Input Single Output (SISO)

• Non-interacting behaviour
• System that does not exhibit interaction
• Example: Tank in series where liquid level in one tank does not
influence the level in another tank

• Interacting behaviour
• Variables that interact with each other
• More complicated process transfer function
• Example: Tank in series where liquid levels depends on each
other
25

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Non-interacting system
• Results in relatively
simpler TF (tank
liquid level and
inlet flowrate)

26

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Interacting system – Transfer
function for liquid level systems

27

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Multiple Input Multiple Output
(MIMO) Processes
• Number of input and output variables are more (> 1) and
different from SISO (single input single output system)

• Example

28

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Multiple Input Multiple Output
(MIMO) Processes
• Modeling equations

• After simplifying

29

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Multiple Input Multiple Output
(MIMO) Processes

30

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Problems – 6.16

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